; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/MPC_Ctrl/SparseCMPC_Math.ll (ZN10SparseCMPC3c2dEjjj)

; 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" = 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 { [576 x double] }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase" = type { %"class.Eigen::MapBase.99" }
%"class.Eigen::MapBase.99" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%struct.BblockID = type { i32, i32 }
%"struct.Eigen::MatrixExponentialReturnValue" = type { ptr }
%class.SparseCMPC = type <{ %"class.Eigen::Matrix.3", [8 x i8], %"class.Eigen::Matrix.13", double, double, double, double, %"class.Eigen::Matrix.23", %"class.Eigen::Matrix.23", %"class.Eigen::Matrix.23", %"class.Eigen::Matrix.23", %"class.Eigen::Matrix.33", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.std::vector", %"class.std::vector.43", %"class.std::vector.48", %"class.std::vector.53", %"class.std::vector.59", %"class.std::vector.64", %"class.std::vector.70", %"class.std::vector.70", %"class.std::vector.75", %"class.std::vector.75", %"class.std::vector.48", %"class.std::vector.48", %"class.std::vector.48", %"class.Eigen::Matrix.80", i32, i32, i32, [12 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 { [9 x double] }
%"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 { [3 x double] }
%"class.Eigen::Matrix.33" = type { %"class.Eigen::PlainObjectBase.34" }
%"class.Eigen::PlainObjectBase.34" = type { %"class.Eigen::DenseStorage.41" }
%"class.Eigen::DenseStorage.41" = type { %"struct.Eigen::internal::plain_array.42" }
%"struct.Eigen::internal::plain_array.42" = type { [4 x double] }
%"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 { [12 x double] }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl" }
%"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl" = type { %"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl_data" }
%"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.43" = type { %"struct.std::_Vector_base.44" }
%"struct.std::_Vector_base.44" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.53" = type { %"struct.std::_Vector_base.54" }
%"struct.std::_Vector_base.54" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.59" = type { %"struct.std::_Vector_base.60" }
%"struct.std::_Vector_base.60" = type { %"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl" }
%"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl" = type { %"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl_data" }
%"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.64" = type { %"struct.std::_Vector_base.65" }
%"struct.std::_Vector_base.65" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.70" = type { %"struct.std::_Vector_base.71" }
%"struct.std::_Vector_base.71" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.75" = type { %"struct.std::_Vector_base.76" }
%"struct.std::_Vector_base.76" = type { %"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl" }
%"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl" = type { %"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.48" = type { %"struct.std::_Vector_base.49" }
%"struct.std::_Vector_base.49" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.80" = type { %"class.Eigen::PlainObjectBase.81" }
%"class.Eigen::PlainObjectBase.81" = type { %"class.Eigen::DenseStorage.88" }
%"class.Eigen::DenseStorage.88" = type { ptr, i64 }

@.str = external hidden unnamed_addr constant [19 x i8], align 1
@_ZTISt13runtime_error = external constant ptr

