; LLVM IR from HiroIshida/tinyfk :: urdf_parser/src/pose.ll (ZN4urdf14pose_transformERKNS_4PoseES2_)

; 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.urdf::Pose" = type { %"class.urdf::Vector3", %"class.urdf::Rotation" }
%"class.urdf::Vector3" = type { double, double, double }
%"class.urdf::Rotation" = type { double, double, double, double }

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

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

; Function Attrs: 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) #1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN4urdf14pose_transformERKNS_4PoseES2_(ptr dead_on_unwind noalias writable sret(%"class.urdf::Pose") align 8 %0, ptr noundef nonnull align 8 dereferenceable(56) %1, ptr noundef nonnull align 8 dereferenceable(56) %2) #2 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca %"class.urdf::Rotation", align 8
  %7 = alloca %"class.urdf::Vector3", align 8
  %8 = alloca %"class.urdf::Vector3", align 8
  %9 = alloca %"class.urdf::Vector3", align 8
  store ptr %1, ptr %4, align 8, !tbaa !5
  store ptr %2, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 32, ptr %6) #3
  %10 = load ptr, ptr %4, align 8, !tbaa !5
  %11 = getelementptr inbounds %"class.urdf::Pose", ptr %10, i32 0, i32 1
  %12 = load ptr, ptr %5, align 8, !tbaa !5
  %13 = getelementptr inbounds %"class.urdf::Pose", ptr %12, i32 0, i32 1
  call void @_ZNK4urdf8RotationmlERKS0_(ptr dead_on_unwind writable sret(%"class.urdf::Rotation") align 8 %6, ptr noundef nonnull align 8 dereferenceable(32) %11, ptr noundef nonnull align 8 dereferenceable(32) %13)
  call void @llvm.lifetime.start.p0(i64 24, ptr %7) #3
  call void @llvm.lifetime.start.p0(i64 24, ptr %8) #3
  %14 = load ptr, ptr %4, align 8, !tbaa !5
  %15 = getelementptr inbounds %"class.urdf::Pose", ptr %14, i32 0, i32 1
  %16 = load ptr, ptr %5, align 8, !tbaa !5
  %17 = getelementptr inbounds %"class.urdf::Pose", ptr %16, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %9, ptr align 8 %17, i64 24, i1 false), !tbaa.struct !9
  call void @_ZNK4urdf8RotationmlENS_7Vector3E(ptr dead_on_unwind writable sret(%"class.urdf::Vector3") align 8 %8, ptr noundef nonnull align 8 dereferenceable(32) %15, ptr noundef byval(%"class.urdf::Vector3") align 8 %9)
  %18 = load ptr, ptr %4, align 8, !tbaa !5
  %19 = getelementptr inbounds %"class.urdf::Pose", ptr %18, i32 0, i32 0
  call void @_ZNK4urdf7Vector3plERKS0_(ptr dead_on_unwind writable sret(%"class.urdf::Vector3") align 8 %7, ptr noundef nonnull align 8 dereferenceable(24) %8, ptr noundef nonnull align 8 dereferenceable(24) %19)
  call void @llvm.lifetime.end.p0(i64 24, ptr %8) #3
  call void @_ZN4urdf4PoseC2Ev(ptr noundef nonnull align 8 dereferenceable(56) %0)
  %20 = getelementptr inbounds %"class.urdf::Pose", ptr %0, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %20, ptr align 8 %7, i64 24, i1 false), !tbaa.struct !9
  %21 = getelementptr inbounds %"class.urdf::Pose", ptr %0, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %21, ptr align 8 %6, i64 32, i1 false), !tbaa.struct !12
  call void @llvm.lifetime.end.p0(i64 24, ptr %7) #3
  call void @llvm.lifetime.end.p0(i64 32, ptr %6) #3
  ret void
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4urdf8RotationmlERKS0_(ptr dead_on_unwind noalias writable sret(%"class.urdf::Rotation") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4urdf8RotationmlENS_7Vector3E(ptr dead_on_unwind noalias writable sret(%"class.urdf::Vector3") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef byval(%"class.urdf::Vector3") align 8) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4urdf7Vector3plERKS0_(ptr dead_on_unwind noalias writable sret(%"class.urdf::Vector3") align 8, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf4PoseC2Ev(ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #2 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree 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 = !{i64 0, i64 8, !10, i64 8, i64 8, !10, i64 16, i64 8, !10}
!10 = !{!11, !11, i64 0}
!11 = !{!"double", !7, i64 0}
!12 = !{i64 0, i64 8, !10, i64 8, i64 8, !10, i64 16, i64 8, !10, i64 24, i64 8, !10}


