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

; 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::ViaPointSequence" = type { ptr, ptr, ptr, ptr, ptr, ptr, i8, i32, %"class.std::vector", %"class.std::vector.0" }
%"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.0" = type { %"struct.std::_Vector_base.1" }
%"struct.std::_Vector_base.1" = 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 }
%struct._MatNd = type { ptr, i32, i32, i32, i8 }

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

declare double @MatNd_get(ptr noundef, i32 noundef, i32 noundef) #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZSt3powIdiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(double noundef, i32 noundef) #2

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZNK3Rcs16ViaPointSequence29computeTrajectoryPoint_linAccERdS1_S1_d(ptr noundef nonnull align 8 dereferenceable(104) %0, ptr noundef nonnull align 8 dereferenceable(8) %1, ptr noundef nonnull align 8 dereferenceable(8) %2, ptr noundef nonnull align 8 dereferenceable(8) %3, double noundef %4) #3 align 2 {
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca double, align 8
  %11 = alloca double, align 8
  %12 = alloca double, align 8
  %13 = alloca double, align 8
  %14 = alloca double, align 8
  %15 = alloca double, align 8
  %16 = alloca double, align 8
  %17 = alloca double, align 8
  %18 = alloca double, align 8
  %19 = alloca double, align 8
  %20 = alloca double, align 8
  %21 = alloca double, align 8
  %22 = alloca double, align 8
  %23 = alloca double, align 8
  %24 = alloca i64, align 8
  %25 = alloca double, align 8
  %26 = alloca double, align 8
  %27 = alloca double, align 8
  %28 = alloca double, align 8
  store ptr %0, ptr %6, align 8, !tbaa !5
  store ptr %1, ptr %7, align 8, !tbaa !5
  store ptr %2, ptr %8, align 8, !tbaa !5
  store ptr %3, ptr %9, align 8, !tbaa !5
  store double %4, ptr %10, align 8, !tbaa !9
  %29 = load ptr, ptr %6, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #6
  %30 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 1
  %31 = load ptr, ptr %30, align 8, !tbaa !11
  %32 = getelementptr inbounds %struct._MatNd, ptr %31, i32 0, i32 0
  %33 = load ptr, ptr %32, align 8, !tbaa !23
  %34 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 1
  %35 = load ptr, ptr %34, align 8, !tbaa !11
  %36 = getelementptr inbounds %struct._MatNd, ptr %35, i32 0, i32 2
  %37 = load i32, ptr %36, align 4, !tbaa !26
  %38 = mul i32 0, %37
  %39 = add i32 %38, 0
  %40 = zext i32 %39 to i64
  %41 = getelementptr inbounds double, ptr %33, i64 %40
  %42 = load double, ptr %41, align 8, !tbaa !9
  store double %42, ptr %11, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #6
  %43 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 1
  %44 = load ptr, ptr %43, align 8, !tbaa !11
  %45 = getelementptr inbounds %struct._MatNd, ptr %44, i32 0, i32 0
  %46 = load ptr, ptr %45, align 8, !tbaa !23
  %47 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 1
  %48 = load ptr, ptr %47, align 8, !tbaa !11
  %49 = getelementptr inbounds %struct._MatNd, ptr %48, i32 0, i32 1
  %50 = load i32, ptr %49, align 8, !tbaa !27
  %51 = sub i32 %50, 1
  %52 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 1
  %53 = load ptr, ptr %52, align 8, !tbaa !11
  %54 = getelementptr inbounds %struct._MatNd, ptr %53, i32 0, i32 2
  %55 = load i32, ptr %54, align 4, !tbaa !26
  %56 = mul i32 %51, %55
  %57 = add i32 %56, 0
  %58 = zext i32 %57 to i64
  %59 = getelementptr inbounds double, ptr %46, i64 %58
  %60 = load double, ptr %59, align 8, !tbaa !9
  store double %60, ptr %12, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #6
  %61 = load double, ptr %12, align 8, !tbaa !9
  %62 = load double, ptr %11, align 8, !tbaa !9
  %63 = fsub double %61, %62
  store double %63, ptr %13, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #6
  %64 = load double, ptr %11, align 8, !tbaa !9
  %65 = load double, ptr %13, align 8, !tbaa !9
  %66 = fdiv double %65, 3.000000e+00
  %67 = fadd double %64, %66
  store double %67, ptr %14, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #6
  %68 = load double, ptr %11, align 8, !tbaa !9
  %69 = load double, ptr %13, align 8, !tbaa !9
  %70 = fmul double 2.000000e+00, %69
  %71 = fdiv double %70, 3.000000e+00
  %72 = fadd double %68, %71
  store double %72, ptr %15, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #6
  %73 = load double, ptr %10, align 8, !tbaa !9
  %74 = load double, ptr %10, align 8, !tbaa !9
  %75 = fmul double %73, %74
  store double %75, ptr %16, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #6
  %76 = load double, ptr %16, align 8, !tbaa !9
  %77 = load double, ptr %10, align 8, !tbaa !9
  %78 = fmul double %76, %77
  store double %78, ptr %17, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #6
  %79 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 5
  %80 = load ptr, ptr %79, align 8, !tbaa !28
  %81 = getelementptr inbounds %struct._MatNd, ptr %80, i32 0, i32 0
  %82 = load ptr, ptr %81, align 8, !tbaa !23
  %83 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 5
  %84 = load ptr, ptr %83, align 8, !tbaa !28
  %85 = getelementptr inbounds %struct._MatNd, ptr %84, i32 0, i32 2
  %86 = load i32, ptr %85, align 4, !tbaa !26
  %87 = mul i32 0, %86
  %88 = add i32 %87, 0
  %89 = zext i32 %88 to i64
  %90 = getelementptr inbounds double, ptr %82, i64 %89
  %91 = load double, ptr %90, align 8, !tbaa !9