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN10SparseCMPC3c2dEjjj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3) #0 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca %"class.Eigen::Matrix", align 16
  %10 = alloca %"class.Eigen::Matrix", align 16
  %11 = alloca %"class.Eigen::Block", align 8
  %12 = alloca i32, align 4
  %13 = alloca %struct.BblockID, align 4
  %14 = alloca ptr, align 8
  %15 = alloca i32, align 4
  %16 = alloca %"class.Eigen::Block", align 8
  %17 = alloca %"struct.Eigen::MatrixExponentialReturnValue", align 8
  %18 = alloca %"class.Eigen::Block", align 8
  %19 = alloca i32, align 4
  store ptr %0, ptr %5, align 8, !tbaa !5
  store i32 %1, ptr %6, align 4, !tbaa !9
  store i32 %2, ptr %7, align 4, !tbaa !9
  store i32 %3, ptr %8, align 4, !tbaa !9
  %20 = load ptr, ptr %5, align 8
  call void @llvm.lifetime.start.p0(i64 4608, ptr %9) #7
  call void @_ZN5Eigen6MatrixIdLi24ELi24ELi0ELi24ELi24EEC2Ev(ptr noundef nonnull align 16 dereferenceable(4608) %9)
  call void @llvm.lifetime.start.p0(i64 4608, ptr %10) #7
  call void @_ZN5Eigen6MatrixIdLi24ELi24ELi0ELi24ELi24EEC2Ev(ptr noundef nonnull align 16 dereferenceable(4608) %10)
  %21 = call noundef nonnull align 16 dereferenceable(4608) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %9)
  %22 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 18
  %23 = load i32, ptr %6, align 4, !tbaa !9
  %24 = zext i32 %23 to i64
  %25 = call noundef nonnull align 16 dereferenceable(1152) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %22, i64 noundef %24) #7
  call void @llvm.lifetime.start.p0(i64 56, ptr %11) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %11, ptr noundef nonnull align 1 dereferenceable(1) %9, i64 noundef 0, i64 noundef 0, i32 noundef 12, i32 noundef 12)
  %26 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEELin1ELin1ELb0EEaSINS1_IdLi12ELi12ELi0ELi12ELi12EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %11, ptr noundef nonnull align 1 dereferenceable(1) %25)
  call void @llvm.lifetime.end.p0(i64 56, ptr %11) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #7
  %27 = load i32, ptr %7, align 4, !tbaa !9
  store i32 %27, ptr %12, align 4, !tbaa !9
  br label %28

28:                                               ; preds = %62, %4
  %29 = load i32, ptr %12, align 4, !tbaa !9
  %30 = load i32, ptr %7, align 4, !tbaa !9
  %31 = load i32, ptr %8, align 4, !tbaa !9
  %32 = add i32 %30, %31
  %33 = icmp ult i32 %29, %32
  br i1 %33, label %35, label %34

34:                                               ; preds = %28
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #7
  br label %65

35:                                               ; preds = %28
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #7
  %36 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 19
  %37 = load i32, ptr %12, align 4, !tbaa !9
  %38 = zext i32 %37 to i64
  %39 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNSt6vectorI8BblockIDSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %36, i64 noundef %38) #7
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %13, ptr align 4 %39, i64 8, i1 false), !tbaa.struct !11
  %40 = getelementptr inbounds %struct.BblockID, ptr %13, i32 0, i32 1
  %41 = load i32, ptr %40, align 4, !tbaa !12
  %42 = load i32, ptr %6, align 4, !tbaa !9
  %43 = icmp ne i32 %41, %42
  br i1 %43, label %44, label %51

44:                                               ; preds = %35
  %45 = call ptr @__cxa_allocate_exception(i64 16) #7
  invoke void @_ZNSt13runtime_errorC1EPKc(ptr noundef nonnull align 8 dereferenceable(16) %45, ptr noundef @.str)
          to label %46 unwind label %47

46:                                               ; preds = %44
  call void @__cxa_throw(ptr %45, ptr @_ZTISt13runtime_error, ptr @_ZNSt13runtime_errorD1Ev) #8
  unreachable

47:                                               ; preds = %44
  %48 = landingpad { ptr, i32 }
          cleanup
  %49 = extractvalue { ptr, i32 } %48, 0
  store ptr %49, ptr %14, align 8
  %50 = extractvalue { ptr, i32 } %48, 1
  store i32 %50, ptr %15, align 4
  call void @__cxa_free_exception(ptr %45) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 4608, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 4608, ptr %9) #7
  br label %101

51:                                               ; preds = %35
  %52 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 20
  %53 = load i32, ptr %12, align 4, !tbaa !9
  %54 = zext i32 %53 to i64
  %55 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %52, i64 noundef %54) #7
  call void @llvm.lifetime.start.p0(i64 56, ptr %16) #7
  %56 = getelementptr inbounds %struct.BblockID, ptr %13, i32 0, i32 0
  %57 = load i32, ptr %56, align 4, !tbaa !14
  %58 = mul i32 3, %57
  %59 = add i32 12, %58
  %60 = zext i32 %59 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %9, i64 noundef 0, i64 noundef %60, i32 noundef 12, i32 noundef 3)
  %61 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEELin1ELin1ELb0EEaSINS1_IdLi12ELi3ELi0ELi12ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %16, ptr noundef nonnull align 1 dereferenceable(1) %55)
  call void @llvm.lifetime.end.p0(i64 56, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  br label %62

