; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/MPC_Ctrl (SolverMPC)

; 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.33" = type { %"class.Eigen::PlainObjectBase.34" }
%"class.Eigen::PlainObjectBase.34" = type { %"class.Eigen::DenseStorage.41" }
%"class.Eigen::DenseStorage.41" = type { ptr, i64 }
%"class.Eigen::Matrix.42" = type { %"class.Eigen::PlainObjectBase.43" }
%"class.Eigen::PlainObjectBase.43" = type { %"class.Eigen::DenseStorage.50" }
%"class.Eigen::DenseStorage.50" = type { ptr, i64, i64 }
%"class.Eigen::Matrix.51" = type { %"class.Eigen::PlainObjectBase.52" }
%"class.Eigen::PlainObjectBase.52" = type { %"class.Eigen::DenseStorage.59" }
%"class.Eigen::DenseStorage.59" = type { %"struct.Eigen::internal::plain_array.60" }
%"struct.Eigen::internal::plain_array.60" = type { [156 x float] }
%"class.Eigen::Matrix.61" = type { %"class.Eigen::PlainObjectBase.62" }
%"class.Eigen::PlainObjectBase.62" = type { %"class.Eigen::DenseStorage.69" }
%"class.Eigen::DenseStorage.69" = type { %"struct.Eigen::internal::plain_array.70" }
%"struct.Eigen::internal::plain_array.70" = type { [169 x float] }
%"class.Eigen::Matrix.71" = type { %"class.Eigen::PlainObjectBase.72" }
%"class.Eigen::PlainObjectBase.72" = type { %"class.Eigen::DenseStorage.79" }
%"class.Eigen::DenseStorage.79" = type { %"struct.Eigen::internal::plain_array.80" }
%"struct.Eigen::internal::plain_array.80" = type { [625 x float] }
%"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.90" }
%"class.Eigen::MapBase.90" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::CwiseBinaryOp" = type <{ [4 x i8], %"class.Eigen::CwiseNullaryOp", [4 x i8], ptr, [8 x i8] }>
%"class.Eigen::CwiseNullaryOp" = type { [4 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { float }
%"struct.Eigen::MatrixExponentialReturnValue" = type { ptr }
%"class.Eigen::Product" = type { ptr, ptr }
%"class.Eigen::Block.114" = type { %"class.Eigen::BlockImpl.115" }
%"class.Eigen::BlockImpl.115" = type { %"class.Eigen::internal::BlockImpl_dense.116" }
%"class.Eigen::internal::BlockImpl_dense.116" = type { %"class.Eigen::MapBase.117", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.117" = type { %"class.Eigen::MapBase.118" }
%"class.Eigen::MapBase.118" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::Product.125" = type { ptr, ptr }
%"class.Eigen::Block.132" = type { %"class.Eigen::BlockImpl.133" }
%"class.Eigen::BlockImpl.133" = type { %"class.Eigen::internal::BlockImpl_dense.134" }
%"class.Eigen::internal::BlockImpl_dense.134" = type { %"class.Eigen::MapBase.135", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.135" = type { %"class.Eigen::MapBase.136" }
%"class.Eigen::MapBase.136" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }

@A_qp = external dso_local global %"class.Eigen::Matrix.33", align 8
@B_qp = external dso_local global %"class.Eigen::Matrix.42", align 8
@Bdt = external dso_local global %"class.Eigen::Matrix.51", align 16
@Adt = external dso_local global %"class.Eigen::Matrix.61", align 4
@ABc = external dso_local global %"class.Eigen::Matrix.71", align 4
@expmm = external dso_local global %"class.Eigen::Matrix.71", align 4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi13ELi13ELi0ELi13ELi13EEC2Ev(ptr noundef nonnull align 4 dereferenceable(676)) unnamed_addr #0 align 2

