; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/GaitCtrller.ll (ZN11GaitCtrller10SetLegDataEPd)

; 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.GaitCtrller = type { i32, i32, i8, %"class.std::vector", [8 x i8], %"class.Eigen::Matrix", %class.Quadruped, %class.FloatingBaseModel, %"class.std::unique_ptr", %"class.std::unique_ptr.153", %"class.std::unique_ptr.161", %struct.LegData, %struct.LegCommand, %struct.ControlFSMData, [8 x i8], %struct.VectorNavData, %"class.std::unique_ptr.169", [8 x i8], %struct.StateEstimate, %"class.std::unique_ptr.187", %"class.std::unique_ptr.195", %"class.std::unique_ptr.203", [8 x i8] }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = 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.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [4 x float] }
%class.Quadruped = type { i32, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, [4 x i8], %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %class.SpatialInertia, %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", [8 x i8] }
%class.SpatialInertia = type { %"class.Eigen::Matrix.3" }
%"class.Eigen::Matrix.3" = type { %"class.Eigen::PlainObjectBase.4" }
%"class.Eigen::PlainObjectBase.4" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { %"struct.Eigen::internal::plain_array.12" }
%"struct.Eigen::internal::plain_array.12" = type { [36 x float] }
%"class.Eigen::Matrix.13" = type { %"class.Eigen::PlainObjectBase.14" }
%"class.Eigen::PlainObjectBase.14" = type { %"class.Eigen::DenseStorage.21" }
%"class.Eigen::DenseStorage.21" = type { %"struct.Eigen::internal::plain_array.22" }
%"struct.Eigen::internal::plain_array.22" = type { [3 x float] }
%class.FloatingBaseModel = type { i64, %"class.Eigen::Matrix.13", %"class.std::vector.23", %"class.std::vector.28", %"class.std::vector.28", %"class.std::vector.28", %"class.std::vector.33", %"class.std::vector.38", %"class.std::vector.43", %"class.std::vector.43", %"class.std::vector.48", %"class.std::vector.48", %"class.std::vector.54", i64, %"class.std::vector.59", %"class.std::vector.64", %"class.std::vector.59", %"class.std::vector.64", %"class.std::vector.64", %"class.std::vector.69", [8 x i8], %struct.FBModelState, %struct.FBModelStateDerivative, %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.89", %"class.std::vector.48", %"class.std::vector.43", %"class.std::vector.43", %"class.std::vector.43", %"class.std::vector.43", %"class.std::vector.43", %"class.Eigen::Matrix.95", %"class.Eigen::Matrix.95", %"class.Eigen::Matrix.80", %"class.Eigen::Matrix.80", %"class.std::vector.104", %"class.std::vector.89", %"class.std::vector.110", %"class.std::vector.116", i8, i8, i8, i8, i8, i8, i8, %"class.Eigen::Matrix.95", %"class.Eigen::Matrix.95", %"class.Eigen::ColPivHouseholderQR" }
%"class.std::vector.23" = type { %"struct.std::_Vector_base.24" }
%"struct.std::_Vector_base.24" = 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.28" = type { %"struct.std::_Vector_base.29" }
%"struct.std::_Vector_base.29" = type { %"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl" }
%"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl" = type { %"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl_data" }
%"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.33" = type { %"struct.std::_Vector_base.34" }
%"struct.std::_Vector_base.34" = type { %"struct.std::_Vector_base<spatial::JointType, std::allocator<spatial::JointType>>::_Vector_impl" }