  store double %91, ptr %18, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #6
  %92 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 5
  %93 = load ptr, ptr %92, align 8, !tbaa !28
  %94 = getelementptr inbounds %struct._MatNd, ptr %93, i32 0, i32 0
  %95 = load ptr, ptr %94, align 8, !tbaa !23
  %96 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 5
  %97 = load ptr, ptr %96, align 8, !tbaa !28
  %98 = getelementptr inbounds %struct._MatNd, ptr %97, i32 0, i32 2
  %99 = load i32, ptr %98, align 4, !tbaa !26
  %100 = mul i32 1, %99
  %101 = add i32 %100, 0
  %102 = zext i32 %101 to i64
  %103 = getelementptr inbounds double, ptr %95, i64 %102
  %104 = load double, ptr %103, align 8, !tbaa !9
  store double %104, ptr %19, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #6
  %105 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 5
  %106 = load ptr, ptr %105, align 8, !tbaa !28
  %107 = getelementptr inbounds %struct._MatNd, ptr %106, i32 0, i32 0
  %108 = load ptr, ptr %107, align 8, !tbaa !23
  %109 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 5
  %110 = load ptr, ptr %109, align 8, !tbaa !28
  %111 = getelementptr inbounds %struct._MatNd, ptr %110, i32 0, i32 2
  %112 = load i32, ptr %111, align 4, !tbaa !26
  %113 = mul i32 2, %112
  %114 = add i32 %113, 0
  %115 = zext i32 %114 to i64
  %116 = getelementptr inbounds double, ptr %108, i64 %115
  %117 = load double, ptr %116, align 8, !tbaa !9
  store double %117, ptr %20, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #6
  %118 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 5
  %119 = load ptr, ptr %118, align 8, !tbaa !28
  %120 = getelementptr inbounds %struct._MatNd, ptr %119, i32 0, i32 0
  %121 = load ptr, ptr %120, align 8, !tbaa !23
  %122 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 5
  %123 = load ptr, ptr %122, align 8, !tbaa !28
  %124 = getelementptr inbounds %struct._MatNd, ptr %123, i32 0, i32 2
  %125 = load i32, ptr %124, align 4, !tbaa !26
  %126 = mul i32 3, %125
  %127 = add i32 %126, 0
  %128 = zext i32 %127 to i64
  %129 = getelementptr inbounds double, ptr %121, i64 %128
  %130 = load double, ptr %129, align 8, !tbaa !9
  store double %130, ptr %21, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #6
  %131 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 5
  %132 = load ptr, ptr %131, align 8, !tbaa !28
  %133 = getelementptr inbounds %struct._MatNd, ptr %132, i32 0, i32 0
  %134 = load ptr, ptr %133, align 8, !tbaa !23
  %135 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 5
  %136 = load ptr, ptr %135, align 8, !tbaa !28
  %137 = getelementptr inbounds %struct._MatNd, ptr %136, i32 0, i32 2
  %138 = load i32, ptr %137, align 4, !tbaa !26
  %139 = mul i32 4, %138
  %140 = add i32 %139, 0
  %141 = zext i32 %140 to i64
  %142 = getelementptr inbounds double, ptr %134, i64 %141
  %143 = load double, ptr %142, align 8, !tbaa !9
  store double %143, ptr %22, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #6
  %144 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 5
  %145 = load ptr, ptr %144, align 8, !tbaa !28
  %146 = getelementptr inbounds %struct._MatNd, ptr %145, i32 0, i32 0
  %147 = load ptr, ptr %146, align 8, !tbaa !23
  %148 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 5
  %149 = load ptr, ptr %148, align 8, !tbaa !28
  %150 = getelementptr inbounds %struct._MatNd, ptr %149, i32 0, i32 2
  %151 = load i32, ptr %150, align 4, !tbaa !26
  %152 = mul i32 5, %151
  %153 = add i32 %152, 0
  %154 = zext i32 %153 to i64
  %155 = getelementptr inbounds double, ptr %147, i64 %154
  %156 = load double, ptr %155, align 8, !tbaa !9
  store double %156, ptr %23, align 8, !tbaa !9
  %157 = load double, ptr %18, align 8, !tbaa !9
  %158 = fmul double 5.000000e-01, %157
  %159 = load double, ptr %16, align 8, !tbaa !9
  %160 = load double, ptr %19, align 8, !tbaa !9
  %161 = load double, ptr %17, align 8, !tbaa !9
  %162 = fmul double %160, %161
  %163 = fdiv double %162, 6.000000e+00
  %164 = call double @llvm.fmuladd.f64(double %158, double %159, double %163)
  %165 = load double, ptr %23, align 8, !tbaa !9
  %166 = load double, ptr %10, align 8, !tbaa !9
  %167 = call double @llvm.fmuladd.f64(double %165, double %166, double %164)
  %168 = load double, ptr %23, align 8, !tbaa !9
  %169 = fadd double %167, %168
  %170 = load ptr, ptr %7, align 8, !tbaa !5
  store double %169, ptr %170, align 8, !tbaa !9
  %171 = load double, ptr %18, align 8, !tbaa !9
  %172 = load double, ptr %10, align 8, !tbaa !9
  %173 = load double, ptr %19, align 8, !tbaa !9
  %174 = fmul double 5.000000e-01, %173
  %175 = load double, ptr %16, align 8, !tbaa !9
  %176 = fmul double %174, %175
  %177 = call double @llvm.fmuladd.f64(double %171, double %172, double %176)
  %178 = load double, ptr %22, align 8, !tbaa !9
  %179 = fadd double %177, %178
  %180 = load ptr, ptr %8, align 8, !tbaa !5
  store double %179, ptr %180, align 8, !tbaa !9
  %181 = load double, ptr %18, align 8, !tbaa !9
  %182 = load double, ptr %19, align 8, !tbaa !9
  %183 = load double, ptr %10, align 8, !tbaa !9
  %184 = call double @llvm.fmuladd.f64(double %182, double %183, double %181)
  %185 = load ptr, ptr %9, align 8, !tbaa !5
  store double %184, ptr %185, align 8, !tbaa !9
  %186 = load double, ptr %10, align 8, !tbaa !9
  %187 = load double, ptr %14, align 8, !tbaa !9
  %188 = fcmp ogt double %186, %187
  br i1 %188, label %189, label %217