62:                                               ; preds = %51
  %63 = load i32, ptr %12, align 4, !tbaa !9
  %64 = add i32 %63, 1
  store i32 %64, ptr %12, align 4, !tbaa !9
  br label %28, !llvm.loop !15

65:                                               ; preds = %34
  %66 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 17
  %67 = load i32, ptr %6, align 4, !tbaa !9
  %68 = zext i32 %67 to i64
  %69 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %66, i64 noundef %68) #7
  %70 = call noundef nonnull align 16 dereferenceable(4608) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEEmLERKd(ptr noundef nonnull align 1 dereferenceable(1) %9, ptr noundef nonnull align 8 dereferenceable(8) %69)
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #7
  %71 = call ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE3expEv(ptr noundef nonnull align 1 dereferenceable(1) %9)
  %72 = getelementptr inbounds %"struct.Eigen::MatrixExponentialReturnValue", ptr %17, i32 0, i32 0
  store ptr %71, ptr %72, align 8
  %73 = call noundef nonnull align 16 dereferenceable(4608) ptr @_ZN5Eigen6MatrixIdLi24ELi24ELi0ELi24ELi24EEaSINS_28MatrixExponentialReturnValueIS1_EEEERS1_RKNS_13ReturnByValueIT_EE(ptr noundef nonnull align 16 dereferenceable(4608) %10, ptr noundef nonnull align 1 dereferenceable(1) %17)
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #7
  call void @llvm.lifetime.start.p0(i64 56, ptr %18) #7
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %10, i64 noundef 0, i64 noundef 0, i32 noundef 12, i32 noundef 12)
  %74 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 18
  %75 = load i32, ptr %6, align 4, !tbaa !9
  %76 = zext i32 %75 to i64
  %77 = call noundef nonnull align 16 dereferenceable(1152) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef %76) #7
  %78 = call noundef nonnull align 16 dereferenceable(1152) ptr @_ZN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEaSINS_5BlockINS0_IdLi24ELi24ELi0ELi24ELi24EEELin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(1152) %77, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @llvm.lifetime.end.p0(i64 56, ptr %18) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #7
  %79 = load i32, ptr %7, align 4, !tbaa !9
  store i32 %79, ptr %19, align 4, !tbaa !9
  br label %80

80:                                               ; preds = %97, %65
  %81 = load i32, ptr %19, align 4, !tbaa !9
  %82 = load i32, ptr %7, align 4, !tbaa !9
  %83 = load i32, ptr %8, align 4, !tbaa !9
  %84 = add i32 %82, %83
  %85 = icmp ult i32 %81, %84
  br i1 %85, label %87, label %86

86:                                               ; preds = %80
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #7
  br label %100

87:                                               ; preds = %80
  %88 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 17
  %89 = load i32, ptr %6, align 4, !tbaa !9
  %90 = zext i32 %89 to i64
  %91 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %88, i64 noundef %90) #7
  %92 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 20
  %93 = load i32, ptr %19, align 4, !tbaa !9
  %94 = zext i32 %93 to i64
  %95 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %92, i64 noundef %94) #7
  %96 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEEmLERKd(ptr noundef nonnull align 1 dereferenceable(1) %95, ptr noundef nonnull align 8 dereferenceable(8) %91)
  br label %97

97:                                               ; preds = %87
  %98 = load i32, ptr %19, align 4, !tbaa !9
  %99 = add i32 %98, 1
  store i32 %99, ptr %19, align 4, !tbaa !9
  br label %80, !llvm.loop !17

