; LLVM IR from HRI-EU/Rcs :: src/RcsCore (MotionControlLayer)

; 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.Rcs::MotionControlLayer" = type { ptr, ptr, ptr, %"class.std::vector", ptr, i8, i8, i8, i8, i32, i32, double, double, double, double }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<Rcs::HardwareComponent *, std::allocator<Rcs::HardwareComponent *>>::_Vector_impl" }
%"struct.std::_Vector_base<Rcs::HardwareComponent *, std::allocator<Rcs::HardwareComponent *>>::_Vector_impl" = type { %"struct.std::_Vector_base<Rcs::HardwareComponent *, std::allocator<Rcs::HardwareComponent *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Rcs::HardwareComponent *, std::allocator<Rcs::HardwareComponent *>>::_Vector_impl_data" = type { ptr, ptr, ptr }

@stderr = external global ptr, align 8
@.str.1 = external hidden unnamed_addr constant [79 x i8], align 1
@RcsLogLevel = external global i32, align 4
@.str.6 = external hidden unnamed_addr constant [2 x i8], align 1
@RCS_GLOBAL_RLOG_CB = external global ptr, align 8
@__func__._ZN3Rcs18MotionControlLayer20addHardwareComponentEPNS_17HardwareComponentE = external hidden unnamed_addr constant [21 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [49 x i8], align 1

; Function Attrs: nounwind
declare i32 @fprintf(ptr noundef, ptr noundef, ...) #0

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIPN3Rcs17HardwareComponentESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN3Rcs17HardwareComponentESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

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

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN3Rcs18MotionControlLayer20addHardwareComponentEPNS_17HardwareComponentE(ptr noundef nonnull align 8 dereferenceable(104) %0, ptr noundef %1) unnamed_addr #3 align 2 {
  %3 = alloca i1, align 1
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca i64, align 8
  %7 = alloca i32, align 4
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  %8 = load ptr, ptr %4, align 8
  %9 = load ptr, ptr %5, align 8, !tbaa !5
  %10 = icmp eq ptr %9, null
  br i1 %10, label %11, label %29

11:                                               ; preds = %2
  br label %12

12:                                               ; preds = %11
  %13 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %14 = icmp ne ptr %13, null
  br i1 %14, label %15, label %17

15:                                               ; preds = %12
  %16 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  call void (i32, ptr, ptr, i32, ptr, ...) %16(i32 noundef 1, ptr noundef @.str.1, ptr noundef @__func__._ZN3Rcs18MotionControlLayer20addHardwareComponentEPNS_17HardwareComponentE, i32 noundef 149, ptr noundef @.str.16)
  br label %17

17:                                               ; preds = %15, %12
  %18 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %19 = icmp sle i32 1, %18
  br i1 %19, label %20, label %27

20:                                               ; preds = %17
  %21 = load ptr, ptr @stderr, align 8, !tbaa !5
  %22 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %21, ptr noundef @.str.17, ptr noundef @.str.1, ptr noundef @__func__._ZN3Rcs18MotionControlLayer20addHardwareComponentEPNS_17HardwareComponentE, i32 noundef 149) #4
  %23 = load ptr, ptr @stderr, align 8, !tbaa !5
  %24 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %23, ptr noundef @.str.16) #4
  %25 = load ptr, ptr @stderr, align 8, !tbaa !5
  %26 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %25, ptr noundef @.str.6) #4
  br label %27

27:                                               ; preds = %20, %17
  br label %28

28:                                               ; preds = %27
  store i1 false, ptr %3, align 1
  br label %86

29:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #4
  store i64 0, ptr %6, align 8, !tbaa !11
  br label %30

30:                                               ; preds = %73, %29
  %31 = load i64, ptr %6, align 8, !tbaa !11
  %32 = getelementptr inbounds %"class.Rcs::MotionControlLayer", ptr %8, i32 0, i32 3
  %33 = call noundef i64 @_ZNKSt6vectorIPN3Rcs17HardwareComponentESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %32) #4
  %34 = icmp ult i64 %31, %33
  br i1 %34, label %36, label %35

35:                                               ; preds = %30
  store i32 4, ptr %7, align 4
  br label %76

36:                                               ; preds = %30
  %37 = load ptr, ptr %5, align 8, !tbaa !5
  %38 = getelementptr inbounds %"class.Rcs::MotionControlLayer", ptr %8, i32 0, i32 3
  %39 = load i64, ptr %6, align 8, !tbaa !11
  %40 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN3Rcs17HardwareComponentESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %38, i64 noundef %39) #4
  %41 = load ptr, ptr %40, align 8, !tbaa !5
  %42 = icmp eq ptr %37, %41
  br i1 %42, label %43, label %72

