; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/MPC_Ctrl/Gait.ll (ZN17MixedFrequncyGait15getContactStateEv)

; 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.37" = type { %"class.Eigen::PlainObjectBase.38" }
%"class.Eigen::PlainObjectBase.38" = type { %"class.Eigen::DenseStorage.17" }
%"class.Eigen::DenseStorage.17" = type { %"struct.Eigen::internal::plain_array.18" }
%"struct.Eigen::internal::plain_array.18" = type { [4 x float] }
%"class.Eigen::Array.9" = type { %"class.Eigen::PlainObjectBase.10" }
%"class.Eigen::PlainObjectBase.10" = type { %"class.Eigen::DenseStorage.17" }
%"class.Eigen::MatrixWrapper" = type { ptr }
%class.MixedFrequncyGait = type { %class.Gait, float, ptr, [8 x i8], %"class.Eigen::Array", %"class.Eigen::Array.9", i32, i32, [8 x i8] }
%class.Gait = type { ptr, %"class.std::__cxx11::basic_string" }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.Eigen::Array" = type { %"class.Eigen::PlainObjectBase.3" }
%"class.Eigen::PlainObjectBase.3" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [4 x i32] }

; 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: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEE6matrixEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2INS_13MatrixWrapperINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17MixedFrequncyGait15getContactStateEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.37") align 16 %0, ptr noundef nonnull align 16 dereferenceable(104) %1) unnamed_addr #2 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca %"class.Eigen::Array.9", align 16
  %6 = alloca i32, align 4
  %7 = alloca %"class.Eigen::MatrixWrapper", align 8
  store ptr %0, ptr %3, align 8
  store ptr %1, ptr %4, align 8, !tbaa !5
  %8 = load ptr, ptr %4, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %5) #3
  %9 = getelementptr inbounds %class.MixedFrequncyGait, ptr %8, i32 0, i32 5
  call void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2ERKS1_(ptr noundef nonnull align 16 dereferenceable(16) %5, ptr noundef nonnull align 16 dereferenceable(16) %9)
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #3
  store i32 0, ptr %6, align 4, !tbaa !9
  br label %10

10:                                               ; preds = %52, %2
  %11 = load i32, ptr %6, align 4, !tbaa !9
  %12 = icmp slt i32 %11, 4
  br i1 %12, label %14, label %13

13:                                               ; preds = %10
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #3
  br label %55

14:                                               ; preds = %10
  %15 = load i32, ptr %6, align 4, !tbaa !9
  %16 = sext i32 %15 to i64
  %17 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef %16)
  %18 = load float, ptr %17, align 4, !tbaa !11
  %19 = fcmp olt float %18, 0.000000e+00
  br i1 %19, label %20, label %28

20:                                               ; preds = %14
  %21 = load i32, ptr %6, align 4, !tbaa !9
  %22 = sext i32 %21 to i64
  %23 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef %22)
  %24 = load float, ptr %23, align 4, !tbaa !11
  %25 = fpext float %24 to double
  %26 = fadd double %25, 1.000000e+00
  %27 = fptrunc double %26 to float
  store float %27, ptr %23, align 4, !tbaa !11
  br label %28

28:                                               ; preds = %20, %14
  %29 = load i32, ptr %6, align 4, !tbaa !9
  %30 = sext i32 %29 to i64
  %31 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef %30)
  %32 = load float, ptr %31, align 4, !tbaa !11
  %33 = getelementptr inbounds %class.MixedFrequncyGait, ptr %8, i32 0, i32 1
  %34 = load float, ptr %33, align 8, !tbaa !13
  %35 = fcmp ogt float %32, %34
  br i1 %35, label %36, label %40

36:                                               ; preds = %28
  %37 = load i32, ptr %6, align 4, !tbaa !9
  %38 = sext i32 %37 to i64
  %39 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef %38)
  store float 0.000000e+00, ptr %39, align 4, !tbaa !11
  br label %51

40:                                               ; preds = %28
  %41 = load i32, ptr %6, align 4, !tbaa !9
  %42 = sext i32 %41 to i64
  %43 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef %42)
  %44 = load float, ptr %43, align 4, !tbaa !11
  %45 = getelementptr inbounds %class.MixedFrequncyGait, ptr %8, i32 0, i32 1
  %46 = load float, ptr %45, align 8, !tbaa !13
  %47 = fdiv float %44, %46
  %48 = load i32, ptr %6, align 4, !tbaa !9
  %49 = sext i32 %48 to i64
  %50 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef %49)
  store float %47, ptr %50, align 4, !tbaa !11
  br label %51

51:                                               ; preds = %40, %36
  br label %52

52:                                               ; preds = %51
  %53 = load i32, ptr %6, align 4, !tbaa !9
  %54 = add nsw i32 %53, 1
  store i32 %54, ptr %6, align 4, !tbaa !9
  br label %10, !llvm.loop !27

