; LLVM IR from robotics-upo/Heuristic_path_planners :: src/utils (metrics)

; 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.std::tuple" = type { %"struct.std::_Tuple_impl" }
%"struct.std::_Tuple_impl" = type { %"struct.std::_Tuple_impl.0", %"struct.std::_Head_base.9" }
%"struct.std::_Tuple_impl.0" = type { %"struct.std::_Tuple_impl.1", %"struct.std::_Head_base.8" }
%"struct.std::_Tuple_impl.1" = type { %"struct.std::_Tuple_impl.2", %"struct.std::_Head_base.7" }
%"struct.std::_Tuple_impl.2" = type { %"struct.std::_Tuple_impl.3", %"struct.std::_Head_base.6" }
%"struct.std::_Tuple_impl.3" = type { %"struct.std::_Tuple_impl.4", %"struct.std::_Head_base.5" }
%"struct.std::_Tuple_impl.4" = type { %"struct.std::_Head_base" }
%"struct.std::_Head_base" = type { %"class.std::vector" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"struct.std::_Head_base.5" = type { double }
%"struct.std::_Head_base.6" = type { double }
%"struct.std::_Head_base.7" = type { double }
%"struct.std::_Head_base.8" = type { double }
%"struct.std::_Head_base.9" = type { double }
%"struct.std::pair" = type { %"class.__gnu_cxx::__normal_iterator", %"class.__gnu_cxx::__normal_iterator" }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }
%"class.std::tuple.15" = type { %"struct.std::_Tuple_impl.16" }
%"struct.std::_Tuple_impl.16" = type { %"struct.std::_Tuple_impl.17", %"struct.std::_Head_base.9" }
%"struct.std::_Tuple_impl.17" = type { %"struct.std::_Tuple_impl.18", %"struct.std::_Head_base.8" }
%"struct.std::_Tuple_impl.18" = type { %"struct.std::_Tuple_impl.19", %"struct.std::_Head_base.7" }
%"struct.std::_Tuple_impl.19" = type { %"struct.std::_Tuple_impl.base", %"struct.std::_Head_base.6" }
%"struct.std::_Tuple_impl.base" = type <{ %"struct.std::_Tuple_impl.4", %"struct.std::_Head_base.21" }>
%"struct.std::_Head_base.21" = type { i32 }
%"class.std::tuple.22" = type { %"struct.std::_Tuple_impl.base.32", [4 x i8] }
%"struct.std::_Tuple_impl.base.32" = type { %"struct.std::_Tuple_impl.24", %"struct.std::_Head_base.31" }
%"struct.std::_Tuple_impl.24" = type { %"struct.std::_Tuple_impl.base.29", %"struct.std::_Head_base.30" }
%"struct.std::_Tuple_impl.base.29" = type { %"struct.std::_Tuple_impl.26", %"struct.std::_Head_base.28" }
%"struct.std::_Tuple_impl.26" = type { %"struct.std::_Tuple_impl.base", %"struct.std::_Head_base.27" }
%"struct.std::_Head_base.27" = type { i32 }
%"struct.std::_Head_base.28" = type { i32 }
%"struct.std::_Head_base.30" = type { i32 }
%"struct.std::_Head_base.31" = type { i32 }

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8Planners5utils7metrics26calculatePathAnglesMetricsERKSt6vectorINS0_5Vec3iESaIS3_EEi(ptr dead_on_unwind noalias writable sret(%"class.std::tuple") align 8 %0, ptr noundef nonnull align 8 dereferenceable(24) %1, i32 noundef %2) #0 personality ptr @__gxx_personality_v0 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  %7 = alloca %"class.std::vector", align 8
  %8 = alloca i32, align 4
  %9 = alloca i64, align 8
  %10 = alloca double, align 8
  %11 = alloca ptr, align 8
  %12 = alloca i32, align 4
  %13 = alloca double, align 8
  %14 = alloca double, align 8
  %15 = alloca %"struct.std::pair", align 8
  %16 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %17 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca %"class.std::tuple.15", align 8
  %21 = alloca i32, align 4
  %22 = alloca %"class.std::tuple.22", align 8
  %23 = alloca i32, align 4
  %24 = alloca i32, align 4
  %25 = alloca i32, align 4
  %26 = alloca i32, align 4
  store ptr %0, ptr %4, align 8
  store ptr %1, ptr %5, align 8, !tbaa !5
  store i32 %2, ptr %6, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 24, ptr %7) #6
  call void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #6
  store i32 0, ptr %8, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #6
  store i64 1, ptr %9, align 8, !tbaa !11
  br label %27

