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

; 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._RcsGraph = type { ptr, [10 x %struct._RcsBody], i32, i32, ptr, ptr, ptr, ptr, ptr }
%struct._RcsBody = type { double, i8, i32, [3 x double], [3 x double], double, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr }
%struct._RcsJoint = type { ptr, double, double, double, double, double, double, double, i8, i32, i32, i32, i32, ptr, %struct.HTr, double, double, double, double, i32, ptr, ptr, ptr, ptr, ptr }
%struct.HTr = type { [3 x double], [3 x [3 x double]] }

; 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 ptr @RcsBody_lastJointBeforeBody(ptr noundef) #1

declare zeroext i1 @RcsJoint_isRotation(ptr noundef) #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: nounwind uwtable
define dso_local void @RcsGraph_dAdq(ptr noundef %0, ptr noundef %1, ptr noundef %2, i1 noundef zeroext %3) #3 {
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca i8, align 1
  %9 = alloca ptr, align 8
  %10 = alloca [3 x [3 x double]], align 16
  %11 = alloca ptr, align 8
  %12 = alloca i32, align 4
  store ptr %0, ptr %5, align 8, !tbaa !5
  store ptr %1, ptr %6, align 8, !tbaa !5
  store ptr %2, ptr %7, align 8, !tbaa !5
  %13 = zext i1 %3 to i8
  store i8 %13, ptr %8, align 1, !tbaa !9
  %14 = load ptr, ptr %7, align 8, !tbaa !5
  %15 = load ptr, ptr %5, align 8, !tbaa !5
  %16 = getelementptr inbounds %struct._RcsGraph, ptr %15, i32 0, i32 3
  %17 = load i32, ptr %16, align 4, !tbaa !11
  %18 = mul i32 9, %17
  %19 = zext i32 %18 to i64
  %20 = mul i64 %19, 8
  call void @llvm.memset.p0.i64(ptr align 8 %14, i8 0, i64 %20, i1 false)
  %21 = load ptr, ptr %6, align 8, !tbaa !5
  %22 = icmp eq ptr %21, null
  br i1 %22, label %23, label %24

23:                                               ; preds = %4
  br label %98

24:                                               ; preds = %4
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #5
  %25 = load ptr, ptr %6, align 8, !tbaa !5
  %26 = call ptr @RcsBody_lastJointBeforeBody(ptr noundef %25)
  store ptr %26, ptr %9, align 8, !tbaa !5
  br label %27

27:                                               ; preds = %93, %42, %24
  %28 = load ptr, ptr %9, align 8, !tbaa !5
  %29 = icmp ne ptr %28, null
  br i1 %29, label %30, label %97

30:                                               ; preds = %27
  %31 = load ptr, ptr %9, align 8, !tbaa !5
  %32 = getelementptr inbounds %struct._RcsJoint, ptr %31, i32 0, i32 8
  %33 = load i8, ptr %32, align 8, !tbaa !14, !range !18, !noundef !19
  %34 = trunc i8 %33 to i1
  %35 = zext i1 %34 to i32
  %36 = icmp eq i32 %35, 1
  br i1 %36, label %42, label %37

37:                                               ; preds = %30
  %38 = load ptr, ptr %9, align 8, !tbaa !5
  %39 = call zeroext i1 @RcsJoint_isRotation(ptr noundef %38)
  %40 = zext i1 %39 to i32
  %41 = icmp eq i32 %40, 0
  br i1 %41, label %42, label %46

42:                                               ; preds = %37, %30
  %43 = load ptr, ptr %9, align 8, !tbaa !5
  %44 = getelementptr inbounds %struct._RcsJoint, ptr %43, i32 0, i32 22
  %45 = load ptr, ptr %44, align 8, !tbaa !20
  store ptr %45, ptr %9, align 8, !tbaa !5
  br label %27, !llvm.loop !21