189:                                              ; preds = %5
  %190 = load double, ptr %20, align 8, !tbaa !9
  %191 = load double, ptr %10, align 8, !tbaa !9
  %192 = load double, ptr %14, align 8, !tbaa !9
  %193 = fsub double %191, %192
  %194 = call noundef double @_ZSt3powIdiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(double noundef %193, i32 noundef 3)
  %195 = fmul double %190, %194
  %196 = fdiv double %195, 6.000000e+00
  %197 = load ptr, ptr %7, align 8, !tbaa !5
  %198 = load double, ptr %197, align 8, !tbaa !9
  %199 = fadd double %198, %196
  store double %199, ptr %197, align 8, !tbaa !9
  %200 = load double, ptr %20, align 8, !tbaa !9
  %201 = load double, ptr %10, align 8, !tbaa !9
  %202 = load double, ptr %14, align 8, !tbaa !9
  %203 = fsub double %201, %202
  %204 = call noundef double @_ZSt3powIdiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(double noundef %203, i32 noundef 2)
  %205 = fmul double %200, %204
  %206 = fdiv double %205, 2.000000e+00
  %207 = load ptr, ptr %8, align 8, !tbaa !5
  %208 = load double, ptr %207, align 8, !tbaa !9
  %209 = fadd double %208, %206
  store double %209, ptr %207, align 8, !tbaa !9
  %210 = load double, ptr %20, align 8, !tbaa !9
  %211 = load double, ptr %10, align 8, !tbaa !9
  %212 = load double, ptr %14, align 8, !tbaa !9
  %213 = fsub double %211, %212
  %214 = load ptr, ptr %9, align 8, !tbaa !5
  %215 = load double, ptr %214, align 8, !tbaa !9
  %216 = call double @llvm.fmuladd.f64(double %210, double %213, double %215)
  store double %216, ptr %214, align 8, !tbaa !9
  br label %217

217:                                              ; preds = %189, %5
  %218 = load double, ptr %10, align 8, !tbaa !9
  %219 = load double, ptr %15, align 8, !tbaa !9
  %220 = fcmp ogt double %218, %219
  br i1 %220, label %221, label %249

