; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/MPC_Ctrl/Gait.ll (ZN18OffsetDurationGait13getSwingStateEv)

; 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.Eigen::CwiseBinaryOp.45" = type <{ [4 x i8], %"class.Eigen::CwiseNullaryOp.51", [4 x i8], ptr, [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.51" = type { [4 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { float }
%"class.Eigen::Matrix.37" = type { %"class.Eigen::PlainObjectBase.38" }
%"class.Eigen::PlainObjectBase.38" = type { %"class.Eigen::DenseStorage.17" }
%"class.Eigen::DenseStorage.17" = type { %"struct.Eigen::internal::plain_array.18" }
%"struct.Eigen::internal::plain_array.18" = type { [4 x float] }
%"class.Eigen::Array.9" = type { %"class.Eigen::PlainObjectBase.10" }
%"class.Eigen::PlainObjectBase.10" = type { %"class.Eigen::DenseStorage.17" }
%"class.Eigen::CwiseBinaryOp.63" = type <{ ptr, ptr, [8 x i8] }>
%"struct.Eigen::Array<float, 4, 1>::PrivateType" = type { i8 }
%"class.Eigen::MatrixWrapper" = type { ptr }
%class.OffsetDurationGait = type <{ %class.Gait, ptr, %"class.Eigen::Array", %"class.Eigen::Array", %"class.Eigen::Array.9", %"class.Eigen::Array.9", i32, i32, float, [4 x i8] }>
%class.Gait = type { ptr, %"class.std::__cxx11::basic_string" }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.Eigen::Array" = type { %"class.Eigen::PlainObjectBase.3" }
%"class.Eigen::PlainObjectBase.3" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [4 x i32] }

; 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: inlinehint mustprogress uwtable
declare dso_local void @_ZN5EigenmiIfEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opINS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_fNS3_IS5_fEEEEEE5valueEE4typeEfEEKNS2_19plain_constant_typeINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEESA_E4typeEKSE_EERKS5_RKNS_9ArrayBaseISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.45") align 8, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 1 dereferenceable(1)) #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2INS_13CwiseBinaryOpINS_8internal20scalar_difference_opIffEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKS1_EESA_EEEERKNS_9EigenBaseIT_EENS4_9enable_ifIXsr8internal14is_convertibleINSF_6ScalarEfEE5valueENS1_11PrivateTypeEE4typeE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEE6matrixEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2INS_13MatrixWrapperINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN18OffsetDurationGait13getSwingStateEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.37") align 16 %0, ptr noundef nonnull align 16 dereferenceable(124) %1) unnamed_addr #2 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca %"class.Eigen::Array.9", align 16
  %6 = alloca %"class.Eigen::CwiseBinaryOp.63", align 8
  %7 = alloca %"struct.Eigen::Array<float, 4, 1>::PrivateType", align 1
  %8 = alloca i32, align 4
  %9 = alloca %"class.Eigen::Array.9", align 16
  %10 = alloca %"class.Eigen::CwiseBinaryOp.45", align 8
  %11 = alloca double, align 8
  %12 = alloca %"struct.Eigen::Array<float, 4, 1>::PrivateType", align 1
  %13 = alloca %"class.Eigen::Array.9", align 16
  %14 = alloca %"class.Eigen::CwiseBinaryOp.45", align 8
  %15 = alloca %"struct.Eigen::Array<float, 4, 1>::PrivateType", align 1
  %16 = alloca i32, align 4
  %17 = alloca %"class.Eigen::MatrixWrapper", align 8
  store ptr %0, ptr %3, align 8
  store ptr %1, ptr %4, align 8, !tbaa !5
  %18 = load ptr, ptr %4, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %5) #3
  call void @llvm.lifetime.start.p0(i64 24, ptr %6) #3
  %19 = getelementptr inbounds %class.OffsetDurationGait, ptr %18, i32 0, i32 4
  %20 = getelementptr inbounds %class.OffsetDurationGait, ptr %18, i32 0, i32 5
  call void @_ZNK5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIfNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.63") align 8 %6, ptr noundef nonnull align 1 dereferenceable(1) %19, ptr noundef nonnull align 1 dereferenceable(1) %20)
  call void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIffEEKS1_S7_EEEERKNS_9EigenBaseIT_EENS4_9enable_ifIXsr8internal14is_convertibleINSA_6ScalarEfEE5valueENS1_11PrivateTypeEE4typeE(ptr noundef nonnull align 16 dereferenceable(16) %5, ptr noundef nonnull align 1 dereferenceable(1) %6)
  call void @llvm.lifetime.end.p0(i64 24, ptr %6) #3
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #3
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %21

