; LLVM IR from rinnaz/ros-toolbox :: rnrt_control_tools/src (state_space_model)

; 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.3" = type { %"class.Eigen::PlainObjectBase.4" }
%"class.Eigen::PlainObjectBase.4" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { %"struct.Eigen::internal::plain_array.12", i64, i64 }
%"struct.Eigen::internal::plain_array.12" = type { [144 x double] }
%"class.Eigen::Matrix.28" = type { %"class.Eigen::PlainObjectBase.29" }
%"class.Eigen::PlainObjectBase.29" = type { %"class.Eigen::DenseStorage.36" }
%"class.Eigen::DenseStorage.36" = type { ptr, i64 }
%"class.Eigen::CwiseNullaryOp.37" = type { [8 x i8], %"class.Eigen::internal::variable_if_dynamic", %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.control_toolbox::StateSpaceModel" = type { %"class.Eigen::Matrix", %"class.Eigen::Matrix", i64, [8 x i8], %"class.Eigen::Matrix", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.std::unique_ptr", [8 x i8] }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array", i64, [8 x i8] }
%"struct.Eigen::internal::plain_array" = type { [12 x double] }
%"class.std::unique_ptr" = type { %"struct.std::__uniq_ptr_data" }
%"struct.std::__uniq_ptr_data" = type { %"class.std::__uniq_ptr_impl" }
%"class.std::__uniq_ptr_impl" = type { %"class.std::tuple" }
%"class.std::tuple" = type { %"struct.std::_Tuple_impl" }
%"struct.std::_Tuple_impl" = type { %"struct.std::_Head_base.14" }
%"struct.std::_Head_base.14" = type { ptr }

declare i32 @__gxx_personality_v0(...)

; 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: mustprogress uwtable
define dso_local void @_ZNK15control_toolbox15StateSpaceModel11calcMatrixCEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.3") align 16 %0, ptr noundef nonnull align 16 dereferenceable(5032) %1) #1 align 2 personality ptr @__gxx_personality_v0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca %"class.Eigen::Matrix.28", align 8
  %6 = alloca %"class.Eigen::CwiseNullaryOp.37", align 8
  %7 = alloca i32, align 4
  %8 = alloca ptr, align 8
  %9 = alloca i32, align 4
  store ptr %0, ptr %3, align 8
  store ptr %1, ptr %4, align 8, !tbaa !5
  %10 = load ptr, ptr %4, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %5) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %6) #5
  %11 = getelementptr inbounds %"class.control_toolbox::StateSpaceModel", ptr %10, i32 0, i32 2
  %12 = load i64, ptr %11, align 16, !tbaa !9
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.37") align 8 %6, i64 noundef %12)
  call void @_ZN5Eigen6MatrixIdLi1ELin1ELi1ELi1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %5, ptr noundef nonnull align 8 dereferenceable(24) %6)
  call void @llvm.lifetime.end.p0(i64 24, ptr %6) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #5
  store i32 0, ptr %7, align 4, !tbaa !26
  br label %13

13:                                               ; preds = %49, %2
  %14 = load i32, ptr %7, align 4, !tbaa !26
  %15 = sext i32 %14 to i64
  %16 = getelementptr inbounds %"class.control_toolbox::StateSpaceModel", ptr %10, i32 0, i32 2
  %17 = load i64, ptr %16, align 16, !tbaa !9
  %18 = icmp ult i64 %15, %17
  br i1 %18, label %20, label %19

19:                                               ; preds = %13
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #5
  br label %56

20:                                               ; preds = %13
  %21 = getelementptr inbounds %"class.control_toolbox::StateSpaceModel", ptr %10, i32 0, i32 0
  %22 = getelementptr inbounds %"class.control_toolbox::StateSpaceModel", ptr %10, i32 0, i32 2
  %23 = load i64, ptr %22, align 16, !tbaa !9
  %24 = load i32, ptr %7, align 4, !tbaa !26
  %25 = sext i32 %24 to i64
  %26 = sub i64 %23, %25
  %27 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELi12ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %21, i64 noundef %26)
          to label %28 unwind label %52

28:                                               ; preds = %20
  %29 = load double, ptr %27, align 8, !tbaa !28
  %30 = getelementptr inbounds %"class.control_toolbox::StateSpaceModel", ptr %10, i32 0, i32 1
  %31 = getelementptr inbounds %"class.control_toolbox::StateSpaceModel", ptr %10, i32 0, i32 2
  %32 = load i64, ptr %31, align 16, !tbaa !9
  %33 = load i32, ptr %7, align 4, !tbaa !26
  %34 = sext i32 %33 to i64
  %35 = sub i64 %32, %34
  %36 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELi12ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %30, i64 noundef %35)
          to label %37 unwind label %52