46:                                               ; preds = %37
  call void @llvm.lifetime.start.p0(i64 72, ptr %10) #5
  %47 = load ptr, ptr %5, align 8, !tbaa !5
  %48 = load ptr, ptr %6, align 8, !tbaa !5
  %49 = load ptr, ptr %9, align 8, !tbaa !5
  %50 = getelementptr inbounds [3 x [3 x double]], ptr %10, i64 0, i64 0
  call void @RcsGraph_dAdq_i(ptr noundef %47, ptr noundef %48, ptr noundef %49, ptr noundef %50)
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #5
  %51 = getelementptr inbounds [3 x [3 x double]], ptr %10, i64 0, i64 0
  %52 = getelementptr inbounds [3 x double], ptr %51, i64 0, i64 0
  store ptr %52, ptr %11, align 8, !tbaa !5
  %53 = load i8, ptr %8, align 1, !tbaa !9, !range !18, !noundef !19
  %54 = trunc i8 %53 to i1
  %55 = zext i1 %54 to i32
  %56 = icmp eq i32 %55, 1
  br i1 %56, label %57, label %66

57:                                               ; preds = %46
  %58 = load ptr, ptr %7, align 8, !tbaa !5
  %59 = load ptr, ptr %9, align 8, !tbaa !5
  %60 = getelementptr inbounds %struct._RcsJoint, ptr %59, i32 0, i32 12
  %61 = load i32, ptr %60, align 8, !tbaa !23
  %62 = mul nsw i32 %61, 9
  %63 = sext i32 %62 to i64
  %64 = getelementptr inbounds double, ptr %58, i64 %63
  %65 = load ptr, ptr %11, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %64, ptr align 8 %65, i64 72, i1 false)
  br label %93

66:                                               ; preds = %46
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #5
  store i32 0, ptr %12, align 4, !tbaa !24
  br label %67

67:                                               ; preds = %89, %66
  %68 = load i32, ptr %12, align 4, !tbaa !24
  %69 = icmp slt i32 %68, 9
  br i1 %69, label %71, label %70

70:                                               ; preds = %67
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #5
  br label %92

71:                                               ; preds = %67
  %72 = load ptr, ptr %11, align 8, !tbaa !5
  %73 = load i32, ptr %12, align 4, !tbaa !24
  %74 = sext i32 %73 to i64
  %75 = getelementptr inbounds double, ptr %72, i64 %74
  %76 = load double, ptr %75, align 8, !tbaa !25
  %77 = load ptr, ptr %7, align 8, !tbaa !5
  %78 = load ptr, ptr %5, align 8, !tbaa !5
  %79 = getelementptr inbounds %struct._RcsGraph, ptr %78, i32 0, i32 3
  %80 = load i32, ptr %79, align 4, !tbaa !11
  %81 = load i32, ptr %12, align 4, !tbaa !24
  %82 = mul i32 %80, %81
  %83 = load ptr, ptr %9, align 8, !tbaa !5
  %84 = getelementptr inbounds %struct._RcsJoint, ptr %83, i32 0, i32 12
  %85 = load i32, ptr %84, align 8, !tbaa !23
  %86 = add i32 %82, %85
  %87 = zext i32 %86 to i64
  %88 = getelementptr inbounds double, ptr %77, i64 %87
  store double %76, ptr %88, align 8, !tbaa !25
  br label %89

89:                                               ; preds = %71
  %90 = load i32, ptr %12, align 4, !tbaa !24
  %91 = add nsw i32 %90, 1
  store i32 %91, ptr %12, align 4, !tbaa !24
  br label %67, !llvm.loop !26

92:                                               ; preds = %70
  br label %93

93:                                               ; preds = %92, %57
  %94 = load ptr, ptr %9, align 8, !tbaa !5
  %95 = getelementptr inbounds %struct._RcsJoint, ptr %94, i32 0, i32 22
  %96 = load ptr, ptr %95, align 8, !tbaa !20
  store ptr %96, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #5
  call void @llvm.lifetime.end.p0(i64 72, ptr %10) #5
  br label %27, !llvm.loop !21

97:                                               ; preds = %27
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #5
  br label %98

98:                                               ; preds = %97, %23
  ret void
}

; 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) #4

; Function Attrs: nounwind uwtable
declare hidden void @RcsGraph_dAdq_i(ptr noundef, ptr noundef, ptr noundef, ptr noundef) #3