221:                                              ; preds = %217
  %222 = load double, ptr %21, align 8, !tbaa !9
  %223 = load double, ptr %10, align 8, !tbaa !9
  %224 = load double, ptr %15, align 8, !tbaa !9
  %225 = fsub double %223, %224
  %226 = call noundef double @_ZSt3powIdiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(double noundef %225, i32 noundef 3)
  %227 = fmul double %222, %226
  %228 = fdiv double %227, 6.000000e+00
  %229 = load ptr, ptr %7, align 8, !tbaa !5
  %230 = load double, ptr %229, align 8, !tbaa !9
  %231 = fadd double %230, %228
  store double %231, ptr %229, align 8, !tbaa !9
  %232 = load double, ptr %21, align 8, !tbaa !9
  %233 = load double, ptr %10, align 8, !tbaa !9
  %234 = load double, ptr %15, align 8, !tbaa !9
  %235 = fsub double %233, %234
  %236 = call noundef double @_ZSt3powIdiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(double noundef %235, i32 noundef 2)
  %237 = fmul double %232, %236
  %238 = fdiv double %237, 2.000000e+00
  %239 = load ptr, ptr %8, align 8, !tbaa !5
  %240 = load double, ptr %239, align 8, !tbaa !9
  %241 = fadd double %240, %238
  store double %241, ptr %239, align 8, !tbaa !9
  %242 = load double, ptr %21, align 8, !tbaa !9
  %243 = load double, ptr %10, align 8, !tbaa !9
  %244 = load double, ptr %15, align 8, !tbaa !9
  %245 = fsub double %243, %244
  %246 = load ptr, ptr %9, align 8, !tbaa !5
  %247 = load double, ptr %246, align 8, !tbaa !9
  %248 = call double @llvm.fmuladd.f64(double %242, double %245, double %247)
  store double %248, ptr %246, align 8, !tbaa !9
  br label %249

249:                                              ; preds = %221, %217
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #6
  store i64 3, ptr %24, align 8, !tbaa !29
  br label %250

250:                                              ; preds = %359, %249
  %251 = load i64, ptr %24, align 8, !tbaa !29
  %252 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 8
  %253 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %252) #6
  %254 = sub i64 %253, 3
  %255 = icmp ult i64 %251, %254
  br i1 %255, label %257, label %256

256:                                              ; preds = %250
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #6
  br label %362

257:                                              ; preds = %250
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #6
  %258 = load double, ptr %10, align 8, !tbaa !9
  %259 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 9
  %260 = load i64, ptr %24, align 8, !tbaa !29
  %261 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %259, i64 noundef %260) #6
  %262 = load double, ptr %261, align 8, !tbaa !9
  %263 = fsub double %258, %262
  %264 = fcmp ogt double %263, 0.000000e+00
  br i1 %264, label %265, label %272

265:                                              ; preds = %257
  %266 = load double, ptr %10, align 8, !tbaa !9
  %267 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 9
  %268 = load i64, ptr %24, align 8, !tbaa !29
  %269 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %267, i64 noundef %268) #6
  %270 = load double, ptr %269, align 8, !tbaa !9
  %271 = fsub double %266, %270
  br label %273

272:                                              ; preds = %257
  br label %273

273:                                              ; preds = %272, %265
  %274 = phi double [ %271, %265 ], [ 0.000000e+00, %272 ]
  store double %274, ptr %25, align 8, !tbaa !9
  %275 = load double, ptr %25, align 8, !tbaa !9
  %276 = fcmp ogt double %275, 0.000000e+00
  br i1 %276, label %277, label %358

277:                                              ; preds = %273
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #6
  %278 = load double, ptr %25, align 8, !tbaa !9
  %279 = load double, ptr %25, align 8, !tbaa !9
  %280 = fmul double %278, %279
  store double %280, ptr %26, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #6
  %281 = load double, ptr %26, align 8, !tbaa !9
  %282 = load double, ptr %25, align 8, !tbaa !9
  %283 = fmul double %281, %282
  store double %283, ptr %27, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #6
  %284 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 5
  %285 = load ptr, ptr %284, align 8, !tbaa !28
  %286 = load i64, ptr %24, align 8, !tbaa !29
  %287 = add i64 %286, 3
  %288 = trunc i64 %287 to i32
  %289 = call double @MatNd_get(ptr noundef %285, i32 noundef %288, i32 noundef 0)
  store double %289, ptr %28, align 8, !tbaa !9
  %290 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 8
  %291 = load i64, ptr %24, align 8, !tbaa !29
  %292 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %290, i64 noundef %291) #6
  %293 = load i32, ptr %292, align 4, !tbaa !31
  %294 = icmp eq i32 %293, 2
  br i1 %294, label %295, label %307