55:                                               ; preds = %13
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #3
  %56 = call ptr @_ZN5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEE6matrixEv(ptr noundef nonnull align 1 dereferenceable(1) %5)
  %57 = getelementptr inbounds %"class.Eigen::MatrixWrapper", ptr %7, i32 0, i32 0
  store ptr %56, ptr %57, align 8
  call void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2INS_13MatrixWrapperINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %0, ptr noundef nonnull align 1 dereferenceable(1) %7)
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr %5) #3
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2ERKS1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) unnamed_addr #1 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #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 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"float", !7, i64 0}
!13 = !{!14, !12, i64 40}
!14 = !{!"_ZTS17MixedFrequncyGait", !15, i64 0, !12, i64 40, !6, i64 48, !19, i64 64, !23, i64 80, !10, i64 96, !10, i64 100}
!15 = !{!"_ZTS4Gait", !16, i64 8}
!16 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !17, i64 0, !18, i64 8, !7, i64 16}
!17 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!18 = !{!"long", !7, i64 0}
!19 = !{!"_ZTSN5Eigen5ArrayIiLi4ELi1ELi0ELi4ELi1EEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIiLi4ELi1ELi0ELi4ELi1EEEEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen12DenseStorageIiLi4ELi4ELi1ELi0EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen8internal11plain_arrayIiLi4ELi0ELi16EEE", !7, i64 0}
!23 = !{!"_ZTSN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen12DenseStorageIfLi4ELi4ELi1ELi0EEE", !26, i64 0}
!26 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi4ELi0ELi16EEE", !7, i64 0}
!27 = distinct !{!27, !28}
!28 = !{!"llvm.loop.mustprogress"}


; 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.37" = type { %"class.Eigen::PlainObjectBase.38" }
%"class.Eigen::PlainObjectBase.38" = type { %"class.Eigen::DenseStorage.17" }
%"class.Eigen::DenseStorage.17" = type { %"struct.Eigen::internal::plain_array.18" }
%"struct.Eigen::internal::plain_array.18" = type { [4 x float] }
%"class.Eigen::Array.9" = type { %"class.Eigen::PlainObjectBase.10" }
%"class.Eigen::PlainObjectBase.10" = type { %"class.Eigen::DenseStorage.17" }
%"class.Eigen::MatrixWrapper" = type { ptr }

; 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: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEE6matrixEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2INS_13MatrixWrapperINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN17MixedFrequncyGait15getContactStateEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.37") align 16 %0, ptr noundef nonnull align 16 dereferenceable(104) %1) unnamed_addr #2 align 2 {
  %3 = alloca %"class.Eigen::Array.9", align 16
  %4 = alloca %"class.Eigen::MatrixWrapper", align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %3) #3
  %5 = getelementptr inbounds i8, ptr %1, i64 80
  call void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2ERKS1_(ptr noundef nonnull align 16 dereferenceable(16) %3, ptr noundef nonnull align 16 dereferenceable(16) %5)
  %6 = getelementptr inbounds i8, ptr %1, i64 40
  %7 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0)
  %8 = load float, ptr %7, align 4, !tbaa !5
  %9 = fcmp olt float %8, 0.000000e+00
  br i1 %9, label %10, label %14

10:                                               ; preds = %2
  %11 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0)
  %12 = load float, ptr %11, align 4, !tbaa !5
  %13 = fadd float %12, 1.000000e+00
  store float %13, ptr %11, align 4, !tbaa !5
  br label %14

14:                                               ; preds = %10, %2
  %15 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0)
  %16 = load float, ptr %15, align 4, !tbaa !5
  %17 = load float, ptr %6, align 8, !tbaa !9
  %18 = fcmp ogt float %16, %17
  %19 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0)
  br i1 %18, label %20, label %21

20:                                               ; preds = %14
  store float 0.000000e+00, ptr %19, align 4, !tbaa !5
  br label %26

21:                                               ; preds = %14
  %22 = load float, ptr %19, align 4, !tbaa !5
  %23 = load float, ptr %6, align 8, !tbaa !9
  %24 = fdiv float %22, %23
  %25 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0)
  store float %24, ptr %25, align 4, !tbaa !5
  br label %26

26:                                               ; preds = %20, %21
  %27 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 1)
  %28 = load float, ptr %27, align 4, !tbaa !5
  %29 = fcmp olt float %28, 0.000000e+00
  br i1 %29, label %30, label %34

30:                                               ; preds = %26
  %31 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 1)
  %32 = load float, ptr %31, align 4, !tbaa !5
  %33 = fadd float %32, 1.000000e+00
  store float %33, ptr %31, align 4, !tbaa !5
  br label %34