%"struct.std::_Vector_base<spatial::JointType, std::allocator<spatial::JointType>>::_Vector_impl" = type { %"struct.std::_Vector_base<spatial::JointType, std::allocator<spatial::JointType>>::_Vector_impl_data" }
%"struct.std::_Vector_base<spatial::JointType, std::allocator<spatial::JointType>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.38" = type { %"struct.std::_Vector_base.39" }
%"struct.std::_Vector_base.39" = type { %"struct.std::_Vector_base<ori::CoordinateAxis, std::allocator<ori::CoordinateAxis>>::_Vector_impl" }
%"struct.std::_Vector_base<ori::CoordinateAxis, std::allocator<ori::CoordinateAxis>>::_Vector_impl" = type { %"struct.std::_Vector_base<ori::CoordinateAxis, std::allocator<ori::CoordinateAxis>>::_Vector_impl_data" }
%"struct.std::_Vector_base<ori::CoordinateAxis, std::allocator<ori::CoordinateAxis>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.54" = type { %"struct.std::_Vector_base.55" }
%"struct.std::_Vector_base.55" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::__cxx11::basic_string<char>, std::allocator<std::__cxx11::basic_string<char>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.59" = type { %"struct.std::_Vector_base.60" }
%"struct.std::_Vector_base.60" = type { %"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned long, std::allocator<unsigned long>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.64" = type { %"struct.std::_Vector_base.65" }
%"struct.std::_Vector_base.65" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.69" = type { %"struct.std::_Bvector_base" }
%"struct.std::_Bvector_base" = type { %"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl" }
%"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl" = type { %"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl_data" }
%"struct.std::_Bvector_base<std::allocator<bool>>::_Bvector_impl_data" = type { %"struct.std::_Bit_iterator", %"struct.std::_Bit_iterator", ptr }
%"struct.std::_Bit_iterator" = type { %"struct.std::_Bit_iterator_base.base", [4 x i8] }
%"struct.std::_Bit_iterator_base.base" = type <{ ptr, i32 }>
%struct.FBModelState = type { %"class.Eigen::Matrix", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.70", %"class.Eigen::Matrix.80", %"class.Eigen::Matrix.80", [8 x i8] }
%"class.Eigen::Matrix.70" = type { %"class.Eigen::PlainObjectBase.71" }
%"class.Eigen::PlainObjectBase.71" = type { %"class.Eigen::DenseStorage.78" }
%"class.Eigen::DenseStorage.78" = type { %"struct.Eigen::internal::plain_array.79" }
%"struct.Eigen::internal::plain_array.79" = type { [6 x float] }
%struct.FBModelStateDerivative = type { %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.70", %"class.Eigen::Matrix.80" }
%"class.std::vector.48" = type { %"struct.std::_Vector_base.49" }
%"struct.std::_Vector_base.49" = type { %"struct.std::_Vector_base<SpatialInertia<float>, Eigen::aligned_allocator<SpatialInertia<float>>>::_Vector_impl" }
%"struct.std::_Vector_base<SpatialInertia<float>, Eigen::aligned_allocator<SpatialInertia<float>>>::_Vector_impl" = type { %"struct.std::_Vector_base<SpatialInertia<float>, Eigen::aligned_allocator<SpatialInertia<float>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SpatialInertia<float>, Eigen::aligned_allocator<SpatialInertia<float>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.43" = type { %"struct.std::_Vector_base.44" }
