; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/MPC_Ctrl/RobotState.ll (ZN10RobotState3setEPfS0_S0_S0_S0_f)

; 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::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 { [9 x float] }
%"struct.Eigen::CommaInitializer" = type { ptr, i64, i64, i64 }
%"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 { [3 x float] }
%"struct.Eigen::CommaInitializer.33" = type { ptr, i64, i64, i64 }
%"class.Eigen::Diagonal" = type <{ ptr, [8 x i8] }>
%class.RobotState = type { %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", [12 x i8], %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", [4 x i8], %"class.Eigen::Quaternion", float, float, [8 x i8] }
%"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 { [12 x float] }
%"class.Eigen::Quaternion" = type { %"class.Eigen::Matrix.23" }
%"class.Eigen::Matrix.23" = type { %"class.Eigen::PlainObjectBase.24" }
%"class.Eigen::PlainObjectBase.24" = type { %"class.Eigen::DenseStorage.31" }
%"class.Eigen::DenseStorage.31" = type { %"struct.Eigen::internal::plain_array.32" }
%"struct.Eigen::internal::plain_array.32" = type { [4 x float] }

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN10RobotState3setEPfS0_S0_S0_S0_f(ptr noundef nonnull align 16 dereferenceable(232) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5, float noundef %6) #0 align 2 personality ptr @__gxx_personality_v0 {
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca float, align 4
  %15 = alloca i8, align 1
  %16 = alloca i8, align 1
  %17 = alloca i32, align 4
  %18 = alloca i8, align 1
  %19 = alloca %"class.Eigen::Matrix.13", align 4
  %20 = alloca float, align 4
  %21 = alloca float, align 4
  %22 = alloca %"struct.Eigen::CommaInitializer", align 8
  %23 = alloca float, align 4
  %24 = alloca ptr, align 8
  %25 = alloca i32, align 4
  %26 = alloca float, align 4
  %27 = alloca float, align 4
  %28 = alloca float, align 4
  %29 = alloca float, align 4
  %30 = alloca float, align 4
  %31 = alloca %"class.Eigen::Matrix", align 4
  %32 = alloca %"struct.Eigen::CommaInitializer.33", align 8
  %33 = alloca float, align 4
  %34 = alloca float, align 4
  %35 = alloca float, align 4
  %36 = alloca %"class.Eigen::Diagonal", align 8
  store ptr %0, ptr %8, align 8, !tbaa !5
  store ptr %1, ptr %9, align 8, !tbaa !5
  store ptr %2, ptr %10, align 8, !tbaa !5
  store ptr %3, ptr %11, align 8, !tbaa !5
  store ptr %4, ptr %12, align 8, !tbaa !5
  store ptr %5, ptr %13, align 8, !tbaa !5
  store float %6, ptr %14, align 4, !tbaa !9
  %37 = load ptr, ptr %8, align 8
  call void @llvm.lifetime.start.p0(i64 1, ptr %15) #4
  store i8 0, ptr %15, align 1, !tbaa !11
  br label %38

38:                                               ; preds = %71, %7
  %39 = load i8, ptr %15, align 1, !tbaa !11
  %40 = zext i8 %39 to i32
  %41 = icmp slt i32 %40, 3
  br i1 %41, label %43, label %42

42:                                               ; preds = %38
  call void @llvm.lifetime.end.p0(i64 1, ptr %15) #4
  br label %74

43:                                               ; preds = %38
  %44 = load ptr, ptr %9, align 8, !tbaa !5
  %45 = load i8, ptr %15, align 1, !tbaa !11
  %46 = zext i8 %45 to i64
  %47 = getelementptr inbounds float, ptr %44, i64 %46
  %48 = load float, ptr %47, align 4, !tbaa !9
  %49 = getelementptr inbounds %class.RobotState, ptr %37, i32 0, i32 0
  %50 = load i8, ptr %15, align 1, !tbaa !11
  %51 = zext i8 %50 to i64
  %52 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %49, i64 noundef %51)
  store float %48, ptr %52, align 4, !tbaa !9
  %53 = load ptr, ptr %10, align 8, !tbaa !5
  %54 = load i8, ptr %15, align 1, !tbaa !11
  %55 = zext i8 %54 to i64
  %56 = getelementptr inbounds float, ptr %53, i64 %55
  %57 = load float, ptr %56, align 4, !tbaa !9
  %58 = getelementptr inbounds %class.RobotState, ptr %37, i32 0, i32 1
  %59 = load i8, ptr %15, align 1, !tbaa !11
  %60 = zext i8 %59 to i64
  %61 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %58, i64 noundef %60)
  store float %57, ptr %61, align 4, !tbaa !9
  %62 = load ptr, ptr %12, align 8, !tbaa !5
  %63 = load i8, ptr %15, align 1, !tbaa !11
  %64 = zext i8 %63 to i64
  %65 = getelementptr inbounds float, ptr %62, i64 %64
  %66 = load float, ptr %65, align 4, !tbaa !9
  %67 = getelementptr inbounds %class.RobotState, ptr %37, i32 0, i32 2
  %68 = load i8, ptr %15, align 1, !tbaa !11
  %69 = zext i8 %68 to i64
  %70 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %67, i64 noundef %69)
  store float %66, ptr %70, align 4, !tbaa !9
  br label %71