295:                                              ; preds = %277
  %296 = load double, ptr %28, align 8, !tbaa !9
  %297 = load double, ptr %25, align 8, !tbaa !9
  %298 = load ptr, ptr %7, align 8, !tbaa !5
  %299 = load double, ptr %298, align 8, !tbaa !9
  %300 = call double @llvm.fmuladd.f64(double %296, double %297, double %299)
  store double %300, ptr %298, align 8, !tbaa !9
  %301 = load ptr, ptr %8, align 8, !tbaa !5
  %302 = load double, ptr %301, align 8, !tbaa !9
  %303 = fadd double %302, 0.000000e+00
  store double %303, ptr %301, align 8, !tbaa !9
  %304 = load ptr, ptr %9, align 8, !tbaa !5
  %305 = load double, ptr %304, align 8, !tbaa !9
  %306 = fadd double %305, 0.000000e+00
  store double %306, ptr %304, align 8, !tbaa !9
  br label %357

307:                                              ; preds = %277
  %308 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 8
  %309 = load i64, ptr %24, align 8, !tbaa !29
  %310 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %308, i64 noundef %309) #6
  %311 = load i32, ptr %310, align 4, !tbaa !31
  %312 = icmp eq i32 %311, 1
  br i1 %312, label %313, label %329

313:                                              ; preds = %307
  %314 = load double, ptr %28, align 8, !tbaa !9
  %315 = load double, ptr %25, align 8, !tbaa !9
  %316 = fmul double %314, %315
  %317 = fdiv double %316, 2.000000e+00
  %318 = load ptr, ptr %7, align 8, !tbaa !5
  %319 = load double, ptr %318, align 8, !tbaa !9
  %320 = fadd double %319, %317
  store double %320, ptr %318, align 8, !tbaa !9
  %321 = load double, ptr %28, align 8, !tbaa !9
  %322 = load double, ptr %25, align 8, !tbaa !9
  %323 = load ptr, ptr %8, align 8, !tbaa !5
  %324 = load double, ptr %323, align 8, !tbaa !9
  %325 = call double @llvm.fmuladd.f64(double %321, double %322, double %324)
  store double %325, ptr %323, align 8, !tbaa !9
  %326 = load ptr, ptr %9, align 8, !tbaa !5
  %327 = load double, ptr %326, align 8, !tbaa !9
  %328 = fadd double %327, 0.000000e+00
  store double %328, ptr %326, align 8, !tbaa !9
  br label %356

329:                                              ; preds = %307
  %330 = getelementptr inbounds %"class.Rcs::ViaPointSequence", ptr %29, i32 0, i32 8
  %331 = load i64, ptr %24, align 8, !tbaa !29
  %332 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %330, i64 noundef %331) #6
  %333 = load i32, ptr %332, align 4, !tbaa !31
  %334 = icmp eq i32 %333, 0
  br i1 %334, label %335, label %355

335:                                              ; preds = %329
  %336 = load double, ptr %28, align 8, !tbaa !9
  %337 = load double, ptr %27, align 8, !tbaa !9
  %338 = fmul double %336, %337
  %339 = fdiv double %338, 6.000000e+00
  %340 = load ptr, ptr %7, align 8, !tbaa !5
  %341 = load double, ptr %340, align 8, !tbaa !9
  %342 = fadd double %341, %339
  store double %342, ptr %340, align 8, !tbaa !9
  %343 = load double, ptr %28, align 8, !tbaa !9
  %344 = load double, ptr %26, align 8, !tbaa !9
  %345 = fmul double %343, %344
  %346 = fdiv double %345, 2.000000e+00
  %347 = load ptr, ptr %8, align 8, !tbaa !5
  %348 = load double, ptr %347, align 8, !tbaa !9
  %349 = fadd double %348, %346
  store double %349, ptr %347, align 8, !tbaa !9
  %350 = load double, ptr %28, align 8, !tbaa !9
  %351 = load double, ptr %25, align 8, !tbaa !9
  %352 = load ptr, ptr %9, align 8, !tbaa !5
  %353 = load double, ptr %352, align 8, !tbaa !9
  %354 = call double @llvm.fmuladd.f64(double %350, double %351, double %353)
  store double %354, ptr %352, align 8, !tbaa !9
  br label %355

355:                                              ; preds = %335, %329
  br label %356

356:                                              ; preds = %355, %313
  br label %357

357:                                              ; preds = %356, %295
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #6
  br label %358

358:                                              ; preds = %357, %273
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #6
  br label %359

359:                                              ; preds = %358
  %360 = load i64, ptr %24, align 8, !tbaa !29
  %361 = add i64 %360, 1
  store i64 %361, ptr %24, align 8, !tbaa !29
  br label %250, !llvm.loop !32

362:                                              ; preds = %256
  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
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 8, 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
  ret void
}

