; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src (GaitCtrller)

; 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"

%struct.JointEff = type { [12 x double] }

@gCtrller = external dso_local global ptr, align 8
@jointEff = external dso_local global %struct.JointEff, align 8

; Function Attrs: mustprogress uwtable
define dso_local ptr @torque_calculator(ptr noundef %0, ptr noundef %1) #0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca [12 x double], align 16
  %6 = alloca i32, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 96, ptr %5) #3
  call void @llvm.memset.p0.i64(ptr align 16 %5, i8 0, i64 96, i1 false)
  %7 = load ptr, ptr @gCtrller, align 8, !tbaa !5
  %8 = load ptr, ptr %3, align 8, !tbaa !5
  %9 = load ptr, ptr %4, align 8, !tbaa !5
  %10 = getelementptr inbounds [12 x double], ptr %5, i64 0, i64 0
  call void @_ZN11GaitCtrller16TorqueCalculatorEPdS0_S0_(ptr noundef nonnull align 16 dereferenceable(3816) %7, ptr noundef %8, ptr noundef %9, ptr noundef %10)
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #3
  store i32 0, ptr %6, align 4, !tbaa !9
  br label %11

11:                                               ; preds = %23, %2
  %12 = load i32, ptr %6, align 4, !tbaa !9
  %13 = icmp slt i32 %12, 12
  br i1 %13, label %15, label %14

14:                                               ; preds = %11
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #3
  br label %26

15:                                               ; preds = %11
  %16 = load i32, ptr %6, align 4, !tbaa !9
  %17 = sext i32 %16 to i64
  %18 = getelementptr inbounds [12 x double], ptr %5, i64 0, i64 %17
  %19 = load double, ptr %18, align 8, !tbaa !11
  %20 = load i32, ptr %6, align 4, !tbaa !9
  %21 = sext i32 %20 to i64
  %22 = getelementptr inbounds [12 x double], ptr @jointEff, i64 0, i64 %21
  store double %19, ptr %22, align 8, !tbaa !11
  br label %23

23:                                               ; preds = %15
  %24 = load i32, ptr %6, align 4, !tbaa !9
  %25 = add nsw i32 %24, 1
  store i32 %25, ptr %6, align 4, !tbaa !9
  br label %11, !llvm.loop !13

26:                                               ; preds = %14
  call void @llvm.lifetime.end.p0(i64 96, ptr %5) #3
  ret ptr @jointEff
}

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN11GaitCtrller16TorqueCalculatorEPdS0_S0_(ptr noundef nonnull align 16 dereferenceable(3816), ptr noundef, ptr noundef, ptr noundef) #0 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

attributes #0 = { 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 #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #3 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"double", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"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"

%struct.JointEff = type { [12 x double] }

@gCtrller = external dso_local local_unnamed_addr global ptr, align 8
@jointEff = external dso_local global %struct.JointEff, align 8

; Function Attrs: mustprogress uwtable
define dso_local noundef nonnull ptr @torque_calculator(ptr noundef %0, ptr noundef %1) local_unnamed_addr #0 {
  %3 = alloca [12 x double], align 16
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %3) #4
  call void @llvm.memset.p0.i64(ptr noundef nonnull align 16 dereferenceable(96) %3, i8 0, i64 96, i1 false)
  %4 = load ptr, ptr @gCtrller, align 8, !tbaa !5
  call void @_ZN11GaitCtrller16TorqueCalculatorEPdS0_S0_(ptr noundef nonnull align 16 dereferenceable(3816) %4, ptr noundef %0, ptr noundef %1, ptr noundef nonnull %3)
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(96) @jointEff, ptr noundef nonnull align 16 dereferenceable(96) %3, i64 96, i1 false), !tbaa !9
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %3) #4
  ret ptr @jointEff
}

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN11GaitCtrller16TorqueCalculatorEPdS0_S0_(ptr noundef nonnull align 16 dereferenceable(3816), ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #3

attributes #0 = { 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 #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #3 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"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}


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