71:                                               ; preds = %43
  %72 = load i8, ptr %15, align 1, !tbaa !11
  %73 = add i8 %72, 1
  store i8 %73, ptr %15, align 1, !tbaa !11
  br label %38, !llvm.loop !12

74:                                               ; preds = %42
  %75 = load ptr, ptr %11, align 8, !tbaa !5
  %76 = getelementptr inbounds float, ptr %75, i64 0
  %77 = load float, ptr %76, align 4, !tbaa !9
  %78 = getelementptr inbounds %class.RobotState, ptr %37, i32 0, i32 9
  %79 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1wEv(ptr noundef nonnull align 1 dereferenceable(1) %78)
  store float %77, ptr %79, align 4, !tbaa !9
  %80 = load ptr, ptr %11, align 8, !tbaa !5
  %81 = getelementptr inbounds float, ptr %80, i64 1
  %82 = load float, ptr %81, align 4, !tbaa !9
  %83 = getelementptr inbounds %class.RobotState, ptr %37, i32 0, i32 9
  %84 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1xEv(ptr noundef nonnull align 1 dereferenceable(1) %83)
  store float %82, ptr %84, align 4, !tbaa !9
  %85 = load ptr, ptr %11, align 8, !tbaa !5
  %86 = getelementptr inbounds float, ptr %85, i64 2
  %87 = load float, ptr %86, align 4, !tbaa !9
  %88 = getelementptr inbounds %class.RobotState, ptr %37, i32 0, i32 9
  %89 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1yEv(ptr noundef nonnull align 1 dereferenceable(1) %88)
  store float %87, ptr %89, align 4, !tbaa !9
  %90 = load ptr, ptr %11, align 8, !tbaa !5
  %91 = getelementptr inbounds float, ptr %90, i64 3
  %92 = load float, ptr %91, align 4, !tbaa !9
  %93 = getelementptr inbounds %class.RobotState, ptr %37, i32 0, i32 9
  %94 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1zEv(ptr noundef nonnull align 1 dereferenceable(1) %93)
  store float %92, ptr %94, align 4, !tbaa !9
  %95 = load float, ptr %14, align 4, !tbaa !9
  %96 = getelementptr inbounds %class.RobotState, ptr %37, i32 0, i32 10
  store float %95, ptr %96, align 16, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 1, ptr %16) #4
  store i8 0, ptr %16, align 1, !tbaa !11
  br label %97

97:                                               ; preds = %129, %74
  %98 = load i8, ptr %16, align 1, !tbaa !11
  %99 = zext i8 %98 to i32
  %100 = icmp slt i32 %99, 3
  br i1 %100, label %102, label %101

101:                                              ; preds = %97
  store i32 5, ptr %17, align 4
  call void @llvm.lifetime.end.p0(i64 1, ptr %16) #4
  br label %132

102:                                              ; preds = %97
  call void @llvm.lifetime.start.p0(i64 1, ptr %18) #4
  store i8 0, ptr %18, align 1, !tbaa !11
  br label %103

103:                                              ; preds = %125, %102
  %104 = load i8, ptr %18, align 1, !tbaa !11
  %105 = zext i8 %104 to i32
  %106 = icmp slt i32 %105, 4
  br i1 %106, label %108, label %107

107:                                              ; preds = %103
  store i32 8, ptr %17, align 4
  call void @llvm.lifetime.end.p0(i64 1, ptr %18) #4
  br label %128

108:                                              ; preds = %103
  %109 = load ptr, ptr %13, align 8, !tbaa !5
  %110 = load i8, ptr %16, align 1, !tbaa !11
  %111 = zext i8 %110 to i32
  %112 = mul nsw i32 %111, 4
  %113 = load i8, ptr %18, align 1, !tbaa !11
  %114 = zext i8 %113 to i32
  %115 = add nsw i32 %112, %114
  %116 = sext i32 %115 to i64
  %117 = getelementptr inbounds float, ptr %109, i64 %116
  %118 = load float, ptr %117, align 4, !tbaa !9
  %119 = getelementptr inbounds %class.RobotState, ptr %37, i32 0, i32 4
  %120 = load i8, ptr %16, align 1, !tbaa !11
  %121 = zext i8 %120 to i64
  %122 = load i8, ptr %18, align 1, !tbaa !11
  %123 = zext i8 %122 to i64
  %124 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %119, i64 noundef %121, i64 noundef %123)
  store float %118, ptr %124, align 4, !tbaa !9
  br label %125

