; LLVM IR from SS47816/frenet_optimal_planner :: include/frenet_optimal_planner (polynomials)

; 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" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }
%"class.Eigen::Matrix.2" = type { %"class.Eigen::PlainObjectBase.3" }
%"class.Eigen::PlainObjectBase.3" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { ptr, i64, i64 }
%"class.Eigen::HouseholderQR" = type <{ %"class.Eigen::Matrix.2", %"class.Eigen::Matrix", %"class.Eigen::Matrix.12", i8, [7 x i8] }>
%"class.Eigen::Matrix.12" = type { %"class.Eigen::PlainObjectBase.13" }
%"class.Eigen::PlainObjectBase.13" = type { %"class.Eigen::DenseStorage.21" }
%"class.Eigen::DenseStorage.21" = type { ptr, i64 }
%"struct.Eigen::internal::solve_retval" = type { %"struct.Eigen::internal::solve_retval_base" }
%"struct.Eigen::internal::solve_retval_base" = type { ptr, ptr }

@.str = external hidden unnamed_addr constant [29 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [110 x i8], align 1
@__PRETTY_FUNCTION__._ZN3fop7polyfitERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES4_i = external hidden unnamed_addr constant [63 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [40 x i8], align 1

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3fop7polyfitERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES4_i(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix") align 8 %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, i32 noundef %3) #2 personality ptr @__gxx_personality_v0 {
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca %"class.Eigen::Matrix.2", align 8
  %10 = alloca i64, align 8
  %11 = alloca i32, align 4
  %12 = alloca i32, align 4
  %13 = alloca ptr, align 8
  %14 = alloca i32, align 4
  %15 = alloca i32, align 4
  %16 = alloca i32, align 4
  %17 = alloca i32, align 4
  %18 = alloca %"class.Eigen::HouseholderQR", align 8
  %19 = alloca %"struct.Eigen::internal::solve_retval", align 8
  store ptr %0, ptr %5, align 8
  store ptr %1, ptr %6, align 8, !tbaa !5
  store ptr %2, ptr %7, align 8, !tbaa !5
  store i32 %3, ptr %8, align 4, !tbaa !9
  %20 = load ptr, ptr %6, align 8, !tbaa !5
  %21 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %20)
  %22 = load ptr, ptr %7, align 8, !tbaa !5
  %23 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %22)
  %24 = icmp eq i64 %21, %23
  br i1 %24, label %25, label %26

25:                                               ; preds = %4
  br label %28

26:                                               ; preds = %4
  call void @__assert_fail(ptr noundef @.str, ptr noundef @.str.1, i32 noundef 28, ptr noundef @__PRETTY_FUNCTION__._ZN3fop7polyfitERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES4_i) #5
  unreachable

27:                                               ; No predecessors!
  br label %28

28:                                               ; preds = %27, %25
  %29 = load i32, ptr %8, align 4, !tbaa !9
  %30 = icmp sge i32 %29, 1
  br i1 %30, label %31, label %38

31:                                               ; preds = %28
  %32 = load i32, ptr %8, align 4, !tbaa !9
  %33 = sext i32 %32 to i64
  %34 = load ptr, ptr %6, align 8, !tbaa !5
  %35 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %34)
  %36 = sub nsw i64 %35, 1
  %37 = icmp sle i64 %33, %36
  br label %38

38:                                               ; preds = %31, %28
  %39 = phi i1 [ false, %28 ], [ %37, %31 ]
  br i1 %39, label %40, label %41

40:                                               ; preds = %38
  br label %43

41:                                               ; preds = %38
  call void @__assert_fail(ptr noundef @.str.2, ptr noundef @.str.1, i32 noundef 29, ptr noundef @__PRETTY_FUNCTION__._ZN3fop7polyfitERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES4_i) #5
  unreachable

42:                                               ; No predecessors!
  br label %43

43:                                               ; preds = %42, %40
  call void @llvm.lifetime.start.p0(i64 24, ptr %9) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #6
  %44 = load ptr, ptr %6, align 8, !tbaa !5
  %45 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %44)
  store i64 %45, ptr %10, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #6
  %46 = load i32, ptr %8, align 4, !tbaa !9
  %47 = add nsw i32 %46, 1
  store i32 %47, ptr %11, align 4, !tbaa !9
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2IliEERKT_RKT0_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(8) %10, ptr noundef nonnull align 4 dereferenceable(4) %11)
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #6
  store i32 0, ptr %12, align 4, !tbaa !9
  br label %48