; 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.urdf::Pose" = type { %"class.urdf::Vector3", %"class.urdf::Rotation" }
%"class.urdf::Vector3" = type { double, double, double }
%"class.urdf::Rotation" = type { double, double, double, double }

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

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

; Function Attrs: mustprogress 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) #1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN4urdf14pose_transformERKNS_4PoseES2_(ptr dead_on_unwind noalias writable sret(%"class.urdf::Pose") align 8 %0, ptr noundef nonnull align 8 dereferenceable(56) %1, ptr noundef nonnull align 8 dereferenceable(56) %2) local_unnamed_addr #2 {
  %4 = alloca %"class.urdf::Rotation", align 8
  %5 = alloca %"class.urdf::Vector3", align 8
  %6 = alloca %"class.urdf::Vector3", align 8
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %4) #3
  %7 = getelementptr inbounds i8, ptr %1, i64 24
  %8 = getelementptr inbounds i8, ptr %2, i64 24
  call void @_ZNK4urdf8RotationmlERKS0_(ptr dead_on_unwind nonnull writable sret(%"class.urdf::Rotation") align 8 %4, ptr noundef nonnull align 8 dereferenceable(32) %7, ptr noundef nonnull align 8 dereferenceable(32) %8)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %5) #3
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %6) #3
  call void @_ZNK4urdf8RotationmlENS_7Vector3E(ptr dead_on_unwind nonnull writable sret(%"class.urdf::Vector3") align 8 %6, ptr noundef nonnull align 8 dereferenceable(32) %7, ptr noundef nonnull byval(%"class.urdf::Vector3") align 8 %2)
  call void @_ZNK4urdf7Vector3plERKS0_(ptr dead_on_unwind nonnull writable sret(%"class.urdf::Vector3") align 8 %5, ptr noundef nonnull align 8 dereferenceable(24) %6, ptr noundef nonnull align 8 dereferenceable(24) %1)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %6) #3
  call void @_ZN4urdf4PoseC2Ev(ptr noundef nonnull align 8 dereferenceable(56) %0)
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 8 dereferenceable(24) %5, i64 24, i1 false), !tbaa.struct !5
  %9 = getelementptr inbounds i8, ptr %0, i64 24
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 8 dereferenceable(32) %9, ptr noundef nonnull align 8 dereferenceable(32) %4, i64 32, i1 false), !tbaa.struct !10
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #3
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #3
  ret void
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4urdf8RotationmlERKS0_(ptr dead_on_unwind noalias writable sret(%"class.urdf::Rotation") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4urdf8RotationmlENS_7Vector3E(ptr dead_on_unwind noalias writable sret(%"class.urdf::Vector3") align 8, ptr noundef nonnull align 8 dereferenceable(32), ptr noundef byval(%"class.urdf::Vector3") align 8) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4urdf7Vector3plERKS0_(ptr dead_on_unwind noalias writable sret(%"class.urdf::Vector3") align 8, ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN4urdf4PoseC2Ev(ptr noundef nonnull align 8 dereferenceable(56)) unnamed_addr #2 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nocallback nofree 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 = !{i64 0, i64 8, !6, i64 8, i64 8, !6, i64 16, i64 8, !6}
!6 = !{!7, !7, i64 0}
!7 = !{!"double", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{i64 0, i64 8, !6, i64 8, i64 8, !6, i64 16, i64 8, !6, i64 24, i64 8, !6}


; Effective O3 passes: DSEPass,EarlyCSEPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,MemCpyOptPass,SROAPass