125:                                              ; preds = %108
  %126 = load i8, ptr %18, align 1, !tbaa !11
  %127 = add i8 %126, 1
  store i8 %127, ptr %18, align 1, !tbaa !11
  br label %103, !llvm.loop !33

128:                                              ; preds = %107
  br label %129

129:                                              ; preds = %128
  %130 = load i8, ptr %16, align 1, !tbaa !11
  %131 = add i8 %130, 1
  store i8 %131, ptr %16, align 1, !tbaa !11
  br label %97, !llvm.loop !34

132:                                              ; preds = %101
  call void @llvm.lifetime.start.p0(i64 36, ptr %19) #4
  %133 = getelementptr inbounds %class.RobotState, ptr %37, i32 0, i32 9
  call void @_ZNK5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE16toRotationMatrixEv(ptr dead_on_unwind writable sret(%"class.Eigen::Matrix.13") align 4 %19, ptr noundef nonnull align 1 dereferenceable(1) %133)
  %134 = getelementptr inbounds %class.RobotState, ptr %37, i32 0, i32 5
  %135 = call noundef nonnull align 4 dereferenceable(36) ptr @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEaSEOS1_(ptr noundef nonnull align 4 dereferenceable(36) %134, ptr noundef nonnull align 4 dereferenceable(36) %19) #4
  call void @llvm.lifetime.end.p0(i64 36, ptr %19) #4
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #4
  %136 = load float, ptr %14, align 4, !tbaa !9
  %137 = call noundef float @_ZSt3cosf(float noundef %136)
  store float %137, ptr %20, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #4
  %138 = load float, ptr %14, align 4, !tbaa !9
  %139 = call noundef float @_ZSt3sinf(float noundef %138)
  store float %139, ptr %21, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 32, ptr %22) #4
  %140 = getelementptr inbounds %class.RobotState, ptr %37, i32 0, i32 6
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEElsERKf(ptr dead_on_unwind writable sret(%"struct.Eigen::CommaInitializer") align 8 %22, ptr noundef nonnull align 1 dereferenceable(1) %140, ptr noundef nonnull align 4 dereferenceable(4) %20)
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #4
  %141 = load float, ptr %21, align 4, !tbaa !9
  %142 = fneg float %141
  store float %142, ptr %23, align 4, !tbaa !9
  %143 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %22, ptr noundef nonnull align 4 dereferenceable(4) %23)
          to label %144 unwind label %165

144:                                              ; preds = %132
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #4
  store float 0.000000e+00, ptr %26, align 4, !tbaa !9
  %145 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %143, ptr noundef nonnull align 4 dereferenceable(4) %26)
          to label %146 unwind label %169

146:                                              ; preds = %144
  %147 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %145, ptr noundef nonnull align 4 dereferenceable(4) %21)
          to label %148 unwind label %169

148:                                              ; preds = %146
  %149 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %147, ptr noundef nonnull align 4 dereferenceable(4) %20)
          to label %150 unwind label %169

150:                                              ; preds = %148
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #4
  store float 0.000000e+00, ptr %27, align 4, !tbaa !9
  %151 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %149, ptr noundef nonnull align 4 dereferenceable(4) %27)
          to label %152 unwind label %173

152:                                              ; preds = %150
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #4
  store float 0.000000e+00, ptr %28, align 4, !tbaa !9
  %153 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %151, ptr noundef nonnull align 4 dereferenceable(4) %28)
          to label %154 unwind label %177

154:                                              ; preds = %152
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #4
  store float 0.000000e+00, ptr %29, align 4, !tbaa !9
  %155 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %153, ptr noundef nonnull align 4 dereferenceable(4) %29)
          to label %156 unwind label %181

156:                                              ; preds = %154
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #4
  store float 1.000000e+00, ptr %30, align 4, !tbaa !9
  %157 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %155, ptr noundef nonnull align 4 dereferenceable(4) %30)
          to label %158 unwind label %185

158:                                              ; preds = %156
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #4
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr %22) #4
  call void @llvm.lifetime.start.p0(i64 12, ptr %31) #4
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2Ev(ptr noundef nonnull align 4 dereferenceable(12) %31)
  call void @llvm.lifetime.start.p0(i64 32, ptr %32) #4
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #4
  store float 0x3FB1EB8520000000, ptr %33, align 4, !tbaa !9
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEElsERKf(ptr dead_on_unwind writable sret(%"struct.Eigen::CommaInitializer.33") align 8 %32, ptr noundef nonnull align 1 dereferenceable(1) %31, ptr noundef nonnull align 4 dereferenceable(4) %33)
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #4
  store float 0x3FD0A3D700000000, ptr %34, align 4, !tbaa !9
  %159 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %32, ptr noundef nonnull align 4 dereferenceable(4) %34)
          to label %160 unwind label %194