%"struct.std::_Vector_base.44" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, 6>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 6>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, 6>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 6>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, 6>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 6>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, 6>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 6>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.80" = type { %"class.Eigen::PlainObjectBase.81" }
%"class.Eigen::PlainObjectBase.81" = type { %"class.Eigen::DenseStorage.88" }
%"class.Eigen::DenseStorage.88" = type { ptr, i64 }
%"class.std::vector.104" = type { %"struct.std::_Vector_base.105" }
%"struct.std::_Vector_base.105" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, -1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, -1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, -1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, -1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.89" = type { %"struct.std::_Vector_base.90" }
%"struct.std::_Vector_base.90" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 6, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 6, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 6, 1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.110" = type { %"struct.std::_Vector_base.111" }
%"struct.std::_Vector_base.111" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, -1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, -1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, -1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, -1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, -1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.116" = type { %"struct.std::_Vector_base.117" }
%"struct.std::_Vector_base.117" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<float, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.95" = type { %"class.Eigen::PlainObjectBase.96" }
%"class.Eigen::PlainObjectBase.96" = type { %"class.Eigen::DenseStorage.103" }
%"class.Eigen::DenseStorage.103" = type { ptr, i64, i64 }
%"class.Eigen::ColPivHouseholderQR" = type { %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.70", %"class.Eigen::PermutationMatrix", %"class.Eigen::Matrix.131", %"class.Eigen::Matrix.141", %"class.Eigen::Matrix.141", %"class.Eigen::Matrix.141", i8, i8, float, float, i64, i64, [8 x i8] }
%"class.Eigen::PermutationMatrix" = type { %"class.Eigen::Matrix.121" }
%"class.Eigen::Matrix.121" = type { %"class.Eigen::PlainObjectBase.122" }
%"class.Eigen::PlainObjectBase.122" = type { %"class.Eigen::DenseStorage.129" }
%"class.Eigen::DenseStorage.129" = type { %"struct.Eigen::internal::plain_array.130" }
%"struct.Eigen::internal::plain_array.130" = type { [6 x i32] }
%"class.Eigen::Matrix.131" = type { %"class.Eigen::PlainObjectBase.132" }
%"class.Eigen::PlainObjectBase.132" = type { %"class.Eigen::DenseStorage.139" }
%"class.Eigen::DenseStorage.139" = type { %"struct.Eigen::internal::plain_array.140" }
%"struct.Eigen::internal::plain_array.140" = type { [6 x i64] }
%"class.Eigen::Matrix.141" = type { %"class.Eigen::PlainObjectBase.142" }
%"class.Eigen::PlainObjectBase.142" = type { %"class.Eigen::DenseStorage.149" }
%"class.Eigen::DenseStorage.149" = type { %"struct.Eigen::internal::plain_array.150" }
%"struct.Eigen::internal::plain_array.150" = type { [6 x float] }
%"class.std::unique_ptr" = type { %"struct.std::__uniq_ptr_data" }
%"struct.std::__uniq_ptr_data" = type { %"class.std::__uniq_ptr_impl" }
%"class.std::__uniq_ptr_impl" = type { %"class.std::tuple" }
%"class.std::tuple" = type { %"struct.std::_Tuple_impl" }
%"struct.std::_Tuple_impl" = type { %"struct.std::_Head_base.152" }