48:                                               ; preds = %65, %43
  %49 = load i32, ptr %12, align 4, !tbaa !9
  %50 = sext i32 %49 to i64
  %51 = load ptr, ptr %6, align 8, !tbaa !5
  %52 = invoke noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %51)
          to label %53 unwind label %56

53:                                               ; preds = %48
  %54 = icmp slt i64 %50, %52
  br i1 %54, label %60, label %55

55:                                               ; preds = %53
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #6
  br label %68

56:                                               ; preds = %60, %48
  %57 = landingpad { ptr, i32 }
          cleanup
  %58 = extractvalue { ptr, i32 } %57, 0
  store ptr %58, ptr %13, align 8
  %59 = extractvalue { ptr, i32 } %57, 1
  store i32 %59, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #6
  br label %141

60:                                               ; preds = %53
  %61 = load i32, ptr %12, align 4, !tbaa !9
  %62 = sext i32 %61 to i64
  %63 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %9, i64 noundef %62, i64 noundef 0)
          to label %64 unwind label %56

64:                                               ; preds = %60
  store double 1.000000e+00, ptr %63, align 8, !tbaa !13
  br label %65

65:                                               ; preds = %64
  %66 = load i32, ptr %12, align 4, !tbaa !9
  %67 = add nsw i32 %66, 1
  store i32 %67, ptr %12, align 4, !tbaa !9
  br label %48, !llvm.loop !15

68:                                               ; preds = %55
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #6
  store i32 0, ptr %15, align 4, !tbaa !9
  br label %69

69:                                               ; preds = %117, %68
  %70 = load i32, ptr %15, align 4, !tbaa !9
  %71 = sext i32 %70 to i64
  %72 = load ptr, ptr %6, align 8, !tbaa !5
  %73 = invoke noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %72)
          to label %74 unwind label %77

74:                                               ; preds = %69
  %75 = icmp slt i64 %71, %73
  br i1 %75, label %81, label %76

76:                                               ; preds = %74
  store i32 5, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #6
  br label %121

77:                                               ; preds = %69
  %78 = landingpad { ptr, i32 }
          cleanup
  %79 = extractvalue { ptr, i32 } %78, 0
  store ptr %79, ptr %13, align 8
  %80 = extractvalue { ptr, i32 } %78, 1
  store i32 %80, ptr %14, align 4
  br label %120

81:                                               ; preds = %74
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #6
  store i32 0, ptr %17, align 4, !tbaa !9
  br label %82

82:                                               ; preds = %109, %81
  %83 = load i32, ptr %17, align 4, !tbaa !9
  %84 = load i32, ptr %8, align 4, !tbaa !9
  %85 = icmp slt i32 %83, %84
  br i1 %85, label %87, label %86

86:                                               ; preds = %82
  store i32 8, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #6
  br label %116

87:                                               ; preds = %82
  %88 = load i32, ptr %15, align 4, !tbaa !9
  %89 = sext i32 %88 to i64
  %90 = load i32, ptr %17, align 4, !tbaa !9
  %91 = sext i32 %90 to i64
  %92 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %9, i64 noundef %89, i64 noundef %91)
          to label %93 unwind label %112

93:                                               ; preds = %87
  %94 = load double, ptr %92, align 8, !tbaa !13
  %95 = load ptr, ptr %6, align 8, !tbaa !5
  %96 = load i32, ptr %15, align 4, !tbaa !9
  %97 = sext i32 %96 to i64
  %98 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %95, i64 noundef %97)
          to label %99 unwind label %112

99:                                               ; preds = %93
  %100 = load double, ptr %98, align 8, !tbaa !13
  %101 = fmul double %94, %100
  %102 = load i32, ptr %15, align 4, !tbaa !9
  %103 = sext i32 %102 to i64
  %104 = load i32, ptr %17, align 4, !tbaa !9
  %105 = add nsw i32 %104, 1
  %106 = sext i32 %105 to i64
  %107 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %9, i64 noundef %103, i64 noundef %106)
          to label %108 unwind label %112

108:                                              ; preds = %99
  store double %101, ptr %107, align 8, !tbaa !13
  br label %109