100:                                              ; preds = %86
  call void @llvm.lifetime.end.p0(i64 4608, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 4608, ptr %9) #7
  ret void

101:                                              ; preds = %47
  %102 = load ptr, ptr %14, align 8
  %103 = load i32, ptr %15, align 4
  %104 = insertvalue { ptr, i32 } poison, ptr %102, 0
  %105 = insertvalue { ptr, i32 } %104, i32 %103, 1
  resume { ptr, i32 } %105
}

; 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 void @_ZN5Eigen6MatrixIdLi24ELi24ELi0ELi24ELi24EEC2Ev(ptr noundef nonnull align 16 dereferenceable(4608)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(4608) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(1152) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEELin1ELin1ELb0EEaSINS1_IdLi12ELi12ELi0ELi12ELi12EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #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: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(8) ptr @_ZNSt6vectorI8BblockIDSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #4

declare ptr @__cxa_allocate_exception(i64)

declare void @_ZNSt13runtime_errorC1EPKc(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) unnamed_addr #5

declare i32 @__gxx_personality_v0(...)

declare void @__cxa_free_exception(ptr)

; Function Attrs: nounwind
declare void @_ZNSt13runtime_errorD1Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #6

declare void @__cxa_throw(ptr, ptr, ptr)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEELin1ELin1ELb0EEaSINS1_IdLi12ELi3ELi0ELi12ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(4608) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEEmLERKd(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE3expEv(ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(4608) ptr @_ZN5Eigen6MatrixIdLi24ELi24ELi0ELi24ELi24EEaSINS_28MatrixExponentialReturnValueIS1_EEEERS1_RKNS_13ReturnByValueIT_EE(ptr noundef nonnull align 16 dereferenceable(4608), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(1152) ptr @_ZN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEaSINS_5BlockINS0_IdLi24ELi24ELi0ELi24ELi24EEELin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(1152), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEEmLERKd(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #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 = { 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 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #5 = { "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 #6 = { nounwind "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 #7 = { nounwind }
attributes #8 = { noreturn }

!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 = !{i64 0, i64 4, !9, i64 4, i64 4, !9}
!12 = !{!13, !10, i64 4}
!13 = !{!"_ZTS8BblockID", !10, i64 0, !10, i64 4}
!14 = !{!13, !10, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}
!17 = distinct !{!17, !16}


; 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" = 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 { [576 x double] }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase" = type { %"class.Eigen::MapBase.99" }
%"class.Eigen::MapBase.99" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::MatrixExponentialReturnValue" = type { ptr }

@.str = external hidden unnamed_addr constant [19 x i8], align 1
@_ZTISt13runtime_error = external constant ptr

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN10SparseCMPC3c2dEjjj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3) local_unnamed_addr #0 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca %"class.Eigen::Matrix", align 16
  %6 = alloca %"class.Eigen::Matrix", align 16
  %7 = alloca %"class.Eigen::Block", align 8
  %8 = alloca %"class.Eigen::Block", align 8
  %9 = alloca %"struct.Eigen::MatrixExponentialReturnValue", align 8
  %10 = alloca %"class.Eigen::Block", align 8
  call void @llvm.lifetime.start.p0(i64 4608, ptr nonnull %5) #6
  call void @_ZN5Eigen6MatrixIdLi24ELi24ELi0ELi24ELi24EEC2Ev(ptr noundef nonnull align 16 dereferenceable(4608) %5)
  call void @llvm.lifetime.start.p0(i64 4608, ptr nonnull %6) #6
  call void @_ZN5Eigen6MatrixIdLi24ELi24ELi0ELi24ELi24EEC2Ev(ptr noundef nonnull align 16 dereferenceable(4608) %6)
  %11 = call noundef nonnull align 16 dereferenceable(4608) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) %5)
  %12 = getelementptr inbounds i8, ptr %0, i64 696
  %13 = zext i32 %1 to i64
  %14 = call noundef nonnull align 16 dereferenceable(1152) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %12, i64 noundef %13) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %7) #6
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %7, ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 0, i64 noundef 0, i32 noundef 12, i32 noundef 12)
  %15 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEELin1ELin1ELb0EEaSINS1_IdLi12ELi12ELi0ELi12ELi12EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %7, ptr noundef nonnull align 1 dereferenceable(1) %14)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %7) #6
  %16 = add i32 %3, %2
  %17 = icmp ugt i32 %16, %2
  br i1 %17, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %4
  %18 = getelementptr inbounds i8, ptr %0, i64 720
  %19 = getelementptr inbounds i8, ptr %0, i64 744
  %20 = zext i32 %2 to i64
  br label %30