34:                                               ; preds = %30, %26
  %35 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 1)
  %36 = load float, ptr %35, align 4, !tbaa !5
  %37 = load float, ptr %6, align 8, !tbaa !9
  %38 = fcmp ogt float %36, %37
  %39 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 1)
  br i1 %38, label %45, label %40

40:                                               ; preds = %34
  %41 = load float, ptr %39, align 4, !tbaa !5
  %42 = load float, ptr %6, align 8, !tbaa !9
  %43 = fdiv float %41, %42
  %44 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 1)
  store float %43, ptr %44, align 4, !tbaa !5
  br label %46

45:                                               ; preds = %34
  store float 0.000000e+00, ptr %39, align 4, !tbaa !5
  br label %46

46:                                               ; preds = %45, %40
  %47 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2)
  %48 = load float, ptr %47, align 4, !tbaa !5
  %49 = fcmp olt float %48, 0.000000e+00
  br i1 %49, label %50, label %54

50:                                               ; preds = %46
  %51 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2)
  %52 = load float, ptr %51, align 4, !tbaa !5
  %53 = fadd float %52, 1.000000e+00
  store float %53, ptr %51, align 4, !tbaa !5
  br label %54

54:                                               ; preds = %50, %46
  %55 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2)
  %56 = load float, ptr %55, align 4, !tbaa !5
  %57 = load float, ptr %6, align 8, !tbaa !9
  %58 = fcmp ogt float %56, %57
  %59 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2)
  br i1 %58, label %65, label %60

60:                                               ; preds = %54
  %61 = load float, ptr %59, align 4, !tbaa !5
  %62 = load float, ptr %6, align 8, !tbaa !9
  %63 = fdiv float %61, %62
  %64 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2)
  store float %63, ptr %64, align 4, !tbaa !5
  br label %66

65:                                               ; preds = %54
  store float 0.000000e+00, ptr %59, align 4, !tbaa !5
  br label %66

66:                                               ; preds = %65, %60
  %67 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 3)
  %68 = load float, ptr %67, align 4, !tbaa !5
  %69 = fcmp olt float %68, 0.000000e+00
  br i1 %69, label %70, label %74

70:                                               ; preds = %66
  %71 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 3)
  %72 = load float, ptr %71, align 4, !tbaa !5
  %73 = fadd float %72, 1.000000e+00
  store float %73, ptr %71, align 4, !tbaa !5
  br label %74

74:                                               ; preds = %70, %66
  %75 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 3)
  %76 = load float, ptr %75, align 4, !tbaa !5
  %77 = load float, ptr %6, align 8, !tbaa !9
  %78 = fcmp ogt float %76, %77
  %79 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 3)
  br i1 %78, label %85, label %80

80:                                               ; preds = %74
  %81 = load float, ptr %79, align 4, !tbaa !5
  %82 = load float, ptr %6, align 8, !tbaa !9
  %83 = fdiv float %81, %82
  %84 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 3)
  store float %83, ptr %84, align 4, !tbaa !5
  br label %86

85:                                               ; preds = %74
  store float 0.000000e+00, ptr %79, align 4, !tbaa !5
  br label %86

86:                                               ; preds = %85, %80
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #3
  %87 = call ptr @_ZN5Eigen9ArrayBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEE6matrixEv(ptr noundef nonnull align 1 dereferenceable(1) %3)
  store ptr %87, ptr %4, align 8
  call void @_ZN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEC2INS_13MatrixWrapperINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %0, ptr noundef nonnull align 1 dereferenceable(1) %4)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #3
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %3) #3
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEC2ERKS1_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16)) unnamed_addr #1 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #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 = !{!10, !6, i64 40}
!10 = !{!"_ZTS17MixedFrequncyGait", !11, i64 0, !6, i64 40, !14, i64 48, !16, i64 64, !20, i64 80, !24, i64 96, !24, i64 100}
!11 = !{!"_ZTS4Gait", !12, i64 8}
!12 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !13, i64 0, !15, i64 8, !7, i64 16}
!13 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !14, i64 0}
!14 = !{!"any pointer", !7, i64 0}
!15 = !{!"long", !7, i64 0}
!16 = !{!"_ZTSN5Eigen5ArrayIiLi4ELi1ELi0ELi4ELi1EEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIiLi4ELi1ELi0ELi4ELi1EEEEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen12DenseStorageIiLi4ELi4ELi1ELi0EEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen8internal11plain_arrayIiLi4ELi0ELi16EEE", !7, i64 0}
!20 = !{!"_ZTSN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen12DenseStorageIfLi4ELi4ELi1ELi0EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi4ELi0ELi16EEE", !7, i64 0}
!24 = !{!"int", !7, i64 0}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,LICMPass,LoopRotatePass,SROAPass,SimplifyCFGPass