43:                                               ; preds = %36
  br label %44

44:                                               ; preds = %43
  %45 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %46 = icmp ne ptr %45, null
  br i1 %46, label %47, label %54

47:                                               ; preds = %44
  %48 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %49 = load ptr, ptr %5, align 8, !tbaa !5
  %50 = load ptr, ptr %49, align 8, !tbaa !13
  %51 = getelementptr inbounds ptr, ptr %50, i64 5
  %52 = load ptr, ptr %51, align 8
  %53 = call noundef ptr %52(ptr noundef nonnull align 8 dereferenceable(25) %49)
  call void (i32, ptr, ptr, i32, ptr, ...) %48(i32 noundef 1, ptr noundef @.str.1, ptr noundef @__func__._ZN3Rcs18MotionControlLayer20addHardwareComponentEPNS_17HardwareComponentE, i32 noundef 158, ptr noundef @.str.18, ptr noundef %53)
  br label %54

54:                                               ; preds = %47, %44
  %55 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %56 = icmp sle i32 1, %55
  br i1 %56, label %57, label %69

57:                                               ; preds = %54
  %58 = load ptr, ptr @stderr, align 8, !tbaa !5
  %59 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %58, ptr noundef @.str.17, ptr noundef @.str.1, ptr noundef @__func__._ZN3Rcs18MotionControlLayer20addHardwareComponentEPNS_17HardwareComponentE, i32 noundef 158) #4
  %60 = load ptr, ptr @stderr, align 8, !tbaa !5
  %61 = load ptr, ptr %5, align 8, !tbaa !5
  %62 = load ptr, ptr %61, align 8, !tbaa !13
  %63 = getelementptr inbounds ptr, ptr %62, i64 5
  %64 = load ptr, ptr %63, align 8
  %65 = call noundef ptr %64(ptr noundef nonnull align 8 dereferenceable(25) %61)
  %66 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %60, ptr noundef @.str.18, ptr noundef %65) #4
  %67 = load ptr, ptr @stderr, align 8, !tbaa !5
  %68 = call i32 (ptr, ptr, ...) @fprintf(ptr noundef %67, ptr noundef @.str.6) #4
  br label %69

69:                                               ; preds = %57, %54
  br label %70

70:                                               ; preds = %69
  br label %71

71:                                               ; preds = %70
  store i1 false, ptr %3, align 1
  store i32 1, ptr %7, align 4
  br label %76

72:                                               ; preds = %36
  br label %73

73:                                               ; preds = %72
  %74 = load i64, ptr %6, align 8, !tbaa !11
  %75 = add i64 %74, 1
  store i64 %75, ptr %6, align 8, !tbaa !11
  br label %30, !llvm.loop !15

76:                                               ; preds = %71, %35
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #4
  %77 = load i32, ptr %7, align 4
  switch i32 %77, label %88 [
    i32 4, label %78
    i32 1, label %86
  ]

78:                                               ; preds = %76
  %79 = getelementptr inbounds %"class.Rcs::MotionControlLayer", ptr %8, i32 0, i32 3
  call void @_ZNSt6vectorIPN3Rcs17HardwareComponentESaIS2_EE9push_backERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %79, ptr noundef nonnull align 8 dereferenceable(8) %5)
  %80 = load ptr, ptr %5, align 8, !tbaa !5
  %81 = getelementptr inbounds %"class.Rcs::MotionControlLayer", ptr %8, i32 0, i32 1
  %82 = load ptr, ptr %81, align 8, !tbaa !17
  %83 = load ptr, ptr %80, align 8, !tbaa !13
  %84 = getelementptr inbounds ptr, ptr %83, i64 2
  %85 = load ptr, ptr %84, align 8
  call void %85(ptr noundef nonnull align 8 dereferenceable(25) %80, ptr noundef %82)
  call void @_ZN3Rcs18MotionControlLayer11updateGraphEv(ptr noundef nonnull align 8 dereferenceable(104) %8)
  store i1 true, ptr %3, align 1
  br label %86

86:                                               ; preds = %78, %76, %28
  %87 = load i1, ptr %3, align 1
  ret i1 %87