._crit_edge:                                      ; preds = %37, %4
  %21 = getelementptr inbounds i8, ptr %0, i64 672
  %22 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %21, i64 noundef %13) #6
  %23 = call noundef nonnull align 16 dereferenceable(4608) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEEmLERKd(ptr noundef nonnull align 1 dereferenceable(1) %5, ptr noundef nonnull align 8 dereferenceable(8) %22)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #6
  %24 = call ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE3expEv(ptr noundef nonnull align 1 dereferenceable(1) %5)
  store ptr %24, ptr %9, align 8
  %25 = call noundef nonnull align 16 dereferenceable(4608) ptr @_ZN5Eigen6MatrixIdLi24ELi24ELi0ELi24ELi24EEaSINS_28MatrixExponentialReturnValueIS1_EEEERS1_RKNS_13ReturnByValueIT_EE(ptr noundef nonnull align 16 dereferenceable(4608) %6, ptr noundef nonnull align 1 dereferenceable(1) %9)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %10) #6
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %10, ptr noundef nonnull align 1 dereferenceable(1) %6, i64 noundef 0, i64 noundef 0, i32 noundef 12, i32 noundef 12)
  %26 = call noundef nonnull align 16 dereferenceable(1152) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %12, i64 noundef %13) #6
  %27 = call noundef nonnull align 16 dereferenceable(1152) ptr @_ZN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEaSINS_5BlockINS0_IdLi24ELi24ELi0ELi24ELi24EEELin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(1152) %26, ptr noundef nonnull align 1 dereferenceable(1) %10)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %10) #6
  br i1 %17, label %.lr.ph26, label %._crit_edge27

.lr.ph26:                                         ; preds = %._crit_edge
  %28 = getelementptr inbounds i8, ptr %0, i64 744
  %29 = zext i32 %2 to i64
  br label %43

30:                                               ; preds = %.lr.ph, %37
  %indvars.iv = phi i64 [ %20, %.lr.ph ], [ %indvars.iv.next, %37 ]
  %31 = call noundef nonnull align 4 dereferenceable(8) ptr @_ZNSt6vectorI8BblockIDSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %18, i64 noundef %indvars.iv) #6
  %.sroa.5.0..sroa_idx = getelementptr inbounds i8, ptr %31, i64 4
  %.sroa.5.0.copyload = load i32, ptr %.sroa.5.0..sroa_idx, align 4, !tbaa !5
  %.not = icmp eq i32 %.sroa.5.0.copyload, %1
  br i1 %.not, label %37, label %32

32:                                               ; preds = %30
  %33 = call ptr @__cxa_allocate_exception(i64 16) #6
  invoke void @_ZNSt13runtime_errorC1EPKc(ptr noundef nonnull align 8 dereferenceable(16) %33, ptr noundef nonnull @.str)
          to label %34 unwind label %35

34:                                               ; preds = %32
  call void @__cxa_throw(ptr nonnull %33, ptr nonnull @_ZTISt13runtime_error, ptr nonnull @_ZNSt13runtime_errorD1Ev) #7
  unreachable

35:                                               ; preds = %32
  %36 = landingpad { ptr, i32 }
          cleanup
  call void @__cxa_free_exception(ptr %33) #6
  call void @llvm.lifetime.end.p0(i64 4608, ptr nonnull %6) #6
  call void @llvm.lifetime.end.p0(i64 4608, ptr nonnull %5) #6
  resume { ptr, i32 } %36