160:                                              ; preds = %158
  call void @llvm.lifetime.start.p0(i64 4, ptr %35) #4
  store float 0x3FCEF9DB20000000, ptr %35, align 4, !tbaa !9
  %161 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %159, ptr noundef nonnull align 4 dereferenceable(4) %35)
          to label %162 unwind label %198

162:                                              ; preds = %160
  call void @llvm.lifetime.end.p0(i64 4, ptr %35) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #4
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %32) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr %32) #4
  call void @llvm.lifetime.start.p0(i64 16, ptr %36) #4
  %163 = getelementptr inbounds %class.RobotState, ptr %37, i32 0, i32 7
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE8diagonalEv(ptr dead_on_unwind writable sret(%"class.Eigen::Diagonal") align 8 %36, ptr noundef nonnull align 1 dereferenceable(1) %163)
  %164 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5Eigen8DiagonalINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEELi0EEaSINS1_IfLi3ELi1ELi0ELi3ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(9) %36, ptr noundef nonnull align 1 dereferenceable(1) %31)
  call void @llvm.lifetime.end.p0(i64 16, ptr %36) #4
  call void @llvm.lifetime.end.p0(i64 12, ptr %31) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #4
  ret void

165:                                              ; preds = %132
  %166 = landingpad { ptr, i32 }
          cleanup
  %167 = extractvalue { ptr, i32 } %166, 0
  store ptr %167, ptr %24, align 8
  %168 = extractvalue { ptr, i32 } %166, 1
  store i32 %168, ptr %25, align 4
  br label %193

169:                                              ; preds = %148, %146, %144
  %170 = landingpad { ptr, i32 }
          cleanup
  %171 = extractvalue { ptr, i32 } %170, 0
  store ptr %171, ptr %24, align 8
  %172 = extractvalue { ptr, i32 } %170, 1
  store i32 %172, ptr %25, align 4
  br label %192

173:                                              ; preds = %150
  %174 = landingpad { ptr, i32 }
          cleanup
  %175 = extractvalue { ptr, i32 } %174, 0
  store ptr %175, ptr %24, align 8
  %176 = extractvalue { ptr, i32 } %174, 1
  store i32 %176, ptr %25, align 4
  br label %191

177:                                              ; preds = %152
  %178 = landingpad { ptr, i32 }
          cleanup
  %179 = extractvalue { ptr, i32 } %178, 0
  store ptr %179, ptr %24, align 8
  %180 = extractvalue { ptr, i32 } %178, 1
  store i32 %180, ptr %25, align 4
  br label %190

181:                                              ; preds = %154
  %182 = landingpad { ptr, i32 }
          cleanup
  %183 = extractvalue { ptr, i32 } %182, 0
  store ptr %183, ptr %24, align 8
  %184 = extractvalue { ptr, i32 } %182, 1
  store i32 %184, ptr %25, align 4
  br label %189

185:                                              ; preds = %156
  %186 = landingpad { ptr, i32 }
          cleanup
  %187 = extractvalue { ptr, i32 } %186, 0
  store ptr %187, ptr %24, align 8
  %188 = extractvalue { ptr, i32 } %186, 1
  store i32 %188, ptr %25, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #4
  br label %189

189:                                              ; preds = %185, %181
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #4
  br label %190

190:                                              ; preds = %189, %177
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #4
  br label %191

191:                                              ; preds = %190, %173
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #4
  br label %192

192:                                              ; preds = %191, %169
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #4
  br label %193

193:                                              ; preds = %192, %165
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #4
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr %22) #4
  br label %203

194:                                              ; preds = %158
  %195 = landingpad { ptr, i32 }
          cleanup
  %196 = extractvalue { ptr, i32 } %195, 0
  store ptr %196, ptr %24, align 8
  %197 = extractvalue { ptr, i32 } %195, 1
  store i32 %197, ptr %25, align 4
  br label %202

198:                                              ; preds = %160
  %199 = landingpad { ptr, i32 }
          cleanup
  %200 = extractvalue { ptr, i32 } %199, 0
  store ptr %200, ptr %24, align 8
  %201 = extractvalue { ptr, i32 } %199, 1
  store i32 %201, ptr %25, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %35) #4
  br label %202

202:                                              ; preds = %198, %194
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #4
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %32) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr %32) #4
  call void @llvm.lifetime.end.p0(i64 12, ptr %31) #4
  br label %203

203:                                              ; preds = %202, %193
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #4
  br label %204

204:                                              ; preds = %203
  %205 = load ptr, ptr %24, align 8
  %206 = load i32, ptr %25, align 4
  %207 = insertvalue { ptr, i32 } poison, ptr %205, 0
  %208 = insertvalue { ptr, i32 } %207, i32 %206, 1
  resume { ptr, i32 } %208
}