88:                                               ; preds = %76
  unreachable
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIPN3Rcs17HardwareComponentESaIS2_EE9push_backERKS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3Rcs18MotionControlLayer11updateGraphEv(ptr noundef nonnull align 8 dereferenceable(104)) unnamed_addr #3 align 2

attributes #0 = { 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 #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { 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 #4 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"long", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"vtable pointer", !8, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}
!17 = !{!18, !6, i64 8}
!18 = !{!"_ZTSN3Rcs18MotionControlLayerE", !6, i64 8, !6, i64 16, !19, i64 24, !6, i64 48, !23, i64 56, !23, i64 57, !23, i64 58, !23, i64 59, !10, i64 60, !10, i64 64, !24, i64 72, !24, i64 80, !24, i64 88, !24, i64 96}
!19 = !{!"_ZTSSt6vectorIPN3Rcs17HardwareComponentESaIS2_EE", !20, i64 0}
!20 = !{!"_ZTSSt12_Vector_baseIPN3Rcs17HardwareComponentESaIS2_EE", !21, i64 0}
!21 = !{!"_ZTSNSt12_Vector_baseIPN3Rcs17HardwareComponentESaIS2_EE12_Vector_implE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseIPN3Rcs17HardwareComponentESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!23 = !{!"bool", !7, i64 0}
!24 = !{!"double", !7, i64 0}


; 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"

@stderr = external local_unnamed_addr global ptr, align 8
@.str.1 = external hidden unnamed_addr constant [79 x i8], align 1
@RcsLogLevel = external local_unnamed_addr global i32, align 4
@.str.6 = external hidden unnamed_addr constant [2 x i8], align 1
@RCS_GLOBAL_RLOG_CB = external local_unnamed_addr global ptr, align 8
@__func__._ZN3Rcs18MotionControlLayer20addHardwareComponentEPNS_17HardwareComponentE = external hidden unnamed_addr constant [21 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [16 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [49 x i8], align 1

; Function Attrs: nofree nounwind
declare noundef i32 @fprintf(ptr nocapture noundef, ptr nocapture noundef readonly, ...) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIPN3Rcs17HardwareComponentESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN3Rcs17HardwareComponentESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN3Rcs18MotionControlLayer20addHardwareComponentEPNS_17HardwareComponentE(ptr noundef nonnull align 8 dereferenceable(104) %0, ptr noundef %1) unnamed_addr #2 align 2 {
  %3 = alloca ptr, align 8
  store ptr %1, ptr %3, align 8, !tbaa !5
  %4 = icmp eq ptr %1, null
  br i1 %4, label %7, label %.preheader

.preheader:                                       ; preds = %2
  %5 = getelementptr inbounds i8, ptr %0, i64 24
  %6 = tail call noundef i64 @_ZNKSt6vectorIPN3Rcs17HardwareComponentESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #3
  %.not15 = icmp eq i64 %6, 0
  br i1 %.not15, label %._crit_edge, label %.lr.ph

7:                                                ; preds = %2
  %8 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %.not9 = icmp eq ptr %8, null
  br i1 %.not9, label %10, label %9

9:                                                ; preds = %7
  tail call void (i32, ptr, ptr, i32, ptr, ...) %8(i32 noundef 1, ptr noundef nonnull @.str.1, ptr noundef nonnull @__func__._ZN3Rcs18MotionControlLayer20addHardwareComponentEPNS_17HardwareComponentE, i32 noundef 149, ptr noundef nonnull @.str.16)
  br label %10

10:                                               ; preds = %9, %7
  %11 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %12 = icmp sgt i32 %11, 0
  br i1 %12, label %13, label %.thread

13:                                               ; preds = %10
  %14 = load ptr, ptr @stderr, align 8, !tbaa !5
  %15 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %14, ptr noundef nonnull @.str.17, ptr noundef nonnull @.str.1, ptr noundef nonnull @__func__._ZN3Rcs18MotionControlLayer20addHardwareComponentEPNS_17HardwareComponentE, i32 noundef 149) #4
  %16 = load ptr, ptr @stderr, align 8, !tbaa !5
  %17 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %16, ptr noundef nonnull @.str.16) #4
  %18 = load ptr, ptr @stderr, align 8, !tbaa !5
  %19 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %18, ptr noundef nonnull @.str.6) #4
  br label %.thread

20:                                               ; preds = %.lr.ph
  %21 = add nuw i64 %.0514, 1
  %22 = tail call noundef i64 @_ZNKSt6vectorIPN3Rcs17HardwareComponentESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #3
  %23 = icmp ult i64 %21, %22
  br i1 %23, label %.lr.ph, label %._crit_edge, !llvm.loop !11

.lr.ph:                                           ; preds = %.preheader, %20
  %.0514 = phi i64 [ %21, %20 ], [ 0, %.preheader ]
  %24 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPN3Rcs17HardwareComponentESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %.0514) #3
  %25 = load ptr, ptr %24, align 8, !tbaa !5
  %26 = icmp eq ptr %25, %1
  br i1 %26, label %27, label %20

27:                                               ; preds = %.lr.ph
  %28 = load ptr, ptr @RCS_GLOBAL_RLOG_CB, align 8, !tbaa !5
  %.not = icmp eq ptr %28, null
  br i1 %.not, label %34, label %29