21:                                               ; preds = %40, %2
  %22 = load i32, ptr %8, align 4, !tbaa !9
  %23 = icmp slt i32 %22, 4
  br i1 %23, label %25, label %24

24:                                               ; preds = %21
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #3
  br label %43

25:                                               ; preds = %21
  %26 = load i32, ptr %8, align 4, !tbaa !9
  %27 = sext i32 %26 to i64
  %28 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef %27)
  %29 = load float, ptr %28, align 4, !tbaa !11
  %30 = fcmp ogt float %29, 1.000000e+00
  br i1 %30, label %31, label %39

31:                                               ; preds = %25
  %32 = load i32, ptr %8, align 4, !tbaa !9
  %33 = sext i32 %32 to i64
  %34 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef %33)
  %35 = load float, ptr %34, align 4, !tbaa !11
  %36 = fpext float %35 to double
  %37 = fsub double %36, 1.000000e+00
  %38 = fptrunc double %37 to float
  store float %38, ptr %34, align 4, !tbaa !11
  br label %39

39:                                               ; preds = %31, %25
  br label %40

40:                                               ; preds = %39
  %41 = load i32, ptr %8, align 4, !tbaa !9
  %42 = add nsw i32 %41, 1
  store i32 %42, ptr %8, align 4, !tbaa !9
  br label %21, !llvm.loop !13

43:                                               ; preds = %24
  call void @llvm.lifetime.start.p0(i64 16, ptr %9) #3
  call void @llvm.lifetime.start.p0(i64 32, ptr %10) #3
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #3
  store double 1.000000e+00, ptr %11, align 8, !tbaa !15
  %44 = getelementptr inbounds %class.OffsetDurationGait, ptr %18, i32 0, i32 5
  call void @_ZN5EigenmiIdEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opINS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_fNS3_IS5_fEEEEEE5valueEE4typeEfEEKNS2_19plain_constant_typeINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEESA_E4typeEKSE_EERKS5_RKNS_9ArrayBaseISE_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.45") align 8 %10, ptr noundef nonnull align 8 dereferenceable(8) %11, ptr noundef nonnull align 1 dereferenceable(1) %44)
  call void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2INS_13CwiseBinaryOpINS_8internal20scalar_difference_opIffEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKS1_EESA_EEEERKNS_9EigenBaseIT_EENS4_9enable_ifIXsr8internal14is_convertibleINSF_6ScalarEfEE5valueENS1_11PrivateTypeEE4typeE(ptr noundef nonnull align 16 dereferenceable(16) %9, ptr noundef nonnull align 1 dereferenceable(1) %10)
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #3
  call void @llvm.lifetime.end.p0(i64 32, ptr %10) #3
  call void @llvm.lifetime.start.p0(i64 16, ptr %13) #3
  call void @llvm.lifetime.start.p0(i64 32, ptr %14) #3
  %45 = getelementptr inbounds %class.OffsetDurationGait, ptr %18, i32 0, i32 8
  call void @_ZN5EigenmiIfEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opINS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_fNS3_IS5_fEEEEEE5valueEE4typeEfEEKNS2_19plain_constant_typeINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEESA_E4typeEKSE_EERKS5_RKNS_9ArrayBaseISE_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.45") align 8 %14, ptr noundef nonnull align 4 dereferenceable(4) %45, ptr noundef nonnull align 1 dereferenceable(1) %5)
  call void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2INS_13CwiseBinaryOpINS_8internal20scalar_difference_opIffEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKS1_EESA_EEEERKNS_9EigenBaseIT_EENS4_9enable_ifIXsr8internal14is_convertibleINSF_6ScalarEfEE5valueENS1_11PrivateTypeEE4typeE(ptr noundef nonnull align 16 dereferenceable(16) %13, ptr noundef nonnull align 1 dereferenceable(1) %14)
  call void @llvm.lifetime.end.p0(i64 32, ptr %14) #3
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #3
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %46