37:                                               ; preds = %28
  %38 = load double, ptr %36, align 8, !tbaa !28
  %39 = getelementptr inbounds %"class.control_toolbox::StateSpaceModel", ptr %10, i32 0, i32 0
  %40 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELi12ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %39, i64 noundef 0)
          to label %41 unwind label %52

41:                                               ; preds = %37
  %42 = load double, ptr %40, align 8, !tbaa !28
  %43 = fneg double %38
  %44 = call double @llvm.fmuladd.f64(double %43, double %42, double %29)
  %45 = load i32, ptr %7, align 4, !tbaa !26
  %46 = sext i32 %45 to i64
  %47 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef %46)
          to label %48 unwind label %52

48:                                               ; preds = %41
  store double %44, ptr %47, align 8, !tbaa !28
  br label %49

49:                                               ; preds = %48
  %50 = load i32, ptr %7, align 4, !tbaa !26
  %51 = add nsw i32 %50, 1
  store i32 %51, ptr %7, align 4, !tbaa !26
  br label %13, !llvm.loop !30

52:                                               ; preds = %41, %37, %28, %20
  %53 = landingpad { ptr, i32 }
          cleanup
  %54 = extractvalue { ptr, i32 } %53, 0
  store ptr %54, ptr %8, align 8
  %55 = extractvalue { ptr, i32 } %53, 1
  store i32 %55, ptr %9, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #5
  br label %62

56:                                               ; preds = %19
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELi12ELi12EEC2INS0_IdLi1ELin1ELi1ELi1ELin1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(1168) %0, ptr noundef nonnull align 1 dereferenceable(1) %5)
          to label %57 unwind label %58

57:                                               ; preds = %56
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %5) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %5) #5
  ret void

58:                                               ; preds = %56
  %59 = landingpad { ptr, i32 }
          cleanup
  %60 = extractvalue { ptr, i32 } %59, 0
  store ptr %60, ptr %8, align 8
  %61 = extractvalue { ptr, i32 } %59, 1
  store i32 %61, ptr %9, align 4
  br label %62

62:                                               ; preds = %58, %52
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %5) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %5) #5
  br label %63

63:                                               ; preds = %62
  %64 = load ptr, ptr %8, align 8
  %65 = load i32, ptr %9, align 4
  %66 = insertvalue { ptr, i32 } poison, ptr %64, 0
  %67 = insertvalue { ptr, i32 } %66, i32 %65, 1
  resume { ptr, i32 } %67
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELi12ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.37") align 8, i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi1ELin1ELi1ELi1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELi12ELi12EEC2INS0_IdLi1ELin1ELi1ELi1ELin1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(1168), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 = { 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 #3 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
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 = { 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, !15, i64 224}
!10 = !{!"_ZTSN15control_toolbox15StateSpaceModelE", !11, i64 0, !11, i64 112, !15, i64 224, !11, i64 240, !16, i64 352, !16, i64 1520, !16, i64 2688, !16, i64 3856, !20, i64 5024}
!11 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELi12ELi1EEE", !12, i64 0}
!12 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELi12ELi1EEEEE", !13, i64 0}
!13 = !{!"_ZTSN5Eigen12DenseStorageIdLi12ELin1ELi1ELi0EEE", !14, i64 0, !15, i64 96}
!14 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi12ELi0ELi16EEE", !7, i64 0}
!15 = !{!"long", !7, i64 0}
!16 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELi12ELi12EEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELi12ELi12EEEEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen12DenseStorageIdLi144ELin1ELin1ELi0EEE", !19, i64 0, !15, i64 1152, !15, i64 1160}
!19 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi144ELi0ELi16EEE", !7, i64 0}
!20 = !{!"_ZTSSt10unique_ptrIN15control_toolbox6SolverESt14default_deleteIS1_EE", !21, i64 0}
!21 = !{!"_ZTSSt15__uniq_ptr_dataIN15control_toolbox6SolverESt14default_deleteIS1_ELb1ELb1EE", !22, i64 0}
!22 = !{!"_ZTSSt15__uniq_ptr_implIN15control_toolbox6SolverESt14default_deleteIS1_EE", !23, i64 0}
!23 = !{!"_ZTSSt5tupleIJPN15control_toolbox6SolverESt14default_deleteIS1_EEE", !24, i64 0}
!24 = !{!"_ZTSSt11_Tuple_implILm0EJPN15control_toolbox6SolverESt14default_deleteIS1_EEE", !25, i64 0}
!25 = !{!"_ZTSSt10_Head_baseILm0EPN15control_toolbox6SolverELb0EE", !6, i64 0}
!26 = !{!27, !27, i64 0}
!27 = !{!"int", !7, i64 0}
!28 = !{!29, !29, i64 0}
!29 = !{!"double", !7, i64 0}
!30 = distinct !{!30, !31}
!31 = !{!"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.3" = type { %"class.Eigen::PlainObjectBase.4" }
%"class.Eigen::PlainObjectBase.4" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { %"struct.Eigen::internal::plain_array.12", i64, i64 }
%"struct.Eigen::internal::plain_array.12" = type { [144 x double] }
%"class.Eigen::Matrix.28" = type { %"class.Eigen::PlainObjectBase.29" }
%"class.Eigen::PlainObjectBase.29" = type { %"class.Eigen::DenseStorage.36" }
%"class.Eigen::DenseStorage.36" = type { ptr, i64 }
%"class.Eigen::CwiseNullaryOp.37" = type { [8 x i8], %"class.Eigen::internal::variable_if_dynamic", %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }

declare i32 @__gxx_personality_v0(...)

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZNK15control_toolbox15StateSpaceModel11calcMatrixCEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.3") align 16 %0, ptr noundef nonnull align 16 dereferenceable(5032) %1) local_unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.Eigen::Matrix.28", align 8
  %4 = alloca %"class.Eigen::CwiseNullaryOp.37", align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %3) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %4) #5
  %5 = getelementptr inbounds i8, ptr %1, i64 224
  %6 = load i64, ptr %5, align 16, !tbaa !5
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.37") align 8 %4, i64 noundef %6)
  call void @_ZN5Eigen6MatrixIdLi1ELin1ELi1ELi1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull align 8 dereferenceable(24) %4)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #5
  %7 = load i64, ptr %5, align 16, !tbaa !5
  %.not = icmp eq i64 %7, 0
  br i1 %.not, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %2
  %8 = getelementptr inbounds i8, ptr %1, i64 112
  br label %9

._crit_edge:                                      ; preds = %24, %2
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELi12ELi12EEC2INS0_IdLi1ELin1ELi1ELi1ELin1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(1168) %0, ptr noundef nonnull align 1 dereferenceable(1) %3)
          to label %31 unwind label %32

9:                                                ; preds = %.lr.ph, %24
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %24 ]
  %10 = phi i64 [ %7, %.lr.ph ], [ %27, %24 ]
  %11 = sub i64 %10, %indvars.iv
  %12 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELi12ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %11)
          to label %13 unwind label %29

13:                                               ; preds = %9
  %14 = load double, ptr %12, align 8, !tbaa !25
  %15 = load i64, ptr %5, align 16, !tbaa !5
  %16 = sub i64 %15, %indvars.iv
  %17 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELi12ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %8, i64 noundef %16)
          to label %18 unwind label %29

18:                                               ; preds = %13
  %19 = load double, ptr %17, align 8, !tbaa !25
  %20 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELi12ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef 0)
          to label %21 unwind label %29

21:                                               ; preds = %18
  %22 = load double, ptr %20, align 8, !tbaa !25
  %23 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %indvars.iv)
          to label %24 unwind label %29

24:                                               ; preds = %21
  %25 = fneg double %19
  %26 = call double @llvm.fmuladd.f64(double %25, double %22, double %14)
  store double %26, ptr %23, align 8, !tbaa !25
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %27 = load i64, ptr %5, align 16, !tbaa !5
  %28 = icmp ugt i64 %27, %indvars.iv.next
  br i1 %28, label %9, label %._crit_edge, !llvm.loop !27

29:                                               ; preds = %21, %18, %13, %9
  %30 = landingpad { ptr, i32 }
          cleanup
  br label %34

31:                                               ; preds = %._crit_edge
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %3) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %3) #5
  ret void

32:                                               ; preds = %._crit_edge
  %33 = landingpad { ptr, i32 }
          cleanup
  br label %34

34:                                               ; preds = %32, %29
  %.pn = phi { ptr, i32 } [ %30, %29 ], [ %33, %32 