27:                                               ; preds = %71, %3
  %28 = load i64, ptr %9, align 8, !tbaa !11
  %29 = load ptr, ptr %5, align 8, !tbaa !5
  %30 = call noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %29) #6
  %31 = sub i64 %30, 2
  %32 = icmp ult i64 %28, %31
  br i1 %32, label %34, label %33

33:                                               ; preds = %27
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #6
  br label %74

34:                                               ; preds = %27
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #6
  %35 = load ptr, ptr %5, align 8, !tbaa !5
  %36 = load i64, ptr %9, align 8, !tbaa !11
  %37 = sub i64 %36, 1
  %38 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %35, i64 noundef %37) #6
  %39 = load ptr, ptr %5, align 8, !tbaa !5
  %40 = load i64, ptr %9, align 8, !tbaa !11
  %41 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %39, i64 noundef %40) #6
  %42 = load ptr, ptr %5, align 8, !tbaa !5
  %43 = load i64, ptr %9, align 8, !tbaa !11
  %44 = add i64 %43, 1
  %45 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %42, i64 noundef %44) #6
  %46 = invoke noundef double @_ZN8Planners5utils8geometry23angleBetweenThreePointsERKNS0_5Vec3iES4_S4_(ptr noundef nonnull align 4 dereferenceable(12) %38, ptr noundef nonnull align 4 dereferenceable(12) %41, ptr noundef nonnull align 4 dereferenceable(12) %45)
          to label %47 unwind label %66

47:                                               ; preds = %34
  %48 = fsub double 0x400921FB54442D18, %46
  store double %48, ptr %10, align 8, !tbaa !13
  %49 = load double, ptr %10, align 8, !tbaa !13
  %50 = load i32, ptr %6, align 4, !tbaa !9
  %51 = sitofp i32 %50 to double
  %52 = fdiv double %51, 1.800000e+02
  %53 = fmul double %52, 0x400921FB54442D18
  %54 = fcmp ogt double %49, %53
  br i1 %54, label %62, label %55

55:                                               ; preds = %47
  %56 = load double, ptr %10, align 8, !tbaa !13
  %57 = load i32, ptr %6, align 4, !tbaa !9
  %58 = sdiv i32 %57, 180
  %59 = sitofp i32 %58 to double
  %60 = fmul double %59, 0x400921FB54442D18
  %61 = fcmp olt double %56, %60
  br i1 %61, label %62, label %70

62:                                               ; preds = %55, %47
  invoke void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull align 8 dereferenceable(8) %10)
          to label %63 unwind label %66

63:                                               ; preds = %62
  %64 = load i32, ptr %8, align 4, !tbaa !9
  %65 = add nsw i32 %64, 1
  store i32 %65, ptr %8, align 4, !tbaa !9
  br label %70

66:                                               ; preds = %62, %34
  %67 = landingpad { ptr, i32 }
          cleanup
  %68 = extractvalue { ptr, i32 } %67, 0
  store ptr %68, ptr %11, align 8
  %69 = extractvalue { ptr, i32 } %67, 1
  store i32 %69, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #6
  br label %131

70:                                               ; preds = %63, %55
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #6
  br label %71

71:                                               ; preds = %70
  %72 = load i64, ptr %9, align 8, !tbaa !11
  %73 = add i64 %72, 1
  store i64 %73, ptr %9, align 8, !tbaa !11
  br label %27, !llvm.loop !15

74:                                               ; preds = %33
  %75 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %7) #6
  %76 = icmp ugt i64 %75, 0
  br i1 %76, label %77, label %124

77:                                               ; preds = %74
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #6
  %78 = invoke noundef double @_ZN8Planners5utils7metrics10getAverageIdTtTyTpTyESt6vectorJSaIdEEEET_RKT0_IS5_JDpT1_EE(ptr noundef nonnull align 8 dereferenceable(24) %7)
          to label %79 unwind label %105

79:                                               ; preds = %77
  store double %78, ptr %13, align 8, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #6
  %80 = invoke noundef double @_ZN8Planners5utils7metrics9getStdDevIdTtTyTpTyESt6vectorJSaIdEEEET_RKT0_IS5_JDpT1_EERKS5_(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull align 8 dereferenceable(8) %13)
          to label %81 unwind label %109