46:                                               ; preds = %102, %43
  %47 = load i32, ptr %16, align 4, !tbaa !9
  %48 = icmp slt i32 %47, 4
  br i1 %48, label %50, label %49

49:                                               ; preds = %46
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #3
  br label %105

50:                                               ; preds = %46
  %51 = load i32, ptr %16, align 4, !tbaa !9
  %52 = sext i32 %51 to i64
  %53 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %13, i64 noundef %52)
  %54 = load float, ptr %53, align 4, !tbaa !11
  %55 = fcmp olt float %54, 0.000000e+00
  br i1 %55, label %56, label %62

56:                                               ; preds = %50
  %57 = load i32, ptr %16, align 4, !tbaa !9
  %58 = sext i32 %57 to i64
  %59 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %13, i64 noundef %58)
  %60 = load float, ptr %59, align 4, !tbaa !11
  %61 = fadd float %60, 1.000000e+00
  store float %61, ptr %59, align 4, !tbaa !11
  br label %62

62:                                               ; preds = %56, %50
  %63 = load i32, ptr %16, align 4, !tbaa !9
  %64 = sext i32 %63 to i64
  %65 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %13, i64 noundef %64)
  %66 = load float, ptr %65, align 4, !tbaa !11
  %67 = load i32, ptr %16, align 4, !tbaa !9
  %68 = sext i32 %67 to i64
  %69 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %9, i64 noundef %68)
  %70 = load float, ptr %69, align 4, !tbaa !11
  %71 = fcmp ogt float %66, %70
  br i1 %71, label %72, label %76

72:                                               ; preds = %62
  %73 = load i32, ptr %16, align 4, !tbaa !9
  %74 = sext i32 %73 to i64
  %75 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %13, i64 noundef %74)
  store float 0.000000e+00, ptr %75, align 4, !tbaa !11
  br label %101

76:                                               ; preds = %62
  %77 = load i32, ptr %16, align 4, !tbaa !9
  %78 = sext i32 %77 to i64
  %79 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %9, i64 noundef %78)
  %80 = load float, ptr %79, align 4, !tbaa !11
  %81 = fpext float %80 to double
  %82 = fcmp olt double %81, 1.000000e-10
  br i1 %82, label %83, label %87

83:                                               ; preds = %76
  %84 = load i32, ptr %16, align 4, !tbaa !9
  %85 = sext i32 %84 to i64
  %86 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %13, i64 noundef %85)
  store float 0.000000e+00, ptr %86, align 4, !tbaa !11
  br label %100

87:                                               ; preds = %76
  %88 = load i32, ptr %16, align 4, !tbaa !9
  %89 = sext i32 %88 to i64
  %90 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %13, i64 noundef %89)
  %91 = load float, ptr %90, align 4, !tbaa !11
  %92 = load i32, ptr %16, align 4, !tbaa !9
  %93 = sext i32 %92 to i64
  %94 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %9, i64 noundef %93)
  %95 = load float, ptr %94, align 4, !tbaa !11
  %96 = fdiv float %91, %95
  %97 = load i32, ptr %16, align 4, !tbaa !9
  %98 = sext i32 %97 to i64
  %99 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %13, i64 noundef %98)
  store float %96, ptr %99, align 4, !tbaa !11
  br label %100

100:                                              ; preds = %87, %83
  br label %101