37:                                               ; preds = %30
  %.sroa.0.0.copyload = load i32, ptr %31, align 4, !tbaa !5
  %38 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %19, i64 noundef %indvars.iv) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %8) #6
  %39 = mul i32 %.sroa.0.0.copyload, 3
  %40 = add i32 %39, 12
  %41 = zext i32 %40 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %8, ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 0, i64 noundef %41, i32 noundef 12, i32 noundef 3)
  %42 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEELin1ELin1ELb0EEaSINS1_IdLi12ELi3ELi0ELi12ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %8, ptr noundef nonnull align 1 dereferenceable(1) %38)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %8) #6
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %lftr.wideiv = trunc i64 %indvars.iv.next to i32
  %exitcond.not = icmp eq i32 %16, %lftr.wideiv
  br i1 %exitcond.not, label %._crit_edge, label %30, !llvm.loop !9

._crit_edge27:                                    ; preds = %43, %._crit_edge
  call void @llvm.lifetime.end.p0(i64 4608, ptr nonnull %6) #6
  call void @llvm.lifetime.end.p0(i64 4608, ptr nonnull %5) #6
  ret void

43:                                               ; preds = %.lr.ph26, %43
  %indvars.iv29 = phi i64 [ %29, %.lr.ph26 ], [ %indvars.iv.next30, %43 ]
  %44 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %21, i64 noundef %13) #6
  %45 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %28, i64 noundef %indvars.iv29) #6
  %46 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEEmLERKd(ptr noundef nonnull align 1 dereferenceable(1) %45, ptr noundef nonnull align 8 dereferenceable(8) %44)
  %indvars.iv.next30 = add nuw nsw i64 %indvars.iv29, 1
  %lftr.wideiv32 = trunc i64 %indvars.iv.next30 to i32
  %exitcond33.not = icmp eq i32 %16, %lftr.wideiv32
  br i1 %exitcond33.not, label %._crit_edge27, label %43, !llvm.loop !11
}

; 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 void @_ZN5Eigen6MatrixIdLi24ELi24ELi0ELi24ELi24EEC2Ev(ptr noundef nonnull align 16 dereferenceable(4608)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(4608) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(1152) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEELin1ELin1ELb0EEaSINS1_IdLi12ELi12ELi0ELi12ELi12EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) 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: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(8) ptr @_ZNSt6vectorI8BblockIDSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

declare ptr @__cxa_allocate_exception(i64) local_unnamed_addr

declare void @_ZNSt13runtime_errorC1EPKc(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) unnamed_addr #4

declare i32 @__gxx_personality_v0(...)

declare void @__cxa_free_exception(ptr) local_unnamed_addr

; Function Attrs: nounwind
declare void @_ZNSt13runtime_errorD1Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #5

declare void @__cxa_throw(ptr, ptr, ptr) local_unnamed_addr

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEELin1ELin1ELb0EEaSINS1_IdLi12ELi3ELi0ELi12ELi3EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(4608) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEEmLERKd(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi24ELi24ELi0ELi24ELi24EEEE3expEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(4608) ptr @_ZN5Eigen6MatrixIdLi24ELi24ELi0ELi24ELi24EEaSINS_28MatrixExponentialReturnValueIS1_EEEERS1_RKNS_13ReturnByValueIT_EE(ptr noundef nonnull align 16 dereferenceable(4608), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(1152) ptr @_ZN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEaSINS_5BlockINS0_IdLi24ELi24ELi0ELi24ELi24EEELin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(1152), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEEEmLERKd(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) 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 = { 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 = { "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 #5 = { nounwind "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 #6 = { nounwind }
attributes #7 = { noreturn }

!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 = !{!"int", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = distinct !{!9, !10}
!10 = !{!"llvm.loop.mustprogress"}
!11 = distinct !{!11, !10}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LCSSAPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,ReassociatePass,SROAPass,SimplifyCFGPass