81:                                               ; preds = %79
  store double %80, ptr %14, align 8, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 16, ptr %15) #6
  %82 = invoke ptr @_ZSt5beginISt6vectorIdSaIdEEEDTcldtfp_5beginEERT_(ptr noundef nonnull align 8 dereferenceable(24) %7)
          to label %83 unwind label %113

83:                                               ; preds = %81
  %84 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %16, i32 0, i32 0
  store ptr %82, ptr %84, align 8
  %85 = invoke ptr @_ZSt3endISt6vectorIdSaIdEEEDTcldtfp_3endEERT_(ptr noundef nonnull align 8 dereferenceable(24) %7)
          to label %86 unwind label %113

86:                                               ; preds = %83
  %87 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %17, i32 0, i32 0
  store ptr %85, ptr %87, align 8
  %88 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %16, i32 0, i32 0
  %89 = load ptr, ptr %88, align 8
  %90 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %17, i32 0, i32 0
  %91 = load ptr, ptr %90, align 8
  %92 = invoke { ptr, ptr } @_ZSt14minmax_elementIN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEEESt4pairIT_S8_ES8_S8_(ptr %89, ptr %91)
          to label %93 unwind label %113

93:                                               ; preds = %86
  %94 = getelementptr inbounds { ptr, ptr }, ptr %15, i32 0, i32 0
  %95 = extractvalue { ptr, ptr } %92, 0
  store ptr %95, ptr %94, align 8
  %96 = getelementptr inbounds { ptr, ptr }, ptr %15, i32 0, i32 1
  %97 = extractvalue { ptr, ptr } %92, 1
  store ptr %97, ptr %96, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #6
  %98 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm0EN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEES6_EOKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOKSB_(ptr noundef nonnull align 8 dereferenceable(16) %15) #6
  store ptr %98, ptr %18, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #6
  %99 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm1EN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEES6_EOKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOKSB_(ptr noundef nonnull align 8 dereferenceable(16) %15) #6
  store ptr %99, ptr %19, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 64, ptr %20) #6
  %100 = load ptr, ptr %18, align 8, !tbaa !5
  %101 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %100) #6
  %102 = load ptr, ptr %19, align 8, !tbaa !5
  %103 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %102) #6
  invoke void @_ZSt10make_tupleIJRKdS1_RdS2_RiRSt6vectorIdSaIdEEEESt5tupleIJDpNSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeEEEDpOSB_(ptr dead_on_unwind writable sret(%"class.std::tuple.15") align 8 %20, ptr noundef nonnull align 8 dereferenceable(8) %13, ptr noundef nonnull align 8 dereferenceable(8) %14, ptr noundef nonnull align 8 dereferenceable(8) %101, ptr noundef nonnull align 8 dereferenceable(8) %103, ptr noundef nonnull align 4 dereferenceable(4) %8, ptr noundef nonnull align 8 dereferenceable(24) %7)
          to label %104 unwind label %117

104:                                              ; preds = %93
  call void @_ZNSt5tupleIJdddddSt6vectorIdSaIdEEEEC2IJddddiS2_ELb1ETnNSt9enable_ifIXclsr4_TCCIXT0_EEE29__is_implicitly_constructibleIDpT_EEEbE4typeELb1EEEOS_IJS7_EE(ptr noundef nonnull align 8 dereferenceable(64) %0, ptr noundef nonnull align 8 dereferenceable(64) %20) #6
  call void @_ZNSt10_Head_baseILm5ESt6vectorIdSaIdEELb0EED2Ev(ptr noundef nonnull align 8 dereferenceable(64) %20) #6
  call void @llvm.lifetime.end.p0(i64 64, ptr %20) #6
  store i32 1, ptr %21, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  br label %130

105:                                              ; preds = %77
  %106 = landingpad { ptr, i32 }
          cleanup
  %107 = extractvalue { ptr, i32 } %106, 0
  store ptr %107, ptr %11, align 8
  %108 = extractvalue { ptr, i32 } %106, 1
  store i32 %108, ptr %12, align 4
  br label %123