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #2 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1wEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1xEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1yEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1zEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE16toRotationMatrixEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.13") align 4, ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(36) ptr @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEaSEOS1_(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 4 dereferenceable(36)) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3cosf(float noundef) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3sinf(float noundef) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEElsERKf(ptr dead_on_unwind noalias writable sret(%"struct.Eigen::CommaInitializer") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 4 dereferenceable(4)) #0 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2Ev(ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEElsERKf(ptr dead_on_unwind noalias writable sret(%"struct.Eigen::CommaInitializer.33") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 4 dereferenceable(4)) #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE8diagonalEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Diagonal") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(9) ptr @_ZN5Eigen8DiagonalINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEELi0EEaSINS1_IfLi3ELi1ELi0ELi3ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(9), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"float", !7, i64 0}
!11 = !{!7, !7, i64 0}
!12 = distinct !{!12, !13}
!13 = !{!"llvm.loop.mustprogress"}
!14 = !{!15, !10, i64 224}
!15 = !{!"_ZTS10RobotState", !16, i64 0, !16, i64 12, !16, i64 24, !20, i64 48, !24, i64 96, !24, i64 132, !24, i64 168, !28, i64 208, !10, i64 224, !10, i64 228}
!16 = !{!"_ZTSN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen12DenseStorageIfLi3ELi3ELi1ELi0EEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi3ELi0ELi0EEE", !7, i64 0}
!20 = !{!"_ZTSN5Eigen6MatrixIfLi3ELi4ELi0ELi3ELi4EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEEEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen12DenseStorageIfLi12ELi3ELi4ELi0EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi12ELi0ELi16EEE", !7, i64 0}
!24 = !{!"_ZTSN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEE", !26, i64 0}
!26 = !{!"_ZTSN5Eigen12DenseStorageIfLi9ELi3ELi3ELi0EEE", !27, i64 0}
!27 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi9ELi0ELi0EEE", !7, i64 0}
!28 = !{!"_ZTSN5Eigen10QuaternionIfLi0EEE", !29, i64 0}
!29 = !{!"_ZTSN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEE", !30, i64 0}
!30 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEEE", !31, i64 0}
!31 = !{!"_ZTSN5Eigen12DenseStorageIfLi4ELi4ELi1ELi0EEE", !32, i64 0}
!32 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi4ELi0ELi16EEE", !7, i64 0}
!33 = distinct !{!33, !13}
!34 = distinct !{!34, !13}


; 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::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 { [9 x float] }
%"struct.Eigen::CommaInitializer" = type { ptr, i64, i64, i64 }
%"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 { [3 x float] }
%"struct.Eigen::CommaInitializer.33" = type { ptr, i64, i64, i64 }
%"class.Eigen::Diagonal" = type <{ ptr, [8 x i8] }>