101:                                              ; preds = %100, %72
  br label %102

102:                                              ; preds = %101
  %103 = load i32, ptr %16, align 4, !tbaa !9
  %104 = add nsw i32 %103, 1
  store i32 %104, ptr %16, align 4, !tbaa !9
  br label %46, !llvm.loop !17

105:                                              ; preds = %49
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #3
  %106 = call ptr @_ZN5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEE6matrixEv(ptr noundef nonnull align 1 dereferenceable(1) %13)
  %107 = getelementptr inbounds %"class.Eigen::MatrixWrapper", ptr %17, i32 0, i32 0
  store ptr %106, ptr %107, align 8
  call void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2INS_13MatrixWrapperINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %0, ptr noundef nonnull align 1 dereferenceable(1) %17)
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr %13) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr %9) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr %5) #3
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIfNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.63") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIffEEKS1_S7_EEEERKNS_9EigenBaseIT_EENS4_9enable_ifIXsr8internal14is_convertibleINSA_6ScalarEfEE5valueENS1_11PrivateTypeEE4typeE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5EigenmiIdEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opINS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_fNS3_IS5_fEEEEEE5valueEE4typeEfEEKNS2_19plain_constant_typeINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEESA_E4typeEKSE_EERKS5_RKNS_9ArrayBaseISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.45") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) #1

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #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 = { 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 = !{!"float", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = !{!16, !16, i64 0}
!16 = !{!"double", !7, i64 0}
!17 = distinct !{!17, !14}


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

%"class.Eigen::CwiseBinaryOp.45" = type <{ [4 x i8], %"class.Eigen::CwiseNullaryOp.51", [4 x i8], ptr, [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.51" = type { [4 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { float }
%"class.Eigen::Matrix.37" = type { %"class.Eigen::PlainObjectBase.38" }
%"class.Eigen::PlainObjectBase.38" = type { %"class.Eigen::DenseStorage.17" }
%"class.Eigen::DenseStorage.17" = type { %"struct.Eigen::internal::plain_array.18" }
%"struct.Eigen::internal::plain_array.18" = type { [4 x float] }
%"class.Eigen::Array.9" = type { %"class.Eigen::PlainObjectBase.10" }
%"class.Eigen::PlainObjectBase.10" = type { %"class.Eigen::DenseStorage.17" }
%"class.Eigen::CwiseBinaryOp.63" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::MatrixWrapper" = type { ptr }

; 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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5EigenmiIfEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opINS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_fNS3_IS5_fEEEEEE5valueEE4typeEfEEKNS2_19plain_constant_typeINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEESA_E4typeEKSE_EERKS5_RKNS_9ArrayBaseISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.45") align 8, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2INS_13CwiseBinaryOpINS_8internal20scalar_difference_opIffEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKS1_EESA_EEEERKNS_9EigenBaseIT_EENS4_9enable_ifIXsr8internal14is_convertibleINSF_6ScalarEfEE5valueENS1_11PrivateTypeEE4typeE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEE6matrixEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2INS_13MatrixWrapperINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN18OffsetDurationGait13getSwingStateEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.37") align 16 %0, ptr noundef nonnull align 16 dereferenceable(124) %1) unnamed_addr #2 align 2 {
  %3 = alloca %"class.Eigen::Array.9", align 16
  %4 = alloca %"class.Eigen::CwiseBinaryOp.63", align 8
  %5 = alloca %"class.Eigen::Array.9", align 16
  %6 = alloca %"class.Eigen::CwiseBinaryOp.45", align 8
  %7 = alloca double, align 8
  %8 = alloca %"class.Eigen::Array.9", align 16
  %9 = alloca %"class.Eigen::CwiseBinaryOp.45", align 8
  %10 = alloca %"class.Eigen::MatrixWrapper", align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %3) #3
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %4) #3
  %11 = getelementptr inbounds i8, ptr %1, i64 80
  %12 = getelementptr inbounds i8, ptr %1, i64 96
  call void @_ZNK5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIfNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.63") align 8 %4, ptr noundef nonnull align 1 dereferenceable(1) %11, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIffEEKS1_S7_EEEERKNS_9EigenBaseIT_EENS4_9enable_ifIXsr8internal14is_convertibleINSA_6ScalarEfEE5valueENS1_11PrivateTypeEE4typeE(ptr noundef nonnull align 16 dereferenceable(16) %3, ptr noundef nonnull align 1 dereferenceable(1) %4)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #3
  %13 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0)
  %14 = load float, ptr %13, align 4, !tbaa !5
  %15 = fcmp ogt float %14, 1.000000e+00
  br i1 %15, label %16, label %20