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #5 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { inlinehint mustprogress 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 #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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #5 = { mustprogress 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 #6 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"double", !7, i64 0}
!11 = !{!12, !6, i64 8}
!12 = !{!"_ZTSN3Rcs16ViaPointSequenceE", !6, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !13, i64 48, !14, i64 52, !15, i64 56, !19, i64 80}
!13 = !{!"bool", !7, i64 0}
!14 = !{!"_ZTSN3Rcs16ViaPointSequence12ViaPointTypeE", !7, i64 0}
!15 = !{!"_ZTSSt6vectorIiSaIiEE", !16, i64 0}
!16 = !{!"_ZTSSt12_Vector_baseIiSaIiEE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE12_Vector_implE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!19 = !{!"_ZTSSt6vectorIdSaIdEE", !20, i64 0}
!20 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !21, i64 0}
!21 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!23 = !{!24, !6, i64 0}
!24 = !{!"_ZTS6_MatNd", !6, i64 0, !25, i64 8, !25, i64 12, !25, i64 16, !13, i64 20}
!25 = !{!"int", !7, i64 0}
!26 = !{!24, !25, i64 12}
!27 = !{!24, !25, i64 8}
!28 = !{!12, !6, i64 40}
!29 = !{!30, !30, i64 0}
!30 = !{!"long", !7, i64 0}
!31 = !{!25, !25, i64 0}
!32 = distinct !{!32, !33}
!33 = !{!"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"

declare double @MatNd_get(ptr noundef, i32 noundef, i32 noundef) local_unnamed_addr #0

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZSt3powIdiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(double noundef, i32 noundef) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZNK3Rcs16ViaPointSequence29computeTrajectoryPoint_linAccERdS1_S1_d(ptr noundef nonnull align 8 dereferenceable(104) %0, ptr nocapture noundef nonnull align 8 dereferenceable(8) %1, ptr nocapture noundef nonnull align 8 dereferenceable(8) %2, ptr nocapture noundef nonnull align 8 dereferenceable(8) %3, double noundef %4) local_unnamed_addr #2 align 2 {
  %6 = getelementptr inbounds i8, ptr %0, i64 8
  %7 = load ptr, ptr %6, align 8, !tbaa !5
  %8 = load ptr, ptr %7, align 8, !tbaa !20
  %9 = getelementptr inbounds i8, ptr %7, i64 12
  %10 = load i32, ptr %9, align 4, !tbaa !23
  %11 = load double, ptr %8, align 8, !tbaa !24
  %12 = getelementptr inbounds i8, ptr %7, i64 8
  %13 = load i32, ptr %12, align 8, !tbaa !26
  %14 = add i32 %13, -1
  %15 = mul i32 %14, %10
  %16 = zext i32 %15 to i64
  %17 = getelementptr inbounds double, ptr %8, i64 %16
  %18 = load double, ptr %17, align 8, !tbaa !24
  %19 = fsub double %18, %11
  %20 = fdiv double %19, 3.000000e+00
  %21 = fadd double %11, %20
  %22 = fmul double %19, 2.000000e+00
  %23 = fdiv double %22, 3.000000e+00
  %24 = fadd double %11, %23
  %25 = fmul double %4, %4
  %26 = fmul double %25, %4
  %27 = getelementptr inbounds i8, ptr %0, i64 40
  %28 = load ptr, ptr %27, align 8, !tbaa !27
  %29 = load ptr, ptr %28, align 8, !tbaa !20
  %30 = getelementptr inbounds i8, ptr %28, i64 12
  %31 = load i32, ptr %30, align 4, !tbaa !23
  %32 = load double, ptr %29, align 8, !tbaa !24
  %33 = zext i32 %31 to i64
  %34 = getelementptr inbounds double, ptr %29, i64 %33
  %35 = load double, ptr %34, align 8, !tbaa !24
  %36 = shl i32 %31, 1
  %37 = zext i32 %36 to i64
  %38 = getelementptr inbounds double, ptr %29, i64 %37
  %39 = load double, ptr %38, align 8, !tbaa !24
  %40 = mul i32 %31, 3
  %41 = zext i32 %40 to i64
  %42 = getelementptr inbounds double, ptr %29, i64 %41
  %43 = load double, ptr %42, align 8, !tbaa !24
  %44 = shl i32 %31, 2
  %45 = zext i32 %44 to i64
  %46 = getelementptr inbounds double, ptr %29, i64 %45
  %47 = load double, ptr %46, align 8, !tbaa !24
  %48 = mul i32 %31, 5
  %49 = zext i32 %48 to i64
  %50 = getelementptr inbounds double, ptr %29, i64 %49
  %51 = load double, ptr %50, align 8, !tbaa !24
  %52 = fmul double %32, 5.000000e-01
  %53 = fmul double %26, %35
  %54 = fdiv double %53, 6.000000e+00
  %55 = tail call double @llvm.fmuladd.f64(double %52, double %25, double %54)
  %56 = tail call double @llvm.fmuladd.f64(double %51, double %4, double %55)
  %57 = fadd double %51, %56
  store double %57, ptr %1, align 8, !tbaa !24
  %58 = fmul double %35, 5.000000e-01
  %59 = fmul double %25, %58
  %60 = tail call double @llvm.fmuladd.f64(double %32, double %4, double %59)
  %61 = fadd double %60, %47
  store double %61, ptr %2, align 8, !tbaa !24
  %62 = tail call double @llvm.fmuladd.f64(double %35, double %4, double %32)
  store double %62, ptr %3, align 8, !tbaa !24
  %63 = fcmp olt double %21, %4
  br i1 %63, label %64, label %78