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN10RobotState3setEPfS0_S0_S0_S0_f(ptr noundef nonnull align 16 dereferenceable(232) %0, ptr nocapture noundef readonly %1, ptr nocapture noundef readonly %2, ptr nocapture noundef readonly %3, ptr nocapture noundef readonly %4, ptr nocapture noundef readonly %5, float noundef %6) local_unnamed_addr #0 align 2 personality ptr @__gxx_personality_v0 {
.preheader:
  %7 = alloca %"class.Eigen::Matrix.13", align 4
  %8 = alloca float, align 4
  %9 = alloca float, align 4
  %10 = alloca %"struct.Eigen::CommaInitializer", align 8
  %11 = alloca float, align 4
  %12 = alloca float, align 4
  %13 = alloca float, align 4
  %14 = alloca float, align 4
  %15 = alloca float, align 4
  %16 = alloca float, align 4
  %17 = alloca %"class.Eigen::Matrix", align 4
  %18 = alloca %"struct.Eigen::CommaInitializer.33", align 8
  %19 = alloca float, align 4
  %20 = alloca float, align 4
  %21 = alloca float, align 4
  %22 = alloca %"class.Eigen::Diagonal", align 8
  %23 = getelementptr inbounds i8, ptr %0, i64 12
  %24 = getelementptr inbounds i8, ptr %0, i64 24
  %25 = load float, ptr %1, align 4, !tbaa !5
  %26 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %0, i64 noundef 0)
  store float %25, ptr %26, align 4, !tbaa !5
  %27 = load float, ptr %2, align 4, !tbaa !5
  %28 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %23, i64 noundef 0)
  store float %27, ptr %28, align 4, !tbaa !5
  %29 = load float, ptr %4, align 4, !tbaa !5
  %30 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %24, i64 noundef 0)
  store float %29, ptr %30, align 4, !tbaa !5
  %31 = getelementptr inbounds i8, ptr %1, i64 4
  %32 = load float, ptr %31, align 4, !tbaa !5
  %33 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %0, i64 noundef 1)
  store float %32, ptr %33, align 4, !tbaa !5
  %34 = getelementptr inbounds i8, ptr %2, i64 4
  %35 = load float, ptr %34, align 4, !tbaa !5
  %36 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %23, i64 noundef 1)
  store float %35, ptr %36, align 4, !tbaa !5
  %37 = getelementptr inbounds i8, ptr %4, i64 4
  %38 = load float, ptr %37, align 4, !tbaa !5
  %39 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %24, i64 noundef 1)
  store float %38, ptr %39, align 4, !tbaa !5
  %40 = getelementptr inbounds i8, ptr %1, i64 8
  %41 = load float, ptr %40, align 4, !tbaa !5
  %42 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %0, i64 noundef 2)
  store float %41, ptr %42, align 4, !tbaa !5
  %43 = getelementptr inbounds i8, ptr %2, i64 8
  %44 = load float, ptr %43, align 4, !tbaa !5
  %45 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %23, i64 noundef 2)
  store float %44, ptr %45, align 4, !tbaa !5
  %46 = getelementptr inbounds i8, ptr %4, i64 8
  %47 = load float, ptr %46, align 4, !tbaa !5
  %48 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %24, i64 noundef 2)
  store float %47, ptr %48, align 4, !tbaa !5
  %49 = load float, ptr %3, align 4, !tbaa !5
  %50 = getelementptr inbounds i8, ptr %0, i64 208
  %51 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1wEv(ptr noundef nonnull align 1 dereferenceable(1) %50)
  store float %49, ptr %51, align 4, !tbaa !5
  %52 = getelementptr inbounds i8, ptr %3, i64 4
  %53 = load float, ptr %52, align 4, !tbaa !5
  %54 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1xEv(ptr noundef nonnull align 1 dereferenceable(1) %50)
  store float %53, ptr %54, align 4, !tbaa !5
  %55 = getelementptr inbounds i8, ptr %3, i64 8
  %56 = load float, ptr %55, align 4, !tbaa !5
  %57 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1yEv(ptr noundef nonnull align 1 dereferenceable(1) %50)
  store float %56, ptr %57, align 4, !tbaa !5
  %58 = getelementptr inbounds i8, ptr %3, i64 12
  %59 = load float, ptr %58, align 4, !tbaa !5
  %60 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1zEv(ptr noundef nonnull align 1 dereferenceable(1) %50)
  store float %59, ptr %60, align 4, !tbaa !5
  %61 = getelementptr inbounds i8, ptr %0, i64 224
  store float %6, ptr %61, align 16, !tbaa !9
  %62 = getelementptr inbounds i8, ptr %0, i64 48
  %63 = load float, ptr %5, align 4, !tbaa !5
  %64 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %62, i64 noundef 0, i64 noundef 0)
  store float %63, ptr %64, align 4, !tbaa !5
  %65 = getelementptr inbounds i8, ptr %5, i64 4
  %66 = load float, ptr %65, align 4, !tbaa !5
  %67 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %62, i64 noundef 0, i64 noundef 1)
  store float %66, ptr %67, align 4, !tbaa !5
  %68 = getelementptr inbounds i8, ptr %5, i64 8
  %69 = load float, ptr %68, align 4, !tbaa !5
  %70 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %62, i64 noundef 0, i64 noundef 2)
  store float %69, ptr %70, align 4, !tbaa !5
  %71 = getelementptr inbounds i8, ptr %5, i64 12
  %72 = load float, ptr %71, align 4, !tbaa !5
  %73 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %62, i64 noundef 0, i64 noundef 3)
  store float %72, ptr %73, align 4, !tbaa !5
  %74 = getelementptr inbounds i8, ptr %5, i64 16
  %75 = load float, ptr %74, align 4, !tbaa !5
  %76 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %62, i64 noundef 1, i64 noundef 0)
  store float %75, ptr %76, align 4, !tbaa !5
  %77 = getelementptr inbounds i8, ptr %5, i64 20
  %78 = load float, ptr %77, align 4, !tbaa !5
  %79 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %62, i64 noundef 1, i64 noundef 1)
  store float %78, ptr %79, align 4, !tbaa !5
  %80 = getelementptr inbounds i8, ptr %5, i64 24
  %81 = load float, ptr %80, align 4, !tbaa !5
  %82 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %62, i64 noundef 1, i64 noundef 2)
  store float %81, ptr %82, align 4, !tbaa !5
  %83 = getelementptr inbounds i8, ptr %5, i64 28
  %84 = load float, ptr %83, align 4, !tbaa !5
  %85 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %62, i64 noundef 1, i64 noundef 3)
  store float %84, ptr %85, align 4, !tbaa !5
  %86 = getelementptr inbounds i8, ptr %5, i64 32
  %87 = load float, ptr %86, align 4, !tbaa !5
  %88 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %62, i64 noundef 2, i64 noundef 0)
  store float %87, ptr %88, align 4, !tbaa !5
  %89 = getelementptr inbounds i8, ptr %5, i64 36
  %90 = load float, ptr %89, align 4, !tbaa !5
  %91 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %62, i64 noundef 2, i64 noundef 1)
  store float %90, ptr %91, align 4, !tbaa !5
  %92 = getelementptr inbounds i8, ptr %5, i64 40
  %93 = load float, ptr %92, align 4, !tbaa !5
  %94 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %62, i64 noundef 2, i64 noundef 2)
  store float %93, ptr %94, align 4, !tbaa !5
  %95 = getelementptr inbounds i8, ptr %5, i64 44
  %96 = load float, ptr %95, align 4, !tbaa !5
  %97 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %62, i64 noundef 2, i64 noundef 3)
  store float %96, ptr %97, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 36, ptr nonnull %7) #4
  call void @_ZNK5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE16toRotationMatrixEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Matrix.13") align 4 %7, ptr noundef nonnull align 1 dereferenceable(1) %50)
  %98 = getelementptr inbounds i8, ptr %0, i64 96
  %99 = call noundef nonnull align 4 dereferenceable(36) ptr @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEaSEOS1_(ptr noundef nonnull align 4 dereferenceable(36) %98, ptr noundef nonnull align 4 dereferenceable(36) %7) #4
  call void @llvm.lifetime.end.p0(i64 36, ptr nonnull %7) #4
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %8) #4
  %100 = call noundef float @_ZSt3cosf(float noundef %6)
  store float %100, ptr %8, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %9) #4
  %101 = call noundef float @_ZSt3sinf(float noundef %6)
  store float %101, ptr %9, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %10) #4
  %102 = getelementptr inbounds i8, ptr %0, i64 132
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEElsERKf(ptr dead_on_unwind nonnull writable sret(%"struct.Eigen::CommaInitializer") align 8 %10, ptr noundef nonnull align 1 dereferenceable(1) %102, ptr noundef nonnull align 4 dereferenceable(4) %8)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %11) #4
  %103 = fneg float %101
  store float %103, ptr %11, align 4, !tbaa !5
  %104 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %10, ptr noundef nonnull align 4 dereferenceable(4) %11)
          to label %105 unwind label %126