16:                                               ; preds = %2
  %17 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0)
  %18 = load float, ptr %17, align 4, !tbaa !5
  %19 = fadd float %18, -1.000000e+00
  store float %19, ptr %17, align 4, !tbaa !5
  br label %20

20:                                               ; preds = %2, %16
  %21 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 1)
  %22 = load float, ptr %21, align 4, !tbaa !5
  %23 = fcmp ogt float %22, 1.000000e+00
  br i1 %23, label %24, label %28

24:                                               ; preds = %20
  %25 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 1)
  %26 = load float, ptr %25, align 4, !tbaa !5
  %27 = fadd float %26, -1.000000e+00
  store float %27, ptr %25, align 4, !tbaa !5
  br label %28

28:                                               ; preds = %24, %20
  %29 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2)
  %30 = load float, ptr %29, align 4, !tbaa !5
  %31 = fcmp ogt float %30, 1.000000e+00
  br i1 %31, label %32, label %36

32:                                               ; preds = %28
  %33 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2)
  %34 = load float, ptr %33, align 4, !tbaa !5
  %35 = fadd float %34, -1.000000e+00
  store float %35, ptr %33, align 4, !tbaa !5
  br label %36

36:                                               ; preds = %32, %28
  %37 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 3)
  %38 = load float, ptr %37, align 4, !tbaa !5
  %39 = fcmp ogt float %38, 1.000000e+00
  br i1 %39, label %40, label %44

40:                                               ; preds = %36
  %41 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 3)
  %42 = load float, ptr %41, align 4, !tbaa !5
  %43 = fadd float %42, -1.000000e+00
  store float %43, ptr %41, align 4, !tbaa !5
  br label %44

44:                                               ; preds = %40, %36
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %5) #3
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %6) #3
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #3
  store double 1.000000e+00, ptr %7, align 8, !tbaa !9
  call void @_ZN5EigenmiIdEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opINS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_fNS3_IS5_fEEEEEE5valueEE4typeEfEEKNS2_19plain_constant_typeINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEESA_E4typeEKSE_EERKS5_RKNS_9ArrayBaseISE_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.45") align 8 %6, ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2INS_13CwiseBinaryOpINS_8internal20scalar_difference_opIffEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKS1_EESA_EEEERKNS_9EigenBaseIT_EENS4_9enable_ifIXsr8internal14is_convertibleINSF_6ScalarEfEE5valueENS1_11PrivateTypeEE4typeE(ptr noundef nonnull align 16 dereferenceable(16) %5, ptr noundef nonnull align 1 dereferenceable(1) %6)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #3
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #3
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #3
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %9) #3
  %45 = getelementptr inbounds i8, ptr %1, i64 120
  call void @_ZN5EigenmiIfEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opINS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_fNS3_IS5_fEEEEEE5valueEE4typeEfEEKNS2_19plain_constant_typeINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEESA_E4typeEKSE_EERKS5_RKNS_9ArrayBaseISE_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.45") align 8 %9, ptr noundef nonnull align 4 dereferenceable(4) %45, ptr noundef nonnull align 1 dereferenceable(1) %3)
  call void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2INS_13CwiseBinaryOpINS_8internal20scalar_difference_opIffEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKS1_EESA_EEEERKNS_9EigenBaseIT_EENS4_9enable_ifIXsr8internal14is_convertibleINSF_6ScalarEfEE5valueENS1_11PrivateTypeEE4typeE(ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef nonnull align 1 dereferenceable(1) %9)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %9) #3
  %46 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 0)
  %47 = load float, ptr %46, align 4, !tbaa !5
  %48 = fcmp olt float %47, 0.000000e+00
  br i1 %48, label %49, label %53