%"struct.std::_Head_base.152" = type { ptr }
%"class.std::unique_ptr.153" = type { %"struct.std::__uniq_ptr_data.154" }
%"struct.std::__uniq_ptr_data.154" = type { %"class.std::__uniq_ptr_impl.155" }
%"class.std::__uniq_ptr_impl.155" = type { %"class.std::tuple.156" }
%"class.std::tuple.156" = type { %"struct.std::_Tuple_impl.157" }
%"struct.std::_Tuple_impl.157" = type { %"struct.std::_Head_base.160" }
%"struct.std::_Head_base.160" = type { ptr }
%"class.std::unique_ptr.161" = type { %"struct.std::__uniq_ptr_data.162" }
%"struct.std::__uniq_ptr_data.162" = type { %"class.std::__uniq_ptr_impl.163" }
%"class.std::__uniq_ptr_impl.163" = type { %"class.std::tuple.164" }
%"class.std::tuple.164" = type { %"struct.std::_Tuple_impl.165" }
%"struct.std::_Tuple_impl.165" = type { %"struct.std::_Head_base.168" }
%"struct.std::_Head_base.168" = type { ptr }
%struct.LegData = type { [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float] }
%struct.LegCommand = type { [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x float], [4 x i32] }
%struct.ControlFSMData = type { ptr, ptr, ptr, ptr }
%struct.VectorNavData = type { %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", [8 x i8], %"class.Eigen::Matrix", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", [8 x i8] }
%"class.std::unique_ptr.169" = type { %"struct.std::__uniq_ptr_data.170" }
%"struct.std::__uniq_ptr_data.170" = type { %"class.std::__uniq_ptr_impl.171" }
%"class.std::__uniq_ptr_impl.171" = type { %"class.std::tuple.172" }
%"class.std::tuple.172" = type { %"struct.std::_Tuple_impl.173" }
%"struct.std::_Tuple_impl.173" = type { %"struct.std::_Head_base.176" }
%"struct.std::_Head_base.176" = type { ptr }
%struct.StateEstimate = type { %"class.Eigen::Matrix", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", [8 x i8], %"class.Eigen::Matrix", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.177", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", [4 x i8] }
%"class.Eigen::Matrix.177" = type { %"class.Eigen::PlainObjectBase.178" }
%"class.Eigen::PlainObjectBase.178" = type { %"class.Eigen::DenseStorage.185" }
%"class.Eigen::DenseStorage.185" = type { %"struct.Eigen::internal::plain_array.186" }
%"struct.Eigen::internal::plain_array.186" = type { [9 x float] }
%"class.std::unique_ptr.187" = type { %"struct.std::__uniq_ptr_data.188" }
%"struct.std::__uniq_ptr_data.188" = type { %"class.std::__uniq_ptr_impl.189" }
%"class.std::__uniq_ptr_impl.189" = type { %"class.std::tuple.190" }
%"class.std::tuple.190" = type { %"struct.std::_Tuple_impl.191" }
%"struct.std::_Tuple_impl.191" = type { %"struct.std::_Head_base.194" }
%"struct.std::_Head_base.194" = type { ptr }
%"class.std::unique_ptr.195" = type { %"struct.std::__uniq_ptr_data.196" }
%"struct.std::__uniq_ptr_data.196" = type { %"class.std::__uniq_ptr_impl.197" }
%"class.std::__uniq_ptr_impl.197" = type { %"class.std::tuple.198" }
%"class.std::tuple.198" = type { %"struct.std::_Tuple_impl.199" }
%"struct.std::_Tuple_impl.199" = type { %"struct.std::_Head_base.202" }
%"struct.std::_Head_base.202" = type { ptr }
%"class.std::unique_ptr.203" = type { %"struct.std::__uniq_ptr_data.204" }
%"struct.std::__uniq_ptr_data.204" = type { %"class.std::__uniq_ptr_impl.205" }
%"class.std::__uniq_ptr_impl.205" = type { %"class.std::tuple.206" }
%"class.std::tuple.206" = type { %"struct.std::_Tuple_impl.207" }
%"struct.std::_Tuple_impl.207" = type { %"struct.std::_Head_base.210" }
%"struct.std::_Head_base.210" = type { ptr }