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 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #3 = { 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 #4 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"_Bool", !7, i64 0}
!11 = !{!12, !13, i64 1852}
!12 = !{!"_RcsGraph", !6, i64 0, !7, i64 8, !13, i64 1848, !13, i64 1852, !6, i64 1856, !6, i64 1864, !6, i64 1872, !6, i64 1880, !6, i64 1888}
!13 = !{!"int", !7, i64 0}
!14 = !{!15, !10, i64 64}
!15 = !{!"_RcsJoint", !6, i64 0, !16, i64 8, !16, i64 16, !16, i64 24, !16, i64 32, !16, i64 40, !16, i64 48, !16, i64 56, !10, i64 64, !13, i64 68, !13, i64 72, !13, i64 76, !13, i64 80, !6, i64 88, !17, i64 96, !16, i64 192, !16, i64 200, !16, i64 208, !16, i64 216, !13, i64 224, !6, i64 232, !6, i64 240, !6, i64 248, !6, i64 256, !6, i64 264}
!16 = !{!"double", !7, i64 0}
!17 = !{!"", !7, i64 0, !7, i64 24}
!18 = !{i8 0, i8 2}
!19 = !{}
!20 = !{!15, !6, i64 248}
!21 = distinct !{!21, !22}
!22 = !{!"llvm.loop.mustprogress"}
!23 = !{!15, !13, i64 80}
!24 = !{!13, !13, i64 0}
!25 = !{!16, !16, i64 0}
!26 = distinct !{!26, !22}


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

; 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 ptr @RcsBody_lastJointBeforeBody(ptr noundef) local_unnamed_addr #1

declare zeroext i1 @RcsJoint_isRotation(ptr noundef) local_unnamed_addr #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: nounwind uwtable
define dso_local void @RcsGraph_dAdq(ptr noundef %0, ptr noundef %1, ptr nocapture noundef writeonly %2, i1 noundef zeroext %3) local_unnamed_addr #3 {
  %5 = alloca [3 x [3 x double]], align 16
  %6 = getelementptr inbounds i8, ptr %0, i64 1852
  %7 = load i32, ptr %6, align 4, !tbaa !5
  %8 = mul i32 %7, 9
  %9 = zext i32 %8 to i64
  %10 = shl nuw nsw i64 %9, 3
  tail call void @llvm.memset.p0.i64(ptr align 8 %2, i8 0, i64 %10, i1 false)
  %11 = icmp eq ptr %1, null
  br i1 %11, label %.loopexit25, label %12

12:                                               ; preds = %4
  %13 = tail call ptr @RcsBody_lastJointBeforeBody(ptr noundef nonnull %1) #5
  %.not27 = icmp eq ptr %13, null
  br i1 %.not27, label %.loopexit25, label %.lr.ph

.lr.ph:                                           ; preds = %12
  br i1 %3, label %.lr.ph.split.us, label %.lr.ph.split.preheader

.lr.ph.split.preheader:                           ; preds = %.lr.ph
  %14 = getelementptr inbounds i8, ptr %5, i64 8
  %15 = getelementptr inbounds i8, ptr %5, i64 16
  %16 = getelementptr inbounds i8, ptr %5, i64 24
  %17 = getelementptr inbounds i8, ptr %5, i64 32
  %18 = getelementptr inbounds i8, ptr %5, i64 40
  %19 = getelementptr inbounds i8, ptr %5, i64 48
  %20 = getelementptr inbounds i8, ptr %5, i64 56
  %21 = getelementptr inbounds i8, ptr %5, i64 64
  br label %.lr.ph.split

.lr.ph.split.us:                                  ; preds = %.lr.ph, %.backedge.us
  %.02328.us = phi ptr [ %.023.be.us, %.backedge.us ], [ %13, %.lr.ph ]
  %22 = getelementptr inbounds i8, ptr %.02328.us, i64 64
  %23 = load i8, ptr %22, align 8, !tbaa !11, !range !16, !noundef !17
  %24 = trunc nuw i8 %23 to i1
  br i1 %24, label %35, label %25