29:                                               ; preds = %27
  %30 = load ptr, ptr %1, align 8, !tbaa !13
  %31 = getelementptr inbounds i8, ptr %30, i64 40
  %32 = load ptr, ptr %31, align 8
  %33 = tail call noundef ptr %32(ptr noundef nonnull align 8 dereferenceable(25) %1)
  tail call void (i32, ptr, ptr, i32, ptr, ...) %28(i32 noundef 1, ptr noundef nonnull @.str.1, ptr noundef nonnull @__func__._ZN3Rcs18MotionControlLayer20addHardwareComponentEPNS_17HardwareComponentE, i32 noundef 158, ptr noundef nonnull @.str.18, ptr noundef %33)
  br label %34

34:                                               ; preds = %29, %27
  %35 = load i32, ptr @RcsLogLevel, align 4, !tbaa !9
  %36 = icmp sgt i32 %35, 0
  br i1 %36, label %37, label %.thread

37:                                               ; preds = %34
  %38 = load ptr, ptr @stderr, align 8, !tbaa !5
  %39 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %38, ptr noundef nonnull @.str.17, ptr noundef nonnull @.str.1, ptr noundef nonnull @__func__._ZN3Rcs18MotionControlLayer20addHardwareComponentEPNS_17HardwareComponentE, i32 noundef 158) #4
  %40 = load ptr, ptr @stderr, align 8, !tbaa !5
  %41 = load ptr, ptr %1, align 8, !tbaa !13
  %42 = getelementptr inbounds i8, ptr %41, i64 40
  %43 = load ptr, ptr %42, align 8
  %44 = tail call noundef ptr %43(ptr noundef nonnull align 8 dereferenceable(25) %1)
  %45 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %40, ptr noundef nonnull @.str.18, ptr noundef %44) #4
  %46 = load ptr, ptr @stderr, align 8, !tbaa !5
  %47 = tail call i32 (ptr, ptr, ...) @fprintf(ptr noundef %46, ptr noundef nonnull @.str.6) #4
  br label %.thread

._crit_edge:                                      ; preds = %20, %.preheader
  call void @_ZNSt6vectorIPN3Rcs17HardwareComponentESaIS2_EE9push_backERKS2_(ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef nonnull align 8 dereferenceable(8) %3)
  %48 = load ptr, ptr %3, align 8, !tbaa !5
  %49 = getelementptr inbounds i8, ptr %0, i64 8
  %50 = load ptr, ptr %49, align 8, !tbaa !15
  %51 = load ptr, ptr %48, align 8, !tbaa !13
  %52 = getelementptr inbounds i8, ptr %51, i64 16
  %53 = load ptr, ptr %52, align 8
  call void %53(ptr noundef nonnull align 8 dereferenceable(25) %48, ptr noundef %50)
  call void @_ZN3Rcs18MotionControlLayer11updateGraphEv(ptr noundef nonnull align 8 dereferenceable(104) %0)
  br label %.thread

.thread:                                          ; preds = %34, %37, %13, %10, %._crit_edge
  %.1 = phi i1 [ true, %._crit_edge ], [ false, %10 ], [ false, %13 ], [ false, %37 ], [ false, %34 ]
  ret i1 %.1
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIPN3Rcs17HardwareComponentESaIS2_EE9push_backERKS2_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3Rcs18MotionControlLayer11updateGraphEv(ptr noundef nonnull align 8 dereferenceable(104)) unnamed_addr #2 align 2

attributes #0 = { nofree 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 #1 = { 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 #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 }
attributes #4 = { cold nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}
!13 = !{!14, !14, i64 0}
!14 = !{!"vtable pointer", !8, i64 0}
!15 = !{!16, !6, i64 8}
!16 = !{!"_ZTSN3Rcs18MotionControlLayerE", !6, i64 8, !6, i64 16, !17, i64 24, !6, i64 48, !21, i64 56, !21, i64 57, !21, i64 58, !21, i64 59, !10, i64 60, !10, i64 64, !22, i64 72, !22, i64 80, !22, i64 88, !22, i64 96}
!17 = !{!"_ZTSSt6vectorIPN3Rcs17HardwareComponentESaIS2_EE", !18, i64 0}
!18 = !{!"_ZTSSt12_Vector_baseIPN3Rcs17HardwareComponentESaIS2_EE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseIPN3Rcs17HardwareComponentESaIS2_EE12_Vector_implE", !20, i64 0}
!20 = !{!"_ZTSNSt12_Vector_baseIPN3Rcs17HardwareComponentESaIS2_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!21 = !{!"bool", !7, i64 0}
!22 = !{!"double", !7, i64 0}


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