105:                                              ; preds = %.preheader
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %12) #4
  store float 0.000000e+00, ptr %12, align 4, !tbaa !5
  %106 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %104, ptr noundef nonnull align 4 dereferenceable(4) %12)
          to label %107 unwind label %128

107:                                              ; preds = %105
  %108 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %106, ptr noundef nonnull align 4 dereferenceable(4) %9)
          to label %109 unwind label %128

109:                                              ; preds = %107
  %110 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %108, ptr noundef nonnull align 4 dereferenceable(4) %8)
          to label %111 unwind label %128

111:                                              ; preds = %109
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %13) #4
  store float 0.000000e+00, ptr %13, align 4, !tbaa !5
  %112 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %110, ptr noundef nonnull align 4 dereferenceable(4) %13)
          to label %113 unwind label %130

113:                                              ; preds = %111
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %14) #4
  store float 0.000000e+00, ptr %14, align 4, !tbaa !5
  %114 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %112, ptr noundef nonnull align 4 dereferenceable(4) %14)
          to label %115 unwind label %132

115:                                              ; preds = %113
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %15) #4
  store float 0.000000e+00, ptr %15, align 4, !tbaa !5
  %116 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %114, ptr noundef nonnull align 4 dereferenceable(4) %15)
          to label %117 unwind label %134

117:                                              ; preds = %115
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %16) #4
  store float 1.000000e+00, ptr %16, align 4, !tbaa !5
  %118 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %116, ptr noundef nonnull align 4 dereferenceable(4) %16)
          to label %119 unwind label %136

119:                                              ; preds = %117
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %16) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %15) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %14) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %13) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %12) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %11) #4
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #4
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %17) #4
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2Ev(ptr noundef nonnull align 4 dereferenceable(12) %17)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %18) #4
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %19) #4
  store float 0x3FB1EB8520000000, ptr %19, align 4, !tbaa !5
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEElsERKf(ptr dead_on_unwind nonnull writable sret(%"struct.Eigen::CommaInitializer.33") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %17, ptr noundef nonnull align 4 dereferenceable(4) %19)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %20) #4
  store float 0x3FD0A3D700000000, ptr %20, align 4, !tbaa !5
  %120 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %18, ptr noundef nonnull align 4 dereferenceable(4) %20)
          to label %121 unwind label %143

121:                                              ; preds = %119
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %21) #4
  store float 0x3FCEF9DB20000000, ptr %21, align 4, !tbaa !5
  %122 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32) %120, ptr noundef nonnull align 4 dereferenceable(4) %21)
          to label %123 unwind label %145