64:                                               ; preds = %5
  %65 = fsub double %4, %21
  %66 = tail call noundef double @_ZSt3powIdiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(double noundef %65, i32 noundef 3)
  %67 = fmul double %39, %66
  %68 = fdiv double %67, 6.000000e+00
  %69 = load double, ptr %1, align 8, !tbaa !24
  %70 = fadd double %69, %68
  store double %70, ptr %1, align 8, !tbaa !24
  %71 = tail call noundef double @_ZSt3powIdiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(double noundef %65, i32 noundef 2)
  %72 = fmul double %39, %71
  %73 = fmul double %72, 5.000000e-01
  %74 = load double, ptr %2, align 8, !tbaa !24
  %75 = fadd double %74, %73
  store double %75, ptr %2, align 8, !tbaa !24
  %76 = load double, ptr %3, align 8, !tbaa !24
  %77 = tail call double @llvm.fmuladd.f64(double %39, double %65, double %76)
  store double %77, ptr %3, align 8, !tbaa !24
  br label %78

78:                                               ; preds = %64, %5
  %79 = fcmp olt double %24, %4
  br i1 %79, label %80, label %94

80:                                               ; preds = %78
  %81 = fsub double %4, %24
  %82 = tail call noundef double @_ZSt3powIdiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(double noundef %81, i32 noundef 3)
  %83 = fmul double %43, %82
  %84 = fdiv double %83, 6.000000e+00
  %85 = load double, ptr %1, align 8, !tbaa !24
  %86 = fadd double %85, %84
  store double %86, ptr %1, align 8, !tbaa !24
  %87 = tail call noundef double @_ZSt3powIdiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(double noundef %81, i32 noundef 2)
  %88 = fmul double %43, %87
  %89 = fmul double %88, 5.000000e-01
  %90 = load double, ptr %2, align 8, !tbaa !24
  %91 = fadd double %90, %89
  store double %91, ptr %2, align 8, !tbaa !24
  %92 = load double, ptr %3, align 8, !tbaa !24
  %93 = tail call double @llvm.fmuladd.f64(double %43, double %81, double %92)
  store double %93, ptr %3, align 8, !tbaa !24
  br label %94

94:                                               ; preds = %80, %78
  %95 = getelementptr inbounds i8, ptr %0, i64 56
  %96 = tail call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %95) #5
  %97 = add i64 %96, -7
  %98 = icmp ult i64 %97, -4
  br i1 %98, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %94
  %99 = getelementptr inbounds i8, ptr %0, i64 80
  br label %100

._crit_edge:                                      ; preds = %.thread, %94
  ret void

100:                                              ; preds = %.lr.ph, %.thread
  %.096 = phi i64 [ 3, %.lr.ph ], [ %154, %.thread ]
  %101 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %99, i64 noundef %.096) #5
  %102 = load double, ptr %101, align 8, !tbaa !24
  %103 = fcmp olt double %102, %4
  br i1 %103, label %104, label %.thread

104:                                              ; preds = %100
  %105 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %99, i64 noundef %.096) #5
  %106 = load double, ptr %105, align 8, !tbaa !24
  %107 = fsub double %4, %106
  %108 = fcmp ogt double %107, 0.000000e+00
  br i1 %108, label %109, label %.thread

109:                                              ; preds = %104
  %110 = fmul double %107, %107
  %111 = fmul double %107, %110
  %112 = load ptr, ptr %27, align 8, !tbaa !27
  %113 = trunc i64 %.096 to i32
  %114 = add i32 %113, 3
  %115 = tail call double @MatNd_get(ptr noundef %112, i32 noundef %114, i32 noundef 0)
  %116 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %95, i64 noundef %.096) #5
  %117 = load i32, ptr %116, align 4, !tbaa !28
  %118 = icmp eq i32 %117, 2
  br i1 %118, label %119, label %126