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_Z4c2qpN5Eigen6MatrixIfLi13ELi13ELi0ELi13ELi13EEENS0_IfLi13ELi12ELi0ELi13ELi12EEEfs(ptr noundef %0, ptr noundef %1, float noundef %2, i16 noundef signext %3) #2 {
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca float, align 4
  %8 = alloca i16, align 2
  %9 = alloca %"class.Eigen::Block", align 8
  %10 = alloca %"class.Eigen::Block", align 8
  %11 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %12 = alloca %"struct.Eigen::MatrixExponentialReturnValue", align 8
  %13 = alloca %"class.Eigen::Block", align 8
  %14 = alloca %"class.Eigen::Block", align 8
  %15 = alloca [100 x %"class.Eigen::Matrix.61"], align 16
  %16 = alloca i32, align 4
  %17 = alloca %"class.Eigen::Product", align 8
  %18 = alloca i16, align 2
  %19 = alloca i32, align 4
  %20 = alloca %"class.Eigen::Block.114", align 8
  %21 = alloca i16, align 2
  %22 = alloca i16, align 2
  %23 = alloca %"class.Eigen::Product.125", align 8
  %24 = alloca %"class.Eigen::Block.132", align 8
  store ptr %0, ptr %5, align 8, !tbaa !5
  store ptr %1, ptr %6, align 8, !tbaa !5
  store float %2, ptr %7, align 4, !tbaa !9
  store i16 %3, ptr %8, align 2, !tbaa !11
  %25 = call noundef nonnull align 4 dereferenceable(2500) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) @ABc)
  call void @llvm.lifetime.start.p0(i64 56, ptr %9) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %9, ptr noundef nonnull align 1 dereferenceable(1) @ABc, i64 noundef 0, i64 noundef 0, i32 noundef 13, i32 noundef 13)
  %26 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEaSINS1_IfLi13ELi13ELi0ELi13ELi13EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %9, ptr noundef nonnull align 1 dereferenceable(1) %0)
  call void @llvm.lifetime.end.p0(i64 56, ptr %9) #3
  call void @llvm.lifetime.start.p0(i64 56, ptr %10) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %10, ptr noundef nonnull align 1 dereferenceable(1) @ABc, i64 noundef 0, i64 noundef 13, i32 noundef 13, i32 noundef 12)
  %27 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEaSINS1_IfLi13ELi12ELi0ELi13ELi12EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %10, ptr noundef nonnull align 1 dereferenceable(1) %1)
  call void @llvm.lifetime.end.p0(i64 56, ptr %10) #3
  call void @llvm.lifetime.start.p0(i64 32, ptr %11) #3
  call void @_ZN5EigenmlIfEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opINS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_fNS3_IS5_fEEEEEE5valueEE4typeEfEEKNS2_19plain_constant_typeINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEESA_E4typeEKSE_EERKS5_RKNS_10MatrixBaseISE_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %11, ptr noundef nonnull align 4 dereferenceable(4) %7, ptr noundef nonnull align 1 dereferenceable(1) @ABc)
  %28 = call noundef nonnull align 4 dereferenceable(2500) ptr @_ZN5Eigen6MatrixIfLi25ELi25ELi0ELi25ELi25EEaSINS_13CwiseBinaryOpINS_8internal17scalar_product_opIffEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKS1_EESA_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(2500) @ABc, ptr noundef nonnull align 1 dereferenceable(1) %11)
  call void @llvm.lifetime.end.p0(i64 32, ptr %11) #3
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #3
  %29 = call ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE3expEv(ptr noundef nonnull align 1 dereferenceable(1) @ABc)
  %30 = getelementptr inbounds %"struct.Eigen::MatrixExponentialReturnValue", ptr %12, i32 0, i32 0
  store ptr %29, ptr %30, align 8
  %31 = call noundef nonnull align 4 dereferenceable(2500) ptr @_ZN5Eigen6MatrixIfLi25ELi25ELi0ELi25ELi25EEaSINS_28MatrixExponentialReturnValueIS1_EEEERS1_RKNS_13ReturnByValueIT_EE(ptr noundef nonnull align 4 dereferenceable(2500) @expmm, ptr noundef nonnull align 1 dereferenceable(1) %12)
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #3
  call void @llvm.lifetime.start.p0(i64 56, ptr %13) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %13, ptr noundef nonnull align 1 dereferenceable(1) @expmm, i64 noundef 0, i64 noundef 0, i32 noundef 13, i32 noundef 13)
  %32 = call noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen6MatrixIfLi13ELi13ELi0ELi13ELi13EEaSINS_5BlockINS0_IfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(676) @Adt, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @llvm.lifetime.end.p0(i64 56, ptr %13) #3
  call void @llvm.lifetime.start.p0(i64 56, ptr %14) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) @expmm, i64 noundef 0, i64 noundef 13, i32 noundef 13, i32 noundef 12)
  %33 = call noundef nonnull align 16 dereferenceable(624) ptr @_ZN5Eigen6MatrixIfLi13ELi12ELi0ELi13ELi12EEaSINS_5BlockINS0_IfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(624) @Bdt, ptr noundef nonnull align 1 dereferenceable(1) %14)
  call void @llvm.lifetime.end.p0(i64 56, ptr %14) #3
  %34 = load i16, ptr %8, align 2, !tbaa !11
  %35 = sext i16 %34 to i32
  %36 = icmp sgt i32 %35, 19
  br i1 %36, label %37, label %38