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

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

; Function Attrs: mustprogress nounwind uwtable
define dso_local void @_ZN11GaitCtrller10SetLegDataEPd(ptr noundef nonnull align 16 dereferenceable(3816) %0, ptr noundef %1) #1 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca i32, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %6 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #2
  store i32 0, ptr %5, align 4, !tbaa !9
  br label %7

7:                                                ; preds = %91, %2
  %8 = load i32, ptr %5, align 4, !tbaa !9
  %9 = icmp slt i32 %8, 4
  br i1 %9, label %11, label %10

10:                                               ; preds = %7
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #2
  br label %94

11:                                               ; preds = %7
  %12 = load ptr, ptr %4, align 8, !tbaa !5
  %13 = load i32, ptr %5, align 4, !tbaa !9
  %14 = mul nsw i32 %13, 3
  %15 = sext i32 %14 to i64
  %16 = getelementptr inbounds double, ptr %12, i64 %15
  %17 = load double, ptr %16, align 8, !tbaa !11
  %18 = fptrunc double %17 to float
  %19 = getelementptr inbounds %class.GaitCtrller, ptr %6, i32 0, i32 11
  %20 = getelementptr inbounds %struct.LegData, ptr %19, i32 0, i32 0
  %21 = load i32, ptr %5, align 4, !tbaa !9
  %22 = sext i32 %21 to i64
  %23 = getelementptr inbounds [4 x float], ptr %20, i64 0, i64 %22
  store float %18, ptr %23, align 4, !tbaa !13
  %24 = load ptr, ptr %4, align 8, !tbaa !5
  %25 = load i32, ptr %5, align 4, !tbaa !9
  %26 = mul nsw i32 %25, 3
  %27 = add nsw i32 %26, 1
  %28 = sext i32 %27 to i64
  %29 = getelementptr inbounds double, ptr %24, i64 %28
  %30 = load double, ptr %29, align 8, !tbaa !11
  %31 = fptrunc double %30 to float
  %32 = getelementptr inbounds %class.GaitCtrller, ptr %6, i32 0, i32 11
  %33 = getelementptr inbounds %struct.LegData, ptr %32, i32 0, i32 1
  %34 = load i32, ptr %5, align 4, !tbaa !9
  %35 = sext i32 %34 to i64
  %36 = getelementptr inbounds [4 x float], ptr %33, i64 0, i64 %35
  store float %31, ptr %36, align 4, !tbaa !13
  %37 = load ptr, ptr %4, align 8, !tbaa !5
  %38 = load i32, ptr %5, align 4, !tbaa !9
  %39 = mul nsw i32 %38, 3
  %40 = add nsw i32 %39, 2
  %41 = sext i32 %40 to i64
  %42 = getelementptr inbounds double, ptr %37, i64 %41
  %43 = load double, ptr %42, align 8, !tbaa !11
  %44 = fptrunc double %43 to float
  %45 = getelementptr inbounds %class.GaitCtrller, ptr %6, i32 0, i32 11
  %46 = getelementptr inbounds %struct.LegData, ptr %45, i32 0, i32 2
  %47 = load i32, ptr %5, align 4, !tbaa !9
  %48 = sext i32 %47 to i64
  %49 = getelementptr inbounds [4 x float], ptr %46, i64 0, i64 %48
  store float %44, ptr %49, align 4, !tbaa !13
  %50 = load ptr, ptr %4, align 8, !tbaa !5
  %51 = load i32, ptr %5, align 4, !tbaa !9
  %52 = mul nsw i32 %51, 3
  %53 = add nsw i32 12, %52
  %54 = sext i32 %53 to i64
  %55 = getelementptr inbounds double, ptr %50, i64 %54
  %56 = load double, ptr %55, align 8, !tbaa !11
  %57 = fptrunc double %56 to float
  %58 = getelementptr inbounds %class.GaitCtrller, ptr %6, i32 0, i32 11
  %59 = getelementptr inbounds %struct.LegData, ptr %58, i32 0, i32 3
  %60 = load i32, ptr %5, align 4, !tbaa !9
  %61 = sext i32 %60 to i64
  %62 = getelementptr inbounds [4 x float], ptr %59, i64 0, i64 %61
  store float %57, ptr %62, align 4, !tbaa !13
  %63 = load ptr, ptr %4, align 8, !tbaa !5
  %64 = load i32, ptr %5, align 4, !tbaa !9
  %65 = mul nsw i32 %64, 3
  %66 = add nsw i32 12, %65
  %67 = add nsw i32 %66, 1
  %68 = sext i32 %67 to i64
  %69 = getelementptr inbounds double, ptr %63, i64 %68
  %70 = load double, ptr %69, align 8, !tbaa !11
  %71 = fptrunc double %70 to float
  %72 = getelementptr inbounds %class.GaitCtrller, ptr %6, i32 0, i32 11
  %73 = getelementptr inbounds %struct.LegData, ptr %72, i32 0, i32 4
  %74 = load i32, ptr %5, align 4, !tbaa !9
  %75 = sext i32 %74 to i64
  %76 = getelementptr inbounds [4 x float], ptr %73, i64 0, i64 %75
  store float %71, ptr %76, align 4, !tbaa !13
  %77 = load ptr, ptr %4, align 8, !tbaa !5
  %78 = load i32, ptr %5, align 4, !tbaa !9
  %79 = mul nsw i32 %78, 3
  %80 = add nsw i32 12, %79
  %81 = add nsw i32 %80, 2
  %82 = sext i32 %81 to i64
  %83 = getelementptr inbounds double, ptr %77, i64 %82
  %84 = load double, ptr %83, align 8, !tbaa !11
  %85 = fptrunc double %84 to float
  %86 = getelementptr inbounds %class.GaitCtrller, ptr %6, i32 0, i32 11
  %87 = getelementptr inbounds %struct.LegData, ptr %86, i32 0, i32 5
  %88 = load i32, ptr %5, align 4, !tbaa !9
  %89 = sext i32 %88 to i64
  %90 = getelementptr inbounds [4 x float], ptr %87, i64 0, i64 %89
  store float %85, ptr %90, align 4, !tbaa !13
  br label %91