109:                                              ; preds = %108
  %110 = load i32, ptr %17, align 4, !tbaa !9
  %111 = add nsw i32 %110, 1
  store i32 %111, ptr %17, align 4, !tbaa !9
  br label %82, !llvm.loop !17

112:                                              ; preds = %99, %93, %87
  %113 = landingpad { ptr, i32 }
          cleanup
  %114 = extractvalue { ptr, i32 } %113, 0
  store ptr %114, ptr %13, align 8
  %115 = extractvalue { ptr, i32 } %113, 1
  store i32 %115, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #6
  br label %120

116:                                              ; preds = %86
  br label %117

117:                                              ; preds = %116
  %118 = load i32, ptr %15, align 4, !tbaa !9
  %119 = add nsw i32 %118, 1
  store i32 %119, ptr %15, align 4, !tbaa !9
  br label %69, !llvm.loop !18

120:                                              ; preds = %112, %77
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #6
  br label %141

121:                                              ; preds = %76
  call void @llvm.lifetime.start.p0(i64 64, ptr %18) #6
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13householderQrEv(ptr dead_on_unwind writable sret(%"class.Eigen::HouseholderQR") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %9)
          to label %122 unwind label %132

122:                                              ; preds = %121
  call void @llvm.lifetime.start.p0(i64 16, ptr %19) #6
  %123 = load ptr, ptr %7, align 8, !tbaa !5
  %124 = invoke { ptr, ptr } @_ZNK5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5solveINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_8internal12solve_retvalIS3_T_EERKNS_10MatrixBaseIS8_EE(ptr noundef nonnull align 8 dereferenceable(57) %18, ptr noundef nonnull align 1 dereferenceable(1) %123)
          to label %125 unwind label %136

125:                                              ; preds = %122
  %126 = getelementptr inbounds %"struct.Eigen::internal::solve_retval", ptr %19, i32 0, i32 0
  %127 = getelementptr inbounds { ptr, ptr }, ptr %126, i32 0, i32 0
  %128 = extractvalue { ptr, ptr } %124, 0
  store ptr %128, ptr %127, align 8
  %129 = getelementptr inbounds { ptr, ptr }, ptr %126, i32 0, i32 1
  %130 = extractvalue { ptr, ptr } %124, 1
  store ptr %130, ptr %129, align 8
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_8internal17solve_retval_baseINS_13HouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERKNS_13ReturnByValueIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 1 dereferenceable(1) %19)
          to label %131 unwind label %136

131:                                              ; preds = %125
  store i32 1, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #6
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57) %18) #6
  call void @llvm.lifetime.end.p0(i64 64, ptr %18) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %9) #6
  ret void

132:                                              ; preds = %121
  %133 = landingpad { ptr, i32 }
          cleanup
  %134 = extractvalue { ptr, i32 } %133, 0
  store ptr %134, ptr %13, align 8
  %135 = extractvalue { ptr, i32 } %133, 1
  store i32 %135, ptr %14, align 4
  br label %140

136:                                              ; preds = %125, %122
  %137 = landingpad { ptr, i32 }
          cleanup
  %138 = extractvalue { ptr, i32 } %137, 0
  store ptr %138, ptr %13, align 8
  %139 = extractvalue { ptr, i32 } %137, 1
  store i32 %139, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #6
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57) %18) #6
  br label %140

140:                                              ; preds = %136, %132
  call void @llvm.lifetime.end.p0(i64 64, ptr %18) #6
  br label %141

141:                                              ; preds = %140, %120, %56
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %9) #6
  br label %142

142:                                              ; preds = %141
  %143 = load ptr, ptr %13, align 8
  %144 = load i32, ptr %14, align 4
  %145 = insertvalue { ptr, i32 } poison, ptr %143, 0
  %146 = insertvalue { ptr, i32 } %145, i32 %144, 1
  resume { ptr, i32 } %146
}

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2IliEERKT_RKT0_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #1 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13householderQrEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::HouseholderQR") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5solveINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_8internal12solve_retvalIS3_T_EERKNS_10MatrixBaseIS8_EE(ptr noundef nonnull align 8 dereferenceable(57), ptr noundef nonnull align 1 dereferenceable(1)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_8internal17solve_retval_baseINS_13HouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERKNS_13ReturnByValueIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 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 = { noreturn 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 #4 = { 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 #5 = { noreturn nounwind }
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"}
!17 = distinct !{!17, !16}
!18 = distinct !{!18, !16}