123:                                              ; preds = %121
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %21) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %20) #4
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %19) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %18) #4
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %22) #4
  %124 = getelementptr inbounds i8, ptr %0, i64 168
  call void @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE8diagonalEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Diagonal") align 8 %22, ptr noundef nonnull align 1 dereferenceable(1) %124)
  %125 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5Eigen8DiagonalINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEELi0EEaSINS1_IfLi3ELi1ELi0ELi3ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(9) %22, ptr noundef nonnull align 1 dereferenceable(1) %17)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #4
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %17) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %9) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #4
  ret void

126:                                              ; preds = %.preheader
  %127 = landingpad { ptr, i32 }
          cleanup
  br label %142

128:                                              ; preds = %109, %107, %105
  %129 = landingpad { ptr, i32 }
          cleanup
  br label %141

130:                                              ; preds = %111
  %131 = landingpad { ptr, i32 }
          cleanup
  br label %140

132:                                              ; preds = %113
  %133 = landingpad { ptr, i32 }
          cleanup
  br label %139

134:                                              ; preds = %115
  %135 = landingpad { ptr, i32 }
          cleanup
  br label %138

136:                                              ; preds = %117
  %137 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %16) #4
  br label %138

138:                                              ; preds = %136, %134
  %.pn = phi { ptr, i32 } [ %137, %136 ], [ %135, %134 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %15) #4
  br label %139

139:                                              ; preds = %138, %132
  %.pn.pn = phi { ptr, i32 } [ %.pn, %138 ], [ %133, %132 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %14) #4
  br label %140

140:                                              ; preds = %139, %130
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %139 ], [ %131, %130 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %13) #4
  br label %141

141:                                              ; preds = %140, %128
  %.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn, %140 ], [ %129, %128 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %12) #4
  br label %142

142:                                              ; preds = %141, %126
  %.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn.pn, %141 ], [ %127, %126 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %11) #4
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %10) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %10) #4
  br label %148

143:                                              ; preds = %119
  %144 = landingpad { ptr, i32 }
          cleanup
  br label %147

145:                                              ; preds = %121
  %146 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %21) #4
  br label %147

147:                                              ; preds = %145, %143
  %.pn46 = phi { ptr, i32 } [ %146, %145 ], [ %144, %143 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %20) #4
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %18) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %19) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %18) #4
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %17) #4
  br label %148

148:                                              ; preds = %147, %142
  %.pn46.pn = phi { ptr, i32 } [ %.pn46, %147 ], [ %.pn.pn.pn.pn.pn, %142 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %9) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #4
  resume { ptr, i32 } %.pn46.pn
}

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #2 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1wEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1xEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1yEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE1zEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen14QuaternionBaseINS_10QuaternionIfLi0EEEE16toRotationMatrixEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.13") align 4, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(36) ptr @_ZN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEaSEOS1_(ptr noundef nonnull align 4 dereferenceable(36), ptr noundef nonnull align 4 dereferenceable(36)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3cosf(float noundef) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3sinf(float noundef) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEElsERKf(ptr dead_on_unwind noalias writable sret(%"struct.Eigen::CommaInitializer") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #0 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2Ev(ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEElsERKf(ptr dead_on_unwind noalias writable sret(%"struct.Eigen::CommaInitializer.33") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEEcmERKf(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen16CommaInitializerINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEE8diagonalEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Diagonal") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(9) ptr @_ZN5Eigen8DiagonalINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEELi0EEaSINS1_IfLi3ELi1ELi0ELi3ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(9), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"float", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !6, i64 224}
!10 = !{!"_ZTS10RobotState", !11, i64 0, !11, i64 12, !11, i64 24, !15, i64 48, !19, i64 96, !19, i64 132, !19, i64 168, !23, i64 208, !6, i64 224, !6, i64 228}
!11 = !{!"_ZTSN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEE", !12, i64 0}
!12 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEEE", !13, i64 0}
!13 = !{!"_ZTSN5Eigen12DenseStorageIfLi3ELi3ELi1ELi0EEE", !14, i64 0}
!14 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi3ELi0ELi0EEE", !7, i64 0}
!15 = !{!"_ZTSN5Eigen6MatrixIfLi3ELi4ELi0ELi3ELi4EEE", !16, i64 0}
!16 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi4ELi0ELi3ELi4EEEEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen12DenseStorageIfLi12ELi3ELi4ELi0EEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi12ELi0ELi16EEE", !7, i64 0}
!19 = !{!"_ZTSN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen12DenseStorageIfLi9ELi3ELi3ELi0EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi9ELi0ELi0EEE", !7, i64 0}
!23 = !{!"_ZTSN5Eigen10QuaternionIfLi0EEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEEE", !26, i64 0}
!26 = !{!"_ZTSN5Eigen12DenseStorageIfLi4ELi4ELi1ELi0EEE", !27, i64 0}
!27 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi4ELi0ELi16EEE", !7, i64 0}


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