91:                                               ; preds = %11
  %92 = load i32, ptr %5, align 4, !tbaa !9
  %93 = add nsw i32 %92, 1
  store i32 %93, ptr %5, align 4, !tbaa !9
  br label %7, !llvm.loop !15

94:                                               ; preds = %10
  ret void
}

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 = { 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 = !{!14, !14, i64 0}
!14 = !{!"float", !7, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"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"

; Function Attrs: mustprogress nofree norecurse nosync nounwind willreturn memory(argmem: readwrite) uwtable
define dso_local void @_ZN11GaitCtrller10SetLegDataEPd(ptr nocapture noundef nonnull writeonly align 16 dereferenceable(3816) %0, ptr nocapture noundef readonly %1) local_unnamed_addr #0 align 2 {
  %3 = getelementptr inbounds i8, ptr %0, i64 3128
  %4 = getelementptr inbounds i8, ptr %0, i64 3144
  %5 = getelementptr inbounds i8, ptr %0, i64 3160
  %invariant.gep = getelementptr inbounds i8, ptr %1, i64 96
  %6 = getelementptr inbounds i8, ptr %0, i64 3176
  %7 = getelementptr inbounds i8, ptr %0, i64 3192
  %8 = getelementptr inbounds i8, ptr %0, i64 3208
  %9 = load double, ptr %1, align 8, !tbaa !5
  %10 = getelementptr inbounds i8, ptr %1, i64 8
  %11 = load double, ptr %10, align 8, !tbaa !5
  %12 = getelementptr inbounds i8, ptr %1, i64 16
  %13 = load double, ptr %12, align 8, !tbaa !5
  %14 = load double, ptr %invariant.gep, align 8, !tbaa !5
  %15 = getelementptr inbounds i8, ptr %1, i64 104
  %16 = load double, ptr %15, align 8, !tbaa !5
  %17 = getelementptr inbounds i8, ptr %1, i64 112
  %18 = load double, ptr %17, align 8, !tbaa !5
  %19 = getelementptr inbounds i8, ptr %1, i64 24
  %20 = load double, ptr %19, align 8, !tbaa !5
  %21 = getelementptr inbounds i8, ptr %1, i64 32
  %22 = load double, ptr %21, align 8, !tbaa !5
  %23 = getelementptr inbounds i8, ptr %1, i64 40
  %24 = load double, ptr %23, align 8, !tbaa !5
  %gep.1 = getelementptr inbounds i8, ptr %1, i64 120
  %25 = load double, ptr %gep.1, align 8, !tbaa !5
  %26 = getelementptr inbounds i8, ptr %1, i64 128
  %27 = load double, ptr %26, align 8, !tbaa !5
  %28 = getelementptr inbounds i8, ptr %1, i64 136
  %29 = load double, ptr %28, align 8, !tbaa !5
  %30 = getelementptr inbounds i8, ptr %1, i64 48
  %31 = load double, ptr %30, align 8, !tbaa !5
  %32 = getelementptr inbounds i8, ptr %1, i64 56
  %33 = load double, ptr %32, align 8, !tbaa !5
  %34 = getelementptr inbounds i8, ptr %1, i64 64
  %35 = load double, ptr %34, align 8, !tbaa !5
  %gep.2 = getelementptr inbounds i8, ptr %1, i64 144
  %36 = load double, ptr %gep.2, align 8, !tbaa !5
  %37 = getelementptr inbounds i8, ptr %1, i64 152
  %38 = load double, ptr %37, align 8, !tbaa !5
  %39 = getelementptr inbounds i8, ptr %1, i64 160
  %40 = load double, ptr %39, align 8, !tbaa !5