; Optimized IR (opt -passes='default<O3>'):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64 }
%"class.Eigen::Matrix.2" = type { %"class.Eigen::PlainObjectBase.3" }
%"class.Eigen::PlainObjectBase.3" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { ptr, i64, i64 }
%"class.Eigen::HouseholderQR" = type <{ %"class.Eigen::Matrix.2", %"class.Eigen::Matrix", %"class.Eigen::Matrix.12", i8, [7 x i8] }>
%"class.Eigen::Matrix.12" = type { %"class.Eigen::PlainObjectBase.13" }
%"class.Eigen::PlainObjectBase.13" = type { %"class.Eigen::DenseStorage.21" }
%"class.Eigen::DenseStorage.21" = type { ptr, i64 }
%"struct.Eigen::internal::solve_retval" = type { %"struct.Eigen::internal::solve_retval_base" }
%"struct.Eigen::internal::solve_retval_base" = type { ptr, ptr }

@.str = external hidden unnamed_addr constant [29 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [110 x i8], align 1
@__PRETTY_FUNCTION__._ZN3fop7polyfitERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES4_i = external hidden unnamed_addr constant [63 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [40 x i8], align 1

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3fop7polyfitERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES4_i(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix") align 8 %0, ptr noundef nonnull align 8 dereferenceable(16) %1, ptr noundef nonnull align 8 dereferenceable(16) %2, i32 noundef %3) local_unnamed_addr #2 personality ptr @__gxx_personality_v0 {
  %5 = alloca %"class.Eigen::Matrix.2", align 8
  %6 = alloca i64, align 8
  %7 = alloca i32, align 4
  %8 = alloca %"class.Eigen::HouseholderQR", align 8
  %9 = alloca %"struct.Eigen::internal::solve_retval", align 8
  %10 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %1)
  %11 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %2)
  %12 = icmp eq i64 %10, %11
  br i1 %12, label %14, label %13

13:                                               ; preds = %4
  tail call void @__assert_fail(ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i32 noundef 28, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN3fop7polyfitERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES4_i) #5
  unreachable

14:                                               ; preds = %4
  %15 = icmp sgt i32 %3, 0
  br i1 %15, label %16, label %.critedge

16:                                               ; preds = %14
  %17 = zext nneg i32 %3 to i64
  %18 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %1)
  %.not.not = icmp sgt i64 %18, %17
  br i1 %.not.not, label %19, label %.critedge

.critedge:                                        ; preds = %14, %16
  tail call void @__assert_fail(ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.1, i32 noundef 29, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN3fop7polyfitERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES4_i) #5
  unreachable

19:                                               ; preds = %16
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %5) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #6
  %20 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %1)
  store i64 %20, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %7) #6
  %21 = add nuw nsw i32 %3, 1
  store i32 %21, ptr %7, align 4, !tbaa !9
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2IliEERKT_RKT0_(ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef nonnull align 8 dereferenceable(8) %6, ptr noundef nonnull align 4 dereferenceable(4) %7)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #6
  br label %22

22:                                               ; preds = %44, %19
  %indvars.iv = phi i64 [ %indvars.iv.next, %44 ], [ 0, %19 ]
  %23 = invoke noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %1)
          to label %24 unwind label %40

24:                                               ; preds = %22
  %25 = icmp sgt i64 %23, %indvars.iv
  br i1 %25, label %42, label %.preheader39.split.us

.preheader39.split.us:                            ; preds = %24, %._crit_edge.us
  %indvars.iv51 = phi i64 [ %indvars.iv.next52, %._crit_edge.us ], [ 0, %24 ]
  %26 = invoke noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %1)
          to label %27 unwind label %.split.us

27:                                               ; preds = %.preheader39.split.us
  %28 = icmp sgt i64 %26, %indvars.iv51
  br i1 %28, label %.preheader.us, label %.split42.us

.preheader.us:                                    ; preds = %27, %36
  %indvars.iv48 = phi i64 [ %indvars.iv.next49, %36 ], [ 0, %27 ]
  %29 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef %indvars.iv51, i64 noundef %indvars.iv48)
          to label %30 unwind label %.split44.us