49:                                               ; preds = %44
  %50 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 0)
  %51 = load float, ptr %50, align 4, !tbaa !5
  %52 = fadd float %51, 1.000000e+00
  store float %52, ptr %50, align 4, !tbaa !5
  br label %53

53:                                               ; preds = %49, %44
  %54 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 0)
  %55 = load float, ptr %54, align 4, !tbaa !5
  %56 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 0)
  %57 = load float, ptr %56, align 4, !tbaa !5
  %58 = fcmp ogt float %55, %57
  br i1 %58, label %59, label %61

59:                                               ; preds = %53
  %60 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 0)
  store float 0.000000e+00, ptr %60, align 4, !tbaa !5
  br label %74

61:                                               ; preds = %53
  %62 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 0)
  %63 = load float, ptr %62, align 4, !tbaa !5
  %64 = fpext float %63 to double
  %65 = fcmp olt double %64, 1.000000e-10
  %66 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 0)
  br i1 %65, label %67, label %68

67:                                               ; preds = %61
  store float 0.000000e+00, ptr %66, align 4, !tbaa !5
  br label %74

68:                                               ; preds = %61
  %69 = load float, ptr %66, align 4, !tbaa !5
  %70 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 0)
  %71 = load float, ptr %70, align 4, !tbaa !5
  %72 = fdiv float %69, %71
  %73 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 0)
  store float %72, ptr %73, align 4, !tbaa !5
  br label %74

74:                                               ; preds = %59, %68, %67
  %75 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 1)
  %76 = load float, ptr %75, align 4, !tbaa !5
  %77 = fcmp olt float %76, 0.000000e+00
  br i1 %77, label %78, label %82

78:                                               ; preds = %74
  %79 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 1)
  %80 = load float, ptr %79, align 4, !tbaa !5
  %81 = fadd float %80, 1.000000e+00
  store float %81, ptr %79, align 4, !tbaa !5
  br label %82

82:                                               ; preds = %78, %74
  %83 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 1)
  %84 = load float, ptr %83, align 4, !tbaa !5
  %85 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 1)
  %86 = load float, ptr %85, align 4, !tbaa !5
  %87 = fcmp ogt float %84, %86
  br i1 %87, label %101, label %88

88:                                               ; preds = %82
  %89 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 1)
  %90 = load float, ptr %89, align 4, !tbaa !5
  %91 = fpext float %90 to double
  %92 = fcmp olt double %91, 1.000000e-10
  %93 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 1)
  br i1 %92, label %100, label %94

94:                                               ; preds = %88
  %95 = load float, ptr %93, align 4, !tbaa !5
  %96 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 1)
  %97 = load float, ptr %96, align 4, !tbaa !5
  %98 = fdiv float %95, %97
  %99 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 1)
  store float %98, ptr %99, align 4, !tbaa !5
  br label %103

100:                                              ; preds = %88
  store float 0.000000e+00, ptr %93, align 4, !tbaa !5
  br label %103

101:                                              ; preds = %82
  %102 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 1)
  store float 0.000000e+00, ptr %102, align 4, !tbaa !5
  br label %103

103:                                              ; preds = %101, %100, %94
  %104 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 2)
  %105 = load float, ptr %104, align 4, !tbaa !5
  %106 = fcmp olt float %105, 0.000000e+00
  br i1 %106, label %107, label %111

107:                                              ; preds = %103
  %108 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 2)
  %109 = load float, ptr %108, align 4, !tbaa !5
  %110 = fadd float %109, 1.000000e+00
  store float %110, ptr %108, align 4, !tbaa !5
  br label %111