  %41 = getelementptr inbounds i8, ptr %1, i64 72
  %42 = load double, ptr %41, align 8, !tbaa !5
  %43 = insertelement <4 x double> poison, double %9, i64 0
  %44 = insertelement <4 x double> %43, double %20, i64 1
  %45 = insertelement <4 x double> %44, double %31, i64 2
  %46 = insertelement <4 x double> %45, double %42, i64 3
  %47 = fptrunc <4 x double> %46 to <4 x float>
  store <4 x float> %47, ptr %3, align 8, !tbaa !9
  %48 = getelementptr inbounds i8, ptr %1, i64 80
  %49 = load double, ptr %48, align 8, !tbaa !5
  %50 = insertelement <4 x double> poison, double %11, i64 0
  %51 = insertelement <4 x double> %50, double %22, i64 1
  %52 = insertelement <4 x double> %51, double %33, i64 2
  %53 = insertelement <4 x double> %52, double %49, i64 3
  %54 = fptrunc <4 x double> %53 to <4 x float>
  store <4 x float> %54, ptr %4, align 8, !tbaa !9
  %55 = getelementptr inbounds i8, ptr %1, i64 88
  %56 = load double, ptr %55, align 8, !tbaa !5
  %57 = insertelement <4 x double> poison, double %13, i64 0
  %58 = insertelement <4 x double> %57, double %24, i64 1
  %59 = insertelement <4 x double> %58, double %35, i64 2
  %60 = insertelement <4 x double> %59, double %56, i64 3
  %61 = fptrunc <4 x double> %60 to <4 x float>
  store <4 x float> %61, ptr %5, align 8, !tbaa !9
  %gep.3 = getelementptr inbounds i8, ptr %1, i64 168
  %62 = load double, ptr %gep.3, align 8, !tbaa !5
  %63 = insertelement <4 x double> poison, double %14, i64 0
  %64 = insertelement <4 x double> %63, double %25, i64 1
  %65 = insertelement <4 x double> %64, double %36, i64 2
  %66 = insertelement <4 x double> %65, double %62, i64 3
  %67 = fptrunc <4 x double> %66 to <4 x float>
  store <4 x float> %67, ptr %6, align 8, !tbaa !9
  %68 = getelementptr inbounds i8, ptr %1, i64 176
  %69 = load double, ptr %68, align 8, !tbaa !5
  %70 = insertelement <4 x double> poison, double %16, i64 0
  %71 = insertelement <4 x double> %70, double %27, i64 1
  %72 = insertelement <4 x double> %71, double %38, i64 2
  %73 = insertelement <4 x double> %72, double %69, i64 3
  %74 = fptrunc <4 x double> %73 to <4 x float>
  store <4 x float> %74, ptr %7, align 8, !tbaa !9
  %75 = getelementptr inbounds i8, ptr %1, i64 184
  %76 = load double, ptr %75, align 8, !tbaa !5
  %77 = insertelement <4 x double> poison, double %18, i64 0
  %78 = insertelement <4 x double> %77, double %29, i64 1
  %79 = insertelement <4 x double> %78, double %40, i64 2
  %80 = insertelement <4 x double> %79, double %76, i64 3
  %81 = fptrunc <4 x double> %80 to <4 x float>
  store <4 x float> %81, ptr %8, align 8, !tbaa !9
  ret void
}

attributes #0 = { mustprogress nofree norecurse nosync nounwind willreturn memory(argmem: readwrite) 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" }

!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 = !{!"float", !7, i64 0}


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