25:                                               ; preds = %.lr.ph.split.us
  %26 = call zeroext i1 @RcsJoint_isRotation(ptr noundef nonnull %.02328.us) #5
  br i1 %26, label %27, label %35

27:                                               ; preds = %25
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %5) #5
  call void @RcsGraph_dAdq_i(ptr noundef %0, ptr noundef nonnull %1, ptr noundef nonnull %.02328.us, ptr noundef nonnull %5)
  %28 = getelementptr inbounds i8, ptr %.02328.us, i64 80
  %29 = load i32, ptr %28, align 8, !tbaa !18
  %30 = mul nsw i32 %29, 9
  %31 = sext i32 %30 to i64
  %32 = getelementptr inbounds double, ptr %2, i64 %31
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(72) %32, ptr noundef nonnull align 16 dereferenceable(72) %5, i64 72, i1 false)
  %33 = getelementptr inbounds i8, ptr %.02328.us, i64 248
  %34 = load ptr, ptr %33, align 8, !tbaa !19
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %5) #5
  br label %.backedge.us

35:                                               ; preds = %25, %.lr.ph.split.us
  %36 = getelementptr inbounds i8, ptr %.02328.us, i64 248
  %37 = load ptr, ptr %36, align 8, !tbaa !19
  br label %.backedge.us

.backedge.us:                                     ; preds = %35, %27
  %.023.be.us = phi ptr [ %37, %35 ], [ %34, %27 ]
  %.not.us = icmp eq ptr %.023.be.us, null
  br i1 %.not.us, label %.loopexit25, label %.lr.ph.split.us, !llvm.loop !20

.lr.ph.split:                                     ; preds = %.lr.ph.split.preheader, %.backedge
  %.02328 = phi ptr [ %.023.be, %.backedge ], [ %13, %.lr.ph.split.preheader ]
  %38 = getelementptr inbounds i8, ptr %.02328, i64 64
  %39 = load i8, ptr %38, align 8, !tbaa !11, !range !16, !noundef !17
  %40 = trunc nuw i8 %39 to i1
  br i1 %40, label %43, label %41

41:                                               ; preds = %.lr.ph.split
  %42 = call zeroext i1 @RcsJoint_isRotation(ptr noundef nonnull %.02328) #5
  br i1 %42, label %.preheader, label %43

43:                                               ; preds = %41, %.lr.ph.split
  %44 = getelementptr inbounds i8, ptr %.02328, i64 248
  %45 = load ptr, ptr %44, align 8, !tbaa !19
  br label %.backedge

.backedge:                                        ; preds = %43, %.preheader
  %.023.be = phi ptr [ %45, %43 ], [ %92, %.preheader ]
  %.not = icmp eq ptr %.023.be, null
  br i1 %.not, label %.loopexit25, label %.lr.ph.split, !llvm.loop !20