37:                                               ; preds = %4
  br label %38

38:                                               ; preds = %37, %4
  call void @llvm.lifetime.start.p0(i64 67600, ptr %15) #3
  %39 = getelementptr inbounds [100 x %"class.Eigen::Matrix.61"], ptr %15, i32 0, i32 0
  %40 = getelementptr inbounds %"class.Eigen::Matrix.61", ptr %39, i64 100
  br label %41

41:                                               ; preds = %41, %38
  %42 = phi ptr [ %39, %38 ], [ %43, %41 ]
  call void @_ZN5Eigen6MatrixIfLi13ELi13ELi0ELi13ELi13EEC2Ev(ptr noundef nonnull align 4 dereferenceable(676) %42)
  %43 = getelementptr inbounds %"class.Eigen::Matrix.61", ptr %42, i64 1
  %44 = icmp eq ptr %43, %40
  br i1 %44, label %45, label %41

45:                                               ; preds = %41
  %46 = getelementptr inbounds [100 x %"class.Eigen::Matrix.61"], ptr %15, i64 0, i64 0
  %47 = call noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEE11setIdentityEv(ptr noundef nonnull align 1 dereferenceable(1) %46)
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #3
  store i32 1, ptr %16, align 4, !tbaa !13
  br label %48

48:                                               ; preds = %69, %45
  %49 = load i32, ptr %16, align 4, !tbaa !13
  %50 = load i16, ptr %8, align 2, !tbaa !11
  %51 = sext i16 %50 to i32
  %52 = add nsw i32 %51, 1
  %53 = icmp slt i32 %49, %52
  br i1 %53, label %55, label %54

54:                                               ; preds = %48
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #3
  br label %72

55:                                               ; preds = %48
  call void @llvm.lifetime.start.p0(i64 16, ptr %17) #3
  %56 = load i32, ptr %16, align 4, !tbaa !13
  %57 = sub nsw i32 %56, 1
  %58 = sext i32 %57 to i64
  %59 = getelementptr inbounds [100 x %"class.Eigen::Matrix.61"], ptr %15, i64 0, i64 %58
  %60 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) @Adt, ptr noundef nonnull align 1 dereferenceable(1) %59)
  %61 = getelementptr inbounds { ptr, ptr }, ptr %17, i32 0, i32 0
  %62 = extractvalue { ptr, ptr } %60, 0
  store ptr %62, ptr %61, align 8
  %63 = getelementptr inbounds { ptr, ptr }, ptr %17, i32 0, i32 1
  %64 = extractvalue { ptr, ptr } %60, 1
  store ptr %64, ptr %63, align 8
  %65 = load i32, ptr %16, align 4, !tbaa !13
  %66 = sext i32 %65 to i64
  %67 = getelementptr inbounds [100 x %"class.Eigen::Matrix.61"], ptr %15, i64 0, i64 %66
  %68 = call noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen6MatrixIfLi13ELi13ELi0ELi13ELi13EEaSINS_7ProductIS1_S1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(676) %67, ptr noundef nonnull align 1 dereferenceable(1) %17)
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #3
  br label %69

69:                                               ; preds = %55
  %70 = load i32, ptr %16, align 4, !tbaa !13
  %71 = add nsw i32 %70, 1
  store i32 %71, ptr %16, align 4, !tbaa !13
  br label %48, !llvm.loop !15

72:                                               ; preds = %54
  call void @llvm.lifetime.start.p0(i64 2, ptr %18) #3
  store i16 0, ptr %18, align 2, !tbaa !11
  br label %73

73:                                               ; preds = %133, %72
  %74 = load i16, ptr %18, align 2, !tbaa !11
  %75 = sext i16 %74 to i32
  %76 = load i16, ptr %8, align 2, !tbaa !11
  %77 = sext i16 %76 to i32
  %78 = icmp slt i32 %75, %77
  br i1 %78, label %80, label %79

79:                                               ; preds = %73
  store i32 5, ptr %19, align 4
  call void @llvm.lifetime.end.p0(i64 2, ptr %18) #3
  br label %136

80:                                               ; preds = %73
  %81 = load i16, ptr %18, align 2, !tbaa !11
  %82 = sext i16 %81 to i32
  %83 = add nsw i32 %82, 1
  %84 = sext i32 %83 to i64
  %85 = getelementptr inbounds [100 x %"class.Eigen::Matrix.61"], ptr %15, i64 0, i64 %84
  call void @llvm.lifetime.start.p0(i64 56, ptr %20) #3
  %86 = load i16, ptr %18, align 2, !tbaa !11
  %87 = sext i16 %86 to i32
  %88 = mul nsw i32 13, %87
  %89 = sext i32 %88 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLin1ELi13ELi0ELin1ELi13EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.114") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) @A_qp, i64 noundef %89, i64 noundef 0, i32 noundef 13, i32 noundef 13)
  %90 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLin1ELi13ELi0ELin1ELi13EEELin1ELin1ELb0EEaSINS1_IfLi13ELi13ELi0ELi13ELi13EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %20, ptr noundef nonnull align 1 dereferenceable(1) %85)
  call void @llvm.lifetime.end.p0(i64 56, ptr %20) #3
  call void @llvm.lifetime.start.p0(i64 2, ptr %21) #3
  store i16 0, ptr %21, align 2, !tbaa !11
  br label %91