30:                                               ; preds = %.preheader.us
  %31 = load double, ptr %29, align 8, !tbaa !11
  %32 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %indvars.iv51)
          to label %33 unwind label %.split44.us

33:                                               ; preds = %30
  %34 = load double, ptr %32, align 8, !tbaa !11
  %indvars.iv.next49 = add nuw nsw i64 %indvars.iv48, 1
  %35 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef %indvars.iv51, i64 noundef %indvars.iv.next49)
          to label %36 unwind label %.split44.us

36:                                               ; preds = %33
  %37 = fmul double %31, %34
  store double %37, ptr %35, align 8, !tbaa !11
  %exitcond.not = icmp eq i64 %indvars.iv.next49, %17
  br i1 %exitcond.not, label %._crit_edge.us, label %.preheader.us, !llvm.loop !13

._crit_edge.us:                                   ; preds = %36
  %indvars.iv.next52 = add nuw nsw i64 %indvars.iv51, 1
  br label %.preheader39.split.us, !llvm.loop !15

.split.us:                                        ; preds = %.preheader39.split.us
  %38 = landingpad { ptr, i32 }
          cleanup
  br label %57

.split44.us:                                      ; preds = %33, %30, %.preheader.us
  %39 = landingpad { ptr, i32 }
          cleanup
  br label %57

40:                                               ; preds = %42, %22
  %41 = landingpad { ptr, i32 }
          cleanup
  br label %57

42:                                               ; preds = %24
  %43 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef %indvars.iv, i64 noundef 0)
          to label %44 unwind label %40

44:                                               ; preds = %42
  store double 1.000000e+00, ptr %43, align 8, !tbaa !11
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  br label %22, !llvm.loop !16

.split42.us:                                      ; preds = %27
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %8) #6
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13householderQrEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::HouseholderQR") align 8 %8, ptr noundef nonnull align 1 dereferenceable(1) %5)
          to label %45 unwind label %52

45:                                               ; preds = %.split42.us
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #6
  %46 = invoke { ptr, ptr } @_ZNK5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5solveINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_8internal12solve_retvalIS3_T_EERKNS_10MatrixBaseIS8_EE(ptr noundef nonnull align 8 dereferenceable(57) %8, ptr noundef nonnull align 1 dereferenceable(1) %2)
          to label %47 unwind label %54

47:                                               ; preds = %45
  %48 = extractvalue { ptr, ptr } %46, 0
  store ptr %48, ptr %9, align 8
  %49 = getelementptr inbounds i8, ptr %9, i64 8
  %50 = extractvalue { ptr, ptr } %46, 1
  store ptr %50, ptr %49, align 8
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_8internal17solve_retval_baseINS_13HouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERKNS_13ReturnByValueIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 1 dereferenceable(1) %9)
          to label %51 unwind label %54

51:                                               ; preds = %47
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #6
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57) %8) #6
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %8) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #6
  ret void

52:                                               ; preds = %.split42.us
  %53 = landingpad { ptr, i32 }
          cleanup
  br label %56

54:                                               ; preds = %47, %45
  %55 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #6
  call void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57) %8) #6
  br label %56

56:                                               ; preds = %54, %52
  %.pn = phi { ptr, i32 } [ %55, %54 ], [ %53, %52 ]
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %8) #6
  br label %57

57:                                               ; preds = %.split.us, %.split44.us, %56, %40
  %.pn37 = phi { ptr, i32 } [ %41, %40 ], [ %.pn, %56 ], [ %39, %.split44.us ], [ %38, %.split.us ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #6
  resume { ptr, i32 } %.pn37
}

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2IliEERKT_RKT0_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #1 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13householderQrEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::HouseholderQR") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5solveINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_8internal12solve_retvalIS3_T_EERKNS_10MatrixBaseIS8_EE(ptr noundef nonnull align 8 dereferenceable(57), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_8internal17solve_retval_baseINS_13HouseholderQRINS0_IdLin1ELin1ELi0ELin1ELin1EEEEES1_EEEERKNS_13ReturnByValueIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen13HouseholderQRINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(57)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 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 = { noreturn 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 #4 = { 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 #5 = { noreturn nounwind }
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 = !{!"long", !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 = !{!"double", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = distinct !{!15, !14}
!16 = distinct !{!16, !14}


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