119:                                              ; preds = %109
  %120 = load double, ptr %1, align 8, !tbaa !24
  %121 = tail call double @llvm.fmuladd.f64(double %115, double %107, double %120)
  store double %121, ptr %1, align 8, !tbaa !24
  %122 = load double, ptr %2, align 8, !tbaa !24
  %123 = fadd double %122, 0.000000e+00
  store double %123, ptr %2, align 8, !tbaa !24
  %124 = load double, ptr %3, align 8, !tbaa !24
  %125 = fadd double %124, 0.000000e+00
  br label %.thread.sink.split

126:                                              ; preds = %109
  %127 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %95, i64 noundef %.096) #5
  %128 = load i32, ptr %127, align 4, !tbaa !28
  %129 = icmp eq i32 %128, 1
  br i1 %129, label %130, label %139

130:                                              ; preds = %126
  %131 = fmul double %107, %115
  %132 = fmul double %131, 5.000000e-01
  %133 = load double, ptr %1, align 8, !tbaa !24
  %134 = fadd double %132, %133
  store double %134, ptr %1, align 8, !tbaa !24
  %135 = load double, ptr %2, align 8, !tbaa !24
  %136 = tail call double @llvm.fmuladd.f64(double %115, double %107, double %135)
  store double %136, ptr %2, align 8, !tbaa !24
  %137 = load double, ptr %3, align 8, !tbaa !24
  %138 = fadd double %137, 0.000000e+00
  br label %.thread.sink.split

139:                                              ; preds = %126
  %140 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %95, i64 noundef %.096) #5
  %141 = load i32, ptr %140, align 4, !tbaa !28
  %142 = icmp eq i32 %141, 0
  br i1 %142, label %143, label %.thread

143:                                              ; preds = %139
  %144 = fmul double %111, %115
  %145 = fdiv double %144, 6.000000e+00
  %146 = load double, ptr %1, align 8, !tbaa !24
  %147 = fadd double %145, %146
  store double %147, ptr %1, align 8, !tbaa !24
  %148 = fmul double %110, %115
  %149 = fmul double %148, 5.000000e-01
  %150 = load double, ptr %2, align 8, !tbaa !24
  %151 = fadd double %149, %150
  store double %151, ptr %2, align 8, !tbaa !24
  %152 = load double, ptr %3, align 8, !tbaa !24
  %153 = tail call double @llvm.fmuladd.f64(double %115, double %107, double %152)
  br label %.thread.sink.split

.thread.sink.split:                               ; preds = %130, %143, %119
  %.sink = phi double [ %125, %119 ], [ %153, %143 ], [ %138, %130 ]
  store double %.sink, ptr %3, align 8, !tbaa !24
  br label %.thread

.thread:                                          ; preds = %.thread.sink.split, %100, %139, %104
  %154 = add nuw i64 %.096, 1
  %155 = tail call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %95) #5
  %156 = add i64 %155, -3
  %157 = icmp ult i64 %154, %156
  br i1 %157, label %100, label %._crit_edge, !llvm.loop !29
}

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNKSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNKSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #4 align 2

attributes #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 #1 = { inlinehint mustprogress 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 #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #4 = { mustprogress 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 }

!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, !7, i64 8}
!6 = !{!"_ZTSN3Rcs16ViaPointSequenceE", !7, i64 8, !7, i64 16, !7, i64 24, !7, i64 32, !7, i64 40, !10, i64 48, !11, i64 52, !12, i64 56, !16, i64 80}
!7 = !{!"any pointer", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"bool", !8, i64 0}
!11 = !{!"_ZTSN3Rcs16ViaPointSequence12ViaPointTypeE", !8, i64 0}
!12 = !{!"_ZTSSt6vectorIiSaIiEE", !13, i64 0}
!13 = !{!"_ZTSSt12_Vector_baseIiSaIiEE", !14, i64 0}
!14 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE12_Vector_implE", !15, i64 0}
!15 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE17_Vector_impl_dataE", !7, i64 0, !7, i64 8, !7, i64 16}
!16 = !{!"_ZTSSt6vectorIdSaIdEE", !17, i64 0}
!17 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !7, i64 0, !7, i64 8, !7, i64 16}
!20 = !{!21, !7, i64 0}
!21 = !{!"_ZTS6_MatNd", !7, i64 0, !22, i64 8, !22, i64 12, !22, i64 16, !10, i64 20}
!22 = !{!"int", !8, i64 0}
!23 = !{!21, !22, i64 12}
!24 = !{!25, !25, i64 0}
!25 = !{!"double", !8, i64 0}
!26 = !{!21, !22, i64 8}
!27 = !{!6, !7, i64 40}
!28 = !{!22, !22, i64 0}
!29 = distinct !{!29, !30}
!30 = !{!"llvm.loop.mustprogress"}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,ReassociatePass,SROAPass,SimplifyCFGPass,TailCallElimPass