109:                                              ; preds = %79
  %110 = landingpad { ptr, i32 }
          cleanup
  %111 = extractvalue { ptr, i32 } %110, 0
  store ptr %111, ptr %11, align 8
  %112 = extractvalue { ptr, i32 } %110, 1
  store i32 %112, ptr %12, align 4
  br label %122

113:                                              ; preds = %86, %83, %81
  %114 = landingpad { ptr, i32 }
          cleanup
  %115 = extractvalue { ptr, i32 } %114, 0
  store ptr %115, ptr %11, align 8
  %116 = extractvalue { ptr, i32 } %114, 1
  store i32 %116, ptr %12, align 4
  br label %121

117:                                              ; preds = %93
  %118 = landingpad { ptr, i32 }
          cleanup
  %119 = extractvalue { ptr, i32 } %118, 0
  store ptr %119, ptr %11, align 8
  %120 = extractvalue { ptr, i32 } %118, 1
  store i32 %120, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 64, ptr %20) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #6
  br label %121

121:                                              ; preds = %117, %113
  call void @llvm.lifetime.end.p0(i64 16, ptr %15) #6
  br label %122

122:                                              ; preds = %121, %109
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  br label %123

123:                                              ; preds = %122, %105
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  br label %131

124:                                              ; preds = %74
  call void @llvm.lifetime.start.p0(i64 48, ptr %22) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #6
  store i32 0, ptr %23, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #6
  store i32 0, ptr %24, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #6
  store i32 0, ptr %25, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #6
  store i32 0, ptr %26, align 4, !tbaa !9
  invoke void @_ZSt10make_tupleIJiiiiRiRSt6vectorIdSaIdEEEESt5tupleIJDpNSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeEEEDpOS8_(ptr dead_on_unwind writable sret(%"class.std::tuple.22") align 8 %22, ptr noundef nonnull align 4 dereferenceable(4) %23, ptr noundef nonnull align 4 dereferenceable(4) %24, ptr noundef nonnull align 4 dereferenceable(4) %25, ptr noundef nonnull align 4 dereferenceable(4) %26, ptr noundef nonnull align 4 dereferenceable(4) %8, ptr noundef nonnull align 8 dereferenceable(24) %7)
          to label %125 unwind label %126

125:                                              ; preds = %124
  call void @_ZNSt5tupleIJdddddSt6vectorIdSaIdEEEEC2IJiiiiiS2_ELb1ETnNSt9enable_ifIXclsr4_TCCIXT0_EEE29__is_implicitly_constructibleIDpT_EEEbE4typeELb1EEEOS_IJS7_EE(ptr noundef nonnull align 8 dereferenceable(64) %0, ptr noundef nonnull align 8 dereferenceable(44) %22) #6
  call void @_ZNSt10_Head_baseILm5ESt6vectorIdSaIdEELb0EED2Ev(ptr noundef nonnull align 8 dereferenceable(44) %22) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %22) #6
  store i32 1, ptr %21, align 4
  br label %130

126:                                              ; preds = %124
  %127 = landingpad { ptr, i32 }
          cleanup
  %128 = extractvalue { ptr, i32 } %127, 0
  store ptr %128, ptr %11, align 8
  %129 = extractvalue { ptr, i32 } %127, 1
  store i32 %129, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %22) #6
  br label %131

130:                                              ; preds = %125, %104
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #6
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %7) #6
  ret void

131:                                              ; preds = %126, %123, %66
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #6
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %7) #6
  br label %132

132:                                              ; preds = %131
  %133 = load ptr, ptr %11, align 8
  %134 = load i32, ptr %12, align 4
  %135 = insertvalue { ptr, i32 } poison, ptr %133, 0
  %136 = insertvalue { ptr, i32 } %135, i32 %134, 1
  resume { ptr, i32 } %136
}

; 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 void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

declare noundef double @_ZN8Planners5utils8geometry23angleBetweenThreePointsERKNS0_5Vec3iES4_S4_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) #0 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef double @_ZN8Planners5utils7metrics10getAverageIdTtTyTpTyESt6vectorJSaIdEEEET_RKT0_IS5_JDpT1_EE(ptr noundef nonnull align 8 dereferenceable(24)) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN8Planners5utils7metrics9getStdDevIdTtTyTpTyESt6vectorJSaIdEEEET_RKT0_IS5_JDpT1_EERKS5_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZSt14minmax_elementIN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEEESt4pairIT_S8_ES8_S8_(ptr, ptr) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local ptr @_ZSt5beginISt6vectorIdSaIdEEEDTcldtfp_5beginEERT_(ptr noundef nonnull align 8 dereferenceable(24)) #5