.preheader:                                       ; preds = %41
  call void @llvm.lifetime.start.p0(i64 72, ptr nonnull %5) #5
  call void @RcsGraph_dAdq_i(ptr noundef %0, ptr noundef nonnull %1, ptr noundef nonnull %.02328, ptr noundef nonnull %5)
  %46 = load i32, ptr %6, align 4, !tbaa !5
  %47 = getelementptr inbounds i8, ptr %.02328, i64 80
  %48 = load i32, ptr %47, align 8, !tbaa !18
  %49 = load double, ptr %5, align 16, !tbaa !22
  %50 = zext i32 %48 to i64
  %51 = getelementptr inbounds double, ptr %2, i64 %50
  store double %49, ptr %51, align 8, !tbaa !22
  %52 = load double, ptr %14, align 8, !tbaa !22
  %53 = add i32 %46, %48
  %54 = zext i32 %53 to i64
  %55 = getelementptr inbounds double, ptr %2, i64 %54
  store double %52, ptr %55, align 8, !tbaa !22
  %56 = load double, ptr %15, align 16, !tbaa !22
  %57 = shl i32 %46, 1
  %58 = add i32 %57, %48
  %59 = zext i32 %58 to i64
  %60 = getelementptr inbounds double, ptr %2, i64 %59
  store double %56, ptr %60, align 8, !tbaa !22
  %61 = load double, ptr %16, align 8, !tbaa !22
  %62 = mul i32 %46, 3
  %63 = add i32 %62, %48
  %64 = zext i32 %63 to i64
  %65 = getelementptr inbounds double, ptr %2, i64 %64
  store double %61, ptr %65, align 8, !tbaa !22
  %66 = load double, ptr %17, align 16, !tbaa !22
  %67 = shl i32 %46, 2
  %68 = add i32 %67, %48
  %69 = zext i32 %68 to i64
  %70 = getelementptr inbounds double, ptr %2, i64 %69
  store double %66, ptr %70, align 8, !tbaa !22
  %71 = load double, ptr %18, align 8, !tbaa !22
  %72 = mul i32 %46, 5
  %73 = add i32 %72, %48
  %74 = zext i32 %73 to i64
  %75 = getelementptr inbounds double, ptr %2, i64 %74
  store double %71, ptr %75, align 8, !tbaa !22
  %76 = load double, ptr %19, align 16, !tbaa !22
  %77 = mul i32 %46, 6
  %78 = add i32 %77, %48
  %79 = zext i32 %78 to i64
  %80 = getelementptr inbounds double, ptr %2, i64 %79
  store double %76, ptr %80, align 8, !tbaa !22
  %81 = load double, ptr %20, align 8, !tbaa !22
  %82 = mul i32 %46, 7
  %83 = add i32 %82, %48
  %84 = zext i32 %83 to i64
  %85 = getelementptr inbounds double, ptr %2, i64 %84
  store double %81, ptr %85, align 8, !tbaa !22
  %86 = load double, ptr %21, align 16, !tbaa !22
  %87 = shl i32 %46, 3
  %88 = add i32 %87, %48
  %89 = zext i32 %88 to i64
  %90 = getelementptr inbounds double, ptr %2, i64 %89
  store double %86, ptr %90, align 8, !tbaa !22
  %91 = getelementptr inbounds i8, ptr %.02328, i64 248
  %92 = load ptr, ptr %91, align 8, !tbaa !19
  call void @llvm.lifetime.end.p0(i64 72, ptr nonnull %5) #5
  br label %.backedge

.loopexit25:                                      ; preds = %.backedge, %.backedge.us, %12, %4
  ret void
}

; Function Attrs: mustprogress 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) #4

; Function Attrs: nounwind uwtable
declare hidden void @RcsGraph_dAdq_i(ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #3

attributes #0 = { mustprogress 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 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #3 = { 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 #4 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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, !10, i64 1852}
!6 = !{!"_RcsGraph", !7, i64 0, !8, i64 8, !10, i64 1848, !10, i64 1852, !7, i64 1856, !7, i64 1864, !7, i64 1872, !7, i64 1880, !7, i64 1888}
!7 = !{!"any pointer", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C/C++ TBAA"}
!10 = !{!"int", !8, i64 0}
!11 = !{!12, !14, i64 64}
!12 = !{!"_RcsJoint", !7, i64 0, !13, i64 8, !13, i64 16, !13, i64 24, !13, i64 32, !13, i64 40, !13, i64 48, !13, i64 56, !14, i64 64, !10, i64 68, !10, i64 72, !10, i64 76, !10, i64 80, !7, i64 88, !15, i64 96, !13, i64 192, !13, i64 200, !13, i64 208, !13, i64 216, !10, i64 224, !7, i64 232, !7, i64 240, !7, i64 248, !7, i64 256, !7, i64 264}
!13 = !{!"double", !8, i64 0}
!14 = !{!"_Bool", !8, i64 0}
!15 = !{!"", !8, i64 0, !8, i64 24}
!16 = !{i8 0, i8 2}
!17 = !{}
!18 = !{!12, !10, i64 80}
!19 = !{!12, !7, i64 248}
!20 = distinct !{!20, !21}
!21 = !{!"llvm.loop.mustprogress"}
!22 = !{!13, !13, i64 0}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyCFGPass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass,TailCallElimPass