111:                                              ; preds = %107, %103
  %112 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 2)
  %113 = load float, ptr %112, align 4, !tbaa !5
  %114 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 2)
  %115 = load float, ptr %114, align 4, !tbaa !5
  %116 = fcmp ogt float %113, %115
  br i1 %116, label %130, label %117

117:                                              ; preds = %111
  %118 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 2)
  %119 = load float, ptr %118, align 4, !tbaa !5
  %120 = fpext float %119 to double
  %121 = fcmp olt double %120, 1.000000e-10
  %122 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 2)
  br i1 %121, label %129, label %123

123:                                              ; preds = %117
  %124 = load float, ptr %122, align 4, !tbaa !5
  %125 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 2)
  %126 = load float, ptr %125, align 4, !tbaa !5
  %127 = fdiv float %124, %126
  %128 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 2)
  store float %127, ptr %128, align 4, !tbaa !5
  br label %132

129:                                              ; preds = %117
  store float 0.000000e+00, ptr %122, align 4, !tbaa !5
  br label %132

130:                                              ; preds = %111
  %131 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 2)
  store float 0.000000e+00, ptr %131, align 4, !tbaa !5
  br label %132

132:                                              ; preds = %130, %129, %123
  %133 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 3)
  %134 = load float, ptr %133, align 4, !tbaa !5
  %135 = fcmp olt float %134, 0.000000e+00
  br i1 %135, label %136, label %140

136:                                              ; preds = %132
  %137 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 3)
  %138 = load float, ptr %137, align 4, !tbaa !5
  %139 = fadd float %138, 1.000000e+00
  store float %139, ptr %137, align 4, !tbaa !5
  br label %140

140:                                              ; preds = %136, %132
  %141 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 3)
  %142 = load float, ptr %141, align 4, !tbaa !5
  %143 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 3)
  %144 = load float, ptr %143, align 4, !tbaa !5
  %145 = fcmp ogt float %142, %144
  br i1 %145, label %159, label %146

146:                                              ; preds = %140
  %147 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 3)
  %148 = load float, ptr %147, align 4, !tbaa !5
  %149 = fpext float %148 to double
  %150 = fcmp olt double %149, 1.000000e-10
  %151 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 3)
  br i1 %150, label %158, label %152

152:                                              ; preds = %146
  %153 = load float, ptr %151, align 4, !tbaa !5
  %154 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 3)
  %155 = load float, ptr %154, align 4, !tbaa !5
  %156 = fdiv float %153, %155
  %157 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 3)
  store float %156, ptr %157, align 4, !tbaa !5
  br label %161

158:                                              ; preds = %146
  store float 0.000000e+00, ptr %151, align 4, !tbaa !5
  br label %161

159:                                              ; preds = %140
  %160 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef 3)
  store float 0.000000e+00, ptr %160, align 4, !tbaa !5
  br label %161

161:                                              ; preds = %159, %158, %152
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #3
  %162 = call ptr @_ZN5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEE6matrixEv(ptr noundef nonnull align 1 dereferenceable(1) %8)
  store ptr %162, ptr %10, align 8
  call void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2INS_13MatrixWrapperINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %0, ptr noundef nonnull align 1 dereferenceable(1) %10)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %3) #3
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIfNS6_6traitsIT_E6ScalarEEEKS2_KS9_EERKNS0_IS9_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.63") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIffEEKS1_S7_EEEERKNS_9EigenBaseIT_EENS4_9enable_ifIXsr8internal14is_convertibleINSA_6ScalarEfEE5valueENS1_11PrivateTypeEE4typeE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5EigenmiIdEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opINS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_fNS3_IS5_fEEEEEE5valueEE4typeEfEEKNS2_19plain_constant_typeINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEESA_E4typeEKSE_EERKS5_RKNS_9ArrayBaseISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.45") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #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 = { 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 = !{!"float", !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,LoopRotatePass,SROAPass,SimplifyCFGPass