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local ptr @_ZSt3endISt6vectorIdSaIdEEEDTcldtfp_3endEERT_(ptr noundef nonnull align 8 dereferenceable(24)) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm0EN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEES6_EOKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOKSB_(ptr noundef nonnull align 8 dereferenceable(16)) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm1EN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEES6_EOKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOKSB_(ptr noundef nonnull align 8 dereferenceable(16)) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZSt10make_tupleIJRKdS1_RdS2_RiRSt6vectorIdSaIdEEEESt5tupleIJDpNSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeEEEDpOSB_(ptr dead_on_unwind noalias writable sret(%"class.std::tuple.15") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 8 dereferenceable(24)) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt5tupleIJdddddSt6vectorIdSaIdEEEEC2IJddddiS2_ELb1ETnNSt9enable_ifIXclsr4_TCCIXT0_EEE29__is_implicitly_constructibleIDpT_EEEbE4typeELb1EEEOS_IJS7_EE(ptr noundef nonnull align 8 dereferenceable(64), ptr noundef nonnull align 8 dereferenceable(64)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZSt10make_tupleIJiiiiRiRSt6vectorIdSaIdEEEESt5tupleIJDpNSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeEEEDpOS8_(ptr dead_on_unwind noalias writable sret(%"class.std::tuple.22") align 8, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 8 dereferenceable(24)) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt5tupleIJdddddSt6vectorIdSaIdEEEEC2IJiiiiiS2_ELb1ETnNSt9enable_ifIXclsr4_TCCIXT0_EEE29__is_implicitly_constructibleIDpT_EEEbE4typeELb1EEEOS_IJS7_EE(ptr noundef nonnull align 8 dereferenceable(64), ptr noundef nonnull align 8 dereferenceable(44)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt10_Head_baseILm5ESt6vectorIdSaIdEELb0EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { 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 = { "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 = { 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 #5 = { inlinehint 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 #6 = { 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 = !{!"double", !7, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"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.std::tuple" = type { %"struct.std::_Tuple_impl" }
%"struct.std::_Tuple_impl" = type { %"struct.std::_Tuple_impl.0", %"struct.std::_Head_base.9" }
%"struct.std::_Tuple_impl.0" = type { %"struct.std::_Tuple_impl.1", %"struct.std::_Head_base.8" }
%"struct.std::_Tuple_impl.1" = type { %"struct.std::_Tuple_impl.2", %"struct.std::_Head_base.7" }
%"struct.std::_Tuple_impl.2" = type { %"struct.std::_Tuple_impl.3", %"struct.std::_Head_base.6" }
%"struct.std::_Tuple_impl.3" = type { %"struct.std::_Tuple_impl.4", %"struct.std::_Head_base.5" }
%"struct.std::_Tuple_impl.4" = type { %"struct.std::_Head_base" }
%"struct.std::_Head_base" = type { %"class.std::vector" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"struct.std::_Head_base.5" = type { double }
%"struct.std::_Head_base.6" = type { double }
%"struct.std::_Head_base.7" = type { double }
%"struct.std::_Head_base.8" = type { double }
%"struct.std::_Head_base.9" = type { double }
%"struct.std::pair" = type { %"class.__gnu_cxx::__normal_iterator", %"class.__gnu_cxx::__normal_iterator" }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }
%"class.std::tuple.15" = type { %"struct.std::_Tuple_impl.16" }
%"struct.std::_Tuple_impl.16" = type { %"struct.std::_Tuple_impl.17", %"struct.std::_Head_base.9" }
%"struct.std::_Tuple_impl.17" = type { %"struct.std::_Tuple_impl.18", %"struct.std::_Head_base.8" }
%"struct.std::_Tuple_impl.18" = type { %"struct.std::_Tuple_impl.19", %"struct.std::_Head_base.7" }
%"struct.std::_Tuple_impl.19" = type { %"struct.std::_Tuple_impl.base", %"struct.std::_Head_base.6" }
%"struct.std::_Tuple_impl.base" = type <{ %"struct.std::_Tuple_impl.4", %"struct.std::_Head_base.21" }>
%"struct.std::_Head_base.21" = type { i32 }
%"class.std::tuple.22" = type { %"struct.std::_Tuple_impl.base.32", [4 x i8] }
%"struct.std::_Tuple_impl.base.32" = type { %"struct.std::_Tuple_impl.24", %"struct.std::_Head_base.31" }
%"struct.std::_Tuple_impl.24" = type { %"struct.std::_Tuple_impl.base.29", %"struct.std::_Head_base.30" }
%"struct.std::_Tuple_impl.base.29" = type { %"struct.std::_Tuple_impl.26", %"struct.std::_Head_base.28" }
%"struct.std::_Tuple_impl.26" = type { %"struct.std::_Tuple_impl.base", %"struct.std::_Head_base.27" }
%"struct.std::_Head_base.27" = type { i32 }
%"struct.std::_Head_base.28" = type { i32 }
%"struct.std::_Head_base.30" = type { i32 }
%"struct.std::_Head_base.31" = type { i32 }