91:                                               ; preds = %129, %80
  %92 = load i16, ptr %21, align 2, !tbaa !11
  %93 = sext i16 %92 to i32
  %94 = load i16, ptr %8, align 2, !tbaa !11
  %95 = sext i16 %94 to i32
  %96 = icmp slt i32 %93, %95
  br i1 %96, label %98, label %97

97:                                               ; preds = %91
  store i32 8, ptr %19, align 4
  call void @llvm.lifetime.end.p0(i64 2, ptr %21) #3
  br label %132

98:                                               ; preds = %91
  %99 = load i16, ptr %18, align 2, !tbaa !11
  %100 = sext i16 %99 to i32
  %101 = load i16, ptr %21, align 2, !tbaa !11
  %102 = sext i16 %101 to i32
  %103 = icmp sge i32 %100, %102
  br i1 %103, label %104, label %128

104:                                              ; preds = %98
  call void @llvm.lifetime.start.p0(i64 2, ptr %22) #3
  %105 = load i16, ptr %18, align 2, !tbaa !11
  %106 = sext i16 %105 to i32
  %107 = load i16, ptr %21, align 2, !tbaa !11
  %108 = sext i16 %107 to i32
  %109 = sub nsw i32 %106, %108
  %110 = trunc i32 %109 to i16
  store i16 %110, ptr %22, align 2, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 16, ptr %23) #3
  %111 = load i16, ptr %22, align 2, !tbaa !11
  %112 = sext i16 %111 to i64
  %113 = getelementptr inbounds [100 x %"class.Eigen::Matrix.61"], ptr %15, i64 0, i64 %112
  %114 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEEmlINS1_IfLi13ELi12ELi0ELi13ELi12EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %113, ptr noundef nonnull align 1 dereferenceable(1) @Bdt)
  %115 = getelementptr inbounds { ptr, ptr }, ptr %23, i32 0, i32 0
  %116 = extractvalue { ptr, ptr } %114, 0
  store ptr %116, ptr %115, align 8
  %117 = getelementptr inbounds { ptr, ptr }, ptr %23, i32 0, i32 1
  %118 = extractvalue { ptr, ptr } %114, 1
  store ptr %118, ptr %117, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr %24) #3
  %119 = load i16, ptr %18, align 2, !tbaa !11
  %120 = sext i16 %119 to i32
  %121 = mul nsw i32 13, %120
  %122 = sext i32 %121 to i64
  %123 = load i16, ptr %21, align 2, !tbaa !11
  %124 = sext i16 %123 to i32
  %125 = mul nsw i32 12, %124
  %126 = sext i32 %125 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLin1ELin1ELi0ELin1ELin1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind writable sret(%"class.Eigen::Block.132") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) @B_qp, i64 noundef %122, i64 noundef %126, i32 noundef 13, i32 noundef 12)
  %127 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS1_IfLi13ELi13ELi0ELi13ELi13EEENS1_IfLi13ELi12ELi0ELi13ELi12EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %24, ptr noundef nonnull align 1 dereferenceable(1) %23)
  call void @llvm.lifetime.end.p0(i64 56, ptr %24) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #3
  call void @llvm.lifetime.end.p0(i64 2, ptr %22) #3
  br label %128

128:                                              ; preds = %104, %98
  br label %129

129:                                              ; preds = %128
  %130 = load i16, ptr %21, align 2, !tbaa !11
  %131 = add i16 %130, 1
  store i16 %131, ptr %21, align 2, !tbaa !11
  br label %91, !llvm.loop !17

132:                                              ; preds = %97
  br label %133

133:                                              ; preds = %132
  %134 = load i16, ptr %18, align 2, !tbaa !11
  %135 = add i16 %134, 1
  store i16 %135, ptr %18, align 2, !tbaa !11
  br label %73, !llvm.loop !18

136:                                              ; preds = %79
  call void @llvm.lifetime.end.p0(i64 67600, ptr %15) #3
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(2500) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE5blockIiiEENS3_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) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEaSINS1_IfLi13ELi13ELi0ELi13ELi13EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEaSINS1_IfLi13ELi12ELi0ELi13ELi12EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5EigenmlIfEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opINS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_fNS3_IS5_fEEEEEE5valueEE4typeEfEEKNS2_19plain_constant_typeINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEESA_E4typeEKSE_EERKS5_RKNS_10MatrixBaseISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 1 dereferenceable(1)) #0