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8Planners5utils7metrics26calculatePathAnglesMetricsERKSt6vectorINS0_5Vec3iESaIS3_EEi(ptr dead_on_unwind noalias writable sret(%"class.std::tuple") align 8 %0, ptr noundef nonnull align 8 dereferenceable(24) %1, i32 noundef %2) local_unnamed_addr #0 personality ptr @__gxx_personality_v0 {
  %4 = alloca %"class.std::vector", align 8
  %5 = alloca i32, align 4
  %6 = alloca double, align 8
  %7 = alloca double, align 8
  %8 = alloca double, align 8
  %9 = alloca %"struct.std::pair", align 8
  %10 = alloca %"class.std::tuple.15", align 8
  %11 = alloca %"class.std::tuple.22", align 8
  %12 = alloca i32, align 4
  %13 = alloca i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca i32, align 4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %4) #6
  call void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %5) #6
  store i32 0, ptr %5, align 4, !tbaa !5
  %16 = call noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %1) #6
  %17 = and i64 %16, -2
  %.not25 = icmp eq i64 %17, 2
  br i1 %.not25, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %3
  %18 = sitofp i32 %2 to double
  %19 = fdiv double %18, 1.800000e+02
  %20 = fmul double %19, 0x400921FB54442D18
  %21 = sdiv i32 %2, 180
  %22 = sitofp i32 %21 to double
  %23 = fmul double %22, 0x400921FB54442D18
  br label %25

._crit_edge:                                      ; preds = %42, %3
  %24 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %4) #6
  %.not = icmp eq i64 %24, 0
  br i1 %.not, label %71, label %47

25:                                               ; preds = %.lr.ph, %42
  %26 = phi i32 [ 0, %.lr.ph ], [ %43, %42 ]
  %.024 = phi i64 [ 1, %.lr.ph ], [ %30, %42 ]
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #6
  %27 = add i64 %.024, -1
  %28 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %27) #6
  %29 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %.024) #6
  %30 = add nuw i64 %.024, 1
  %31 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %30) #6
  %32 = invoke noundef double @_ZN8Planners5utils8geometry23angleBetweenThreePointsERKNS0_5Vec3iES4_S4_(ptr noundef nonnull align 4 dereferenceable(12) %28, ptr noundef nonnull align 4 dereferenceable(12) %29, ptr noundef nonnull align 4 dereferenceable(12) %31)
          to label %33 unwind label %40

33:                                               ; preds = %25
  %34 = fsub double 0x400921FB54442D18, %32
  store double %34, ptr %6, align 8, !tbaa !9
  %35 = fcmp ogt double %34, %20
  %36 = fcmp olt double %34, %23
  %or.cond = or i1 %35, %36
  br i1 %or.cond, label %37, label %42

37:                                               ; preds = %33
  invoke void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %4, ptr noundef nonnull align 8 dereferenceable(8) %6)
          to label %38 unwind label %40

38:                                               ; preds = %37
  %39 = add nsw i32 %26, 1
  store i32 %39, ptr %5, align 4, !tbaa !5
  br label %42

40:                                               ; preds = %37, %25
  %41 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #6
  br label %76

42:                                               ; preds = %33, %38
  %43 = phi i32 [ %26, %33 ], [ %39, %38 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #6
  %44 = call noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %1) #6
  %45 = add i64 %44, -2
  %46 = icmp ult i64 %30, %45
  br i1 %46, label %25, label %._crit_edge, !llvm.loop !11

47:                                               ; preds = %._crit_edge
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #6
  %48 = invoke noundef double @_ZN8Planners5utils7metrics10getAverageIdTtTyTpTyESt6vectorJSaIdEEEET_RKT0_IS5_JDpT1_EE(ptr noundef nonnull align 8 dereferenceable(24) %4)
          to label %49 unwind label %63

49:                                               ; preds = %47
  store double %48, ptr %7, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #6
  %50 = call noundef double @_ZN8Planners5utils7metrics9getStdDevIdTtTyTpTyESt6vectorJSaIdEEEET_RKT0_IS5_JDpT1_EERKS5_(ptr noundef nonnull align 8 dereferenceable(24) %4, ptr noundef nonnull align 8 dereferenceable(8) %7)
  store double %50, ptr %8, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #6
  %51 = call ptr @_ZSt5beginISt6vectorIdSaIdEEEDTcldtfp_5beginEERT_(ptr noundef nonnull align 8 dereferenceable(24) %4)
  %52 = call ptr @_ZSt3endISt6vectorIdSaIdEEEDTcldtfp_3endEERT_(ptr noundef nonnull align 8 dereferenceable(24) %4)
  %53 = invoke { ptr, ptr } @_ZSt14minmax_elementIN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEEESt4pairIT_S8_ES8_S8_(ptr %51, ptr %52)
          to label %54 unwind label %65

54:                                               ; preds = %49
  %55 = extractvalue { ptr, ptr } %53, 0
  store ptr %55, ptr %9, align 8
  %56 = getelementptr inbounds i8, ptr %9, i64 8
  %57 = extractvalue { ptr, ptr } %53, 1
  store ptr %57, ptr %56, align 8
  %58 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm0EN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEES6_EOKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOKSB_(ptr noundef nonnull align 8 dereferenceable(16) %9) #6
  %59 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm1EN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEES6_EOKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOKSB_(ptr noundef nonnull align 8 dereferenceable(16) %9) #6
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %10) #6
  %60 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %58) #6
  %61 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %59) #6
  invoke void @_ZSt10make_tupleIJRKdS1_RdS2_RiRSt6vectorIdSaIdEEEESt5tupleIJDpNSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeEEEDpOSB_(ptr dead_on_unwind nonnull writable sret(%"class.std::tuple.15") align 8 %10, ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(8) %60, ptr noundef nonnull align 8 dereferenceable(8) %61, ptr noundef nonnull align 4 dereferenceable(4) %5, ptr noundef nonnull align 8 dereferenceable(24) %4)
          to label %62 unwind label %67

62:                                               ; preds = %54
  call void @_ZNSt5tupleIJdddddSt6vectorIdSaIdEEEEC2IJddddiS2_ELb1ETnNSt9enable_ifIXclsr4_TCCIXT0_EEE29__is_implicitly_constructibleIDpT_EEEbE4typeELb1EEEOS_IJS7_EE(ptr noundef nonnull align 8 dereferenceable(64) %0, ptr noundef nonnull align 8 dereferenceable(64) %10) #6
  call void @_ZNSt10_Head_baseILm5ESt6vectorIdSaIdEELb0EED2Ev(ptr noundef nonnull align 8 dereferenceable(64) %10) #6
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %10) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #6
  br label %75

63:                                               ; preds = %47
  %64 = landingpad { ptr, i32 }
          cleanup
  br label %70

65:                                               ; preds = %49
  %66 = landingpad { ptr, i32 }
          cleanup
  br label %69

67:                                               ; preds = %54
  %68 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %10) #6
  br label %69

69:                                               ; preds = %67, %65
  %.pn = phi { ptr, i32 } [ %68, %67 ], [ %66, %65 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #6
  br label %70

70:                                               ; preds = %69, %63
  %.pn.pn = phi { ptr, i32 } [ %.pn, %69 ], [ %64, %63 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #6
  br label %76