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(2500) ptr @_ZN5Eigen6MatrixIfLi25ELi25ELi0ELi25ELi25EEaSINS_13CwiseBinaryOpINS_8internal17scalar_product_opIffEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKS1_EESA_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(2500), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE3expEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(2500) ptr @_ZN5Eigen6MatrixIfLi25ELi25ELi0ELi25ELi25EEaSINS_28MatrixExponentialReturnValueIS1_EEEERS1_RKNS_13ReturnByValueIT_EE(ptr noundef nonnull align 4 dereferenceable(2500), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen6MatrixIfLi13ELi13ELi0ELi13ELi13EEaSINS_5BlockINS0_IfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(676), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(624) ptr @_ZN5Eigen6MatrixIfLi13ELi12ELi0ELi13ELi12EEaSINS_5BlockINS0_IfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(624), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEE11setIdentityEv(ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen6MatrixIfLi13ELi13ELi0ELi13ELi13EEaSINS_7ProductIS1_S1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(676), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLin1ELi13ELi0ELin1ELi13EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.114") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLin1ELi13ELi0ELin1ELi13EEELin1ELin1ELb0EEaSINS1_IfLi13ELi13ELi0ELi13ELi13EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEEmlINS1_IfLi13ELi12ELi0ELi13ELi12EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLin1ELin1ELi0ELin1ELin1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.132") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS1_IfLi13ELi13ELi0ELi13ELi13EEENS1_IfLi13ELi12ELi0ELi13ELi12EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"float", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"short", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"int", !7, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}
!17 = distinct !{!17, !16}
!18 = distinct !{!18, !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.33" = type { %"class.Eigen::PlainObjectBase.34" }
%"class.Eigen::PlainObjectBase.34" = type { %"class.Eigen::DenseStorage.41" }
%"class.Eigen::DenseStorage.41" = type { ptr, i64 }
%"class.Eigen::Matrix.42" = type { %"class.Eigen::PlainObjectBase.43" }
%"class.Eigen::PlainObjectBase.43" = type { %"class.Eigen::DenseStorage.50" }
%"class.Eigen::DenseStorage.50" = type { ptr, i64, i64 }
%"class.Eigen::Matrix.51" = type { %"class.Eigen::PlainObjectBase.52" }
%"class.Eigen::PlainObjectBase.52" = type { %"class.Eigen::DenseStorage.59" }
%"class.Eigen::DenseStorage.59" = type { %"struct.Eigen::internal::plain_array.60" }
%"struct.Eigen::internal::plain_array.60" = type { [156 x float] }
%"class.Eigen::Matrix.61" = type { %"class.Eigen::PlainObjectBase.62" }
%"class.Eigen::PlainObjectBase.62" = type { %"class.Eigen::DenseStorage.69" }
%"class.Eigen::DenseStorage.69" = type { %"struct.Eigen::internal::plain_array.70" }
%"struct.Eigen::internal::plain_array.70" = type { [169 x float] }
%"class.Eigen::Matrix.71" = type { %"class.Eigen::PlainObjectBase.72" }
%"class.Eigen::PlainObjectBase.72" = type { %"class.Eigen::DenseStorage.79" }
%"class.Eigen::DenseStorage.79" = type { %"struct.Eigen::internal::plain_array.80" }
%"struct.Eigen::internal::plain_array.80" = type { [625 x float] }
%"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.90" }
%"class.Eigen::MapBase.90" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::CwiseBinaryOp" = type <{ [4 x i8], %"class.Eigen::CwiseNullaryOp", [4 x i8], ptr, [8 x i8] }>
%"class.Eigen::CwiseNullaryOp" = type { [4 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { float }
%"struct.Eigen::MatrixExponentialReturnValue" = type { ptr }
%"class.Eigen::Product" = type { ptr, ptr }
%"class.Eigen::Block.114" = type { %"class.Eigen::BlockImpl.115" }
%"class.Eigen::BlockImpl.115" = type { %"class.Eigen::internal::BlockImpl_dense.116" }
%"class.Eigen::internal::BlockImpl_dense.116" = type { %"class.Eigen::MapBase.117", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.117" = type { %"class.Eigen::MapBase.118" }
%"class.Eigen::MapBase.118" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::Product.125" = type { ptr, ptr }
%"class.Eigen::Block.132" = type { %"class.Eigen::BlockImpl.133" }
%"class.Eigen::BlockImpl.133" = type { %"class.Eigen::internal::BlockImpl_dense.134" }
%"class.Eigen::internal::BlockImpl_dense.134" = type { %"class.Eigen::MapBase.135", ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", i64 }
%"class.Eigen::MapBase.135" = type { %"class.Eigen::MapBase.136" }
%"class.Eigen::MapBase.136" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }

@A_qp = external dso_local global %"class.Eigen::Matrix.33", align 8
@B_qp = external dso_local global %"class.Eigen::Matrix.42", align 8
@Bdt = external dso_local global %"class.Eigen::Matrix.51", align 16
@Adt = external dso_local global %"class.Eigen::Matrix.61", align 4
@ABc = external dso_local global %"class.Eigen::Matrix.71", align 4
@expmm = external dso_local global %"class.Eigen::Matrix.71", align 4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi13ELi13ELi0ELi13ELi13EEC2Ev(ptr noundef nonnull align 4 dereferenceable(676)) unnamed_addr #0 align 2

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

; 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 uwtable
define dso_local void @_Z4c2qpN5Eigen6MatrixIfLi13ELi13ELi0ELi13ELi13EEENS0_IfLi13ELi12ELi0ELi13ELi12EEEfs(ptr noundef %0, ptr noundef %1, float noundef %2, i16 noundef signext %3) local_unnamed_addr #2 {
  %5 = alloca float, align 4
  %6 = alloca %"class.Eigen::Block", align 8
  %7 = alloca %"class.Eigen::Block", align 8
  %8 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %9 = alloca %"struct.Eigen::MatrixExponentialReturnValue", align 8
  %10 = alloca %"class.Eigen::Block", align 8
  %11 = alloca %"class.Eigen::Block", align 8
  %12 = alloca [100 x %"class.Eigen::Matrix.61"], align 16
  %13 = alloca %"class.Eigen::Product", align 8
  %14 = alloca %"class.Eigen::Block.114", align 8
  %15 = alloca %"class.Eigen::Product.125", align 8
  %16 = alloca %"class.Eigen::Block.132", align 8
  store float %2, ptr %5, align 4, !tbaa !5
  %17 = tail call noundef nonnull align 4 dereferenceable(2500) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1) @ABc)
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %6) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %6, ptr noundef nonnull align 1 dereferenceable(1) @ABc, i64 noundef 0, i64 noundef 0, i32 noundef 13, i32 noundef 13)
  %18 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEaSINS1_IfLi13ELi13ELi0ELi13ELi13EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %6, ptr noundef nonnull align 1 dereferenceable(1) %0)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %6) #3
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %7) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE5blockIiiEENS3_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) @ABc, i64 noundef 0, i64 noundef 13, i32 noundef 13, i32 noundef 12)
  %19 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEaSINS1_IfLi13ELi12ELi0ELi13ELi12EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %7, ptr noundef nonnull align 1 dereferenceable(1) %1)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %7) #3
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %8) #3
  call void @_ZN5EigenmlIfEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opINS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_fNS3_IS5_fEEEEEE5valueEE4typeEfEEKNS2_19plain_constant_typeINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEESA_E4typeEKSE_EERKS5_RKNS_10MatrixBaseISE_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %8, ptr noundef nonnull align 4 dereferenceable(4) %5, ptr noundef nonnull align 1 dereferenceable(1) @ABc)
  %20 = call noundef nonnull align 4 dereferenceable(2500) ptr @_ZN5Eigen6MatrixIfLi25ELi25ELi0ELi25ELi25EEaSINS_13CwiseBinaryOpINS_8internal17scalar_product_opIffEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKS1_EESA_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(2500) @ABc, ptr noundef nonnull align 1 dereferenceable(1) %8)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %8) #3
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #3
  %21 = call ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE3expEv(ptr noundef nonnull align 1 dereferenceable(1) @ABc)
  store ptr %21, ptr %9, align 8
  %22 = call noundef nonnull align 4 dereferenceable(2500) ptr @_ZN5Eigen6MatrixIfLi25ELi25ELi0ELi25ELi25EEaSINS_28MatrixExponentialReturnValueIS1_EEEERS1_RKNS_13ReturnByValueIT_EE(ptr noundef nonnull align 4 dereferenceable(2500) @expmm, ptr noundef nonnull align 1 dereferenceable(1) %9)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #3
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %10) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE5blockIiiEENS3_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) @expmm, i64 noundef 0, i64 noundef 0, i32 noundef 13, i32 noundef 13)
  %23 = call noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen6MatrixIfLi13ELi13ELi0ELi13ELi13EEaSINS_5BlockINS0_IfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(676) @Adt, ptr noundef nonnull align 1 dereferenceable(1) %10)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %10) #3
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %11) #3
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %11, ptr noundef nonnull align 1 dereferenceable(1) @expmm, i64 noundef 0, i64 noundef 13, i32 noundef 13, i32 noundef 12)
  %24 = call noundef nonnull align 16 dereferenceable(624) ptr @_ZN5Eigen6MatrixIfLi13ELi12ELi0ELi13ELi12EEaSINS_5BlockINS0_IfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(624) @Bdt, ptr noundef nonnull align 1 dereferenceable(1) %11)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %11) #3
  call void @llvm.lifetime.start.p0(i64 67600, ptr nonnull %12) #3
  br label %25

25:                                               ; preds = %25, %4
  %.idx = phi i64 [ 0, %4 ], [ %.add, %25 ]
  %.ptr = getelementptr inbounds i8, ptr %12, i64 %.idx
  call void @_ZN5Eigen6MatrixIfLi13ELi13ELi0ELi13ELi13EEC2Ev(ptr noundef nonnull align 4 dereferenceable(676) %.ptr)
  %.add = add nuw nsw i64 %.idx, 676
  %26 = icmp eq i64 %.add, 67600
  br i1 %26, label %27, label %25

27:                                               ; preds = %25
  %28 = call noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEE11setIdentityEv(ptr noundef nonnull align 1 dereferenceable(1) %12)
  %.not28 = icmp slt i16 %3, 1
  br i1 %.not28, label %._crit_edge34, label %.lr.ph

.lr.ph:                                           ; preds = %27
  %29 = getelementptr inbounds i8, ptr %13, i64 8
  %narrow = add nuw i16 %3, 1
  %wide.trip.count = zext i16 %narrow to i64
  br label %46

.lr.ph33:                                         ; preds = %46
  %30 = getelementptr inbounds i8, ptr %15, i64 8
  %wide.trip.count44 = zext nneg i16 %3 to i64
  br label %.lr.ph31.us

.lr.ph31.us:                                      ; preds = %._crit_edge.us, %.lr.ph33
  %indvars.iv41 = phi i64 [ %indvars.iv.next42, %._crit_edge.us ], [ 0, %.lr.ph33 ]
  %31 = shl i64 %indvars.iv41, 32
  %sext = add i64 %31, 4294967296
  %32 = ashr exact i64 %sext, 32
  %33 = getelementptr inbounds [100 x %"class.Eigen::Matrix.61"], ptr %12, i64 0, i64 %32
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %14) #3
  %sext46 = mul i64 %indvars.iv41, 55834574848
  %34 = ashr exact i64 %sext46, 32
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLin1ELi13ELi0ELin1ELi13EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.114") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) @A_qp, i64 noundef %34, i64 noundef 0, i32 noundef 13, i32 noundef 13)
  %35 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLin1ELi13ELi0ELin1ELi13EEELin1ELin1ELb0EEaSINS1_IfLi13ELi13ELi0ELi13ELi13EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %14, ptr noundef nonnull align 1 dereferenceable(1) %33)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %14) #3
  br label %36

36:                                               ; preds = %.lr.ph31.us, %45
  %indvars.iv36 = phi i64 [ 0, %.lr.ph31.us ], [ %indvars.iv.next37, %45 ]
  %.not27.us = icmp ult i64 %indvars.iv41, %indvars.iv36
  br i1 %.not27.us, label %45, label %37

37:                                               ; preds = %36
  %38 = sub nsw i64 %indvars.iv41, %indvars.iv36
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #3
  %39 = getelementptr inbounds [100 x %"class.Eigen::Matrix.61"], ptr %12, i64 0, i64 %38
  %40 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEEmlINS1_IfLi13ELi12ELi0ELi13ELi12EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %39, ptr noundef nonnull align 1 dereferenceable(1) @Bdt)
  %41 = extractvalue { ptr, ptr } %40, 0
  store ptr %41, ptr %15, align 8
  %42 = extractvalue { ptr, ptr } %40, 1
  store ptr %42, ptr %30, align 8
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %16) #3
  %43 = mul nuw nsw i64 %indvars.iv36, 12
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIfLin1ELin1ELi0ELin1ELin1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.132") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) @B_qp, i64 noundef %34, i64 noundef %43, i32 noundef 13, i32 noundef 12)
  %44 = call noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS1_IfLi13ELi13ELi0ELi13ELi13EEENS1_IfLi13ELi12ELi0ELi13ELi12EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56) %16, ptr noundef nonnull align 1 dereferenceable(1) %15)
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %16) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #3
  br label %45

45:                                               ; preds = %37, %36
  %indvars.iv.next37 = add nuw nsw i64 %indvars.iv36, 1
  %exitcond40.not = icmp eq i64 %indvars.iv.next37, %wide.trip.count44
  br i1 %exitcond40.not, label %._crit_edge.us, label %36, !llvm.loop !9

._crit_edge.us:                                   ; preds = %45
  %indvars.iv.next42 = add nuw nsw i64 %indvars.iv41, 1
  %exitcond45.not = icmp eq i64 %indvars.iv.next42, %wide.trip.count44
  br i1 %exitcond45.not, label %._crit_edge34, label %.lr.ph31.us, !llvm.loop !11

46:                                               ; preds = %.lr.ph, %46
  %indvars.iv = phi i64 [ 1, %.lr.ph ], [ %indvars.iv.next, %46 ]
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #3
  %47 = add nsw i64 %indvars.iv, -1
  %48 = getelementptr inbounds [100 x %"class.Eigen::Matrix.61"], ptr %12, i64 0, i64 %47
  %49 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1) @Adt, ptr noundef nonnull align 1 dereferenceable(1) %48)
  %50 = extractvalue { ptr, ptr } %49, 0
  store ptr %50, ptr %13, align 8
  %51 = extractvalue { ptr, ptr } %49, 1
  store ptr %51, ptr %29, align 8
  %52 = getelementptr inbounds [100 x %"class.Eigen::Matrix.61"], ptr %12, i64 0, i64 %indvars.iv
  %53 = call noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen6MatrixIfLi13ELi13ELi0ELi13ELi13EEaSINS_7ProductIS1_S1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(676) %52, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #3
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %.lr.ph33, label %46, !llvm.loop !12

._crit_edge34:                                    ; preds = %._crit_edge.us, %27
  call void @llvm.lifetime.end.p0(i64 67600, ptr nonnull %12) #3
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(2500) ptr @_ZN5Eigen9DenseBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE7setZeroEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE5blockIiiEENS3_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 #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEaSINS1_IfLi13ELi13ELi0ELi13ELi13EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEaSINS1_IfLi13ELi12ELi0ELi13ELi12EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5EigenmlIfEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opINS2_18promote_scalar_argIfT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIS5_fNS3_IS5_fEEEEEE5valueEE4typeEfEEKNS2_19plain_constant_typeINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEESA_E4typeEKSE_EERKS5_RKNS_10MatrixBaseISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(2500) ptr @_ZN5Eigen6MatrixIfLi25ELi25ELi0ELi25ELi25EEaSINS_13CwiseBinaryOpINS_8internal17scalar_product_opIffEEKNS_14CwiseNullaryOpINS4_18scalar_constant_opIfEEKS1_EESA_EEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(2500), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi25ELi25ELi0ELi25ELi25EEEE3expEv(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(2500) ptr @_ZN5Eigen6MatrixIfLi25ELi25ELi0ELi25ELi25EEaSINS_28MatrixExponentialReturnValueIS1_EEEERS1_RKNS_13ReturnByValueIT_EE(ptr noundef nonnull align 4 dereferenceable(2500), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen6MatrixIfLi13ELi13ELi0ELi13ELi13EEaSINS_5BlockINS0_IfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(676), 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(624) ptr @_ZN5Eigen6MatrixIfLi13ELi12ELi0ELi13ELi12EEaSINS_5BlockINS0_IfLi25ELi25ELi0ELi25ELi25EEELin1ELin1ELb0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(624), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen10MatrixBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEE11setIdentityEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEEmlIS2_EEKNS_7ProductIS2_T_Li0EEERKNS0_IS6_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(676) ptr @_ZN5Eigen6MatrixIfLi13ELi13ELi0ELi13ELi13EEaSINS_7ProductIS1_S1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(676), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLin1ELi13ELi0ELin1ELi13EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.114") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLin1ELi13ELi0ELin1ELi13EEELin1ELin1ELb0EEaSINS1_IfLi13ELi13ELi0ELi13ELi13EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIfLi13ELi13ELi0ELi13ELi13EEEEmlINS1_IfLi13ELi12ELi0ELi13ELi12EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIfLin1ELin1ELi0ELin1ELin1EEEE5blockIiiEENS3_13FixedBlockXprIXsr8internal15get_fixed_valueIT_EE5valueEXsr8internal15get_fixed_valueIT0_EE5valueEE4TypeEllS6_S7_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.132") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef, i32 noundef, i32 noundef) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(56) ptr @_ZN5Eigen5BlockINS_6MatrixIfLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_7ProductINS1_IfLi13ELi13ELi0ELi13ELi13EEENS1_IfLi13ELi12ELi0ELi13ELi12EEELi0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(56), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"float", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = distinct !{!9, !10}
!10 = !{!"llvm.loop.mustprogress"}
!11 = distinct !{!11, !10}
!12 = distinct !{!12, !10}


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