71:                                               ; preds = %._crit_edge
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %11) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %12) #6
  store i32 0, ptr %12, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %13) #6
  store i32 0, ptr %13, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %14) #6
  store i32 0, ptr %14, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %15) #6
  store i32 0, ptr %15, align 4, !tbaa !5
  invoke void @_ZSt10make_tupleIJiiiiRiRSt6vectorIdSaIdEEEESt5tupleIJDpNSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeEEEDpOS8_(ptr dead_on_unwind nonnull writable sret(%"class.std::tuple.22") align 8 %11, ptr noundef nonnull align 4 dereferenceable(4) %12, ptr noundef nonnull align 4 dereferenceable(4) %13, ptr noundef nonnull align 4 dereferenceable(4) %14, ptr noundef nonnull align 4 dereferenceable(4) %15, ptr noundef nonnull align 4 dereferenceable(4) %5, ptr noundef nonnull align 8 dereferenceable(24) %4)
          to label %72 unwind label %73

72:                                               ; preds = %71
  call void @_ZNSt5tupleIJdddddSt6vectorIdSaIdEEEEC2IJiiiiiS2_ELb1ETnNSt9enable_ifIXclsr4_TCCIXT0_EEE29__is_implicitly_constructibleIDpT_EEEbE4typeELb1EEEOS_IJS7_EE(ptr noundef nonnull align 8 dereferenceable(64) %0, ptr noundef nonnull align 8 dereferenceable(44) %11) #6
  call void @_ZNSt10_Head_baseILm5ESt6vectorIdSaIdEELb0EED2Ev(ptr noundef nonnull align 8 dereferenceable(44) %11) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %12) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %11) #6
  br label %75

73:                                               ; preds = %71
  %74 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %15) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %13) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %12) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %11) #6
  br label %76

75:                                               ; preds = %72, %62
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %5) #6
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #6
  ret void

76:                                               ; preds = %73, %70, %40
  %.pn22 = phi { ptr, i32 } [ %41, %40 ], [ %.pn.pn, %70 ], [ %74, %73 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %5) #6
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #6
  resume { ptr, i32 } %.pn22
}

; 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 nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

declare noundef double @_ZN8Planners5utils8geometry23angleBetweenThreePointsERKNS0_5Vec3iES4_S4_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZNKSt6vectorIN8Planners5utils5Vec3iESaIS2_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #2 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #0 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef double @_ZN8Planners5utils7metrics10getAverageIdTtTyTpTyESt6vectorJSaIdEEEET_RKT0_IS5_JDpT1_EE(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN8Planners5utils7metrics9getStdDevIdTtTyTpTyESt6vectorJSaIdEEEET_RKT0_IS5_JDpT1_EERKS5_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZSt14minmax_elementIN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEEESt4pairIT_S8_ES8_S8_(ptr, ptr) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local ptr @_ZSt5beginISt6vectorIdSaIdEEEDTcldtfp_5beginEERT_(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #5

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local ptr @_ZSt3endISt6vectorIdSaIdEEEDTcldtfp_3endEERT_(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm0EN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEES6_EOKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOKSB_(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZSt3getILm1EN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEES6_EOKNSt13tuple_elementIXT_ESt4pairIT0_T1_EE4typeEOKSB_(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZSt10make_tupleIJRKdS1_RdS2_RiRSt6vectorIdSaIdEEEESt5tupleIJDpNSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeEEEDpOSB_(ptr dead_on_unwind noalias writable sret(%"class.std::tuple.15") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt5tupleIJdddddSt6vectorIdSaIdEEEEC2IJddddiS2_ELb1ETnNSt9enable_ifIXclsr4_TCCIXT0_EEE29__is_implicitly_constructibleIDpT_EEEbE4typeELb1EEEOS_IJS7_EE(ptr noundef nonnull align 8 dereferenceable(64), ptr noundef nonnull align 8 dereferenceable(64)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZSt10make_tupleIJiiiiRiRSt6vectorIdSaIdEEEESt5tupleIJDpNSt25__strip_reference_wrapperINSt5decayIT_E4typeEE6__typeEEEDpOS8_(ptr dead_on_unwind noalias writable sret(%"class.std::tuple.22") align 8, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt5tupleIJdddddSt6vectorIdSaIdEEEEC2IJiiiiiS2_ELb1ETnNSt9enable_ifIXclsr4_TCCIXT0_EEE29__is_implicitly_constructibleIDpT_EEEbE4typeELb1EEEOS_IJS7_EE(ptr noundef nonnull align 8 dereferenceable(64), ptr noundef nonnull align 8 dereferenceable(44)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNSt10_Head_baseILm5ESt6vectorIdSaIdEELb0EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 = { "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 = { 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 #5 = { inlinehint 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 #6 = { 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 = !{!"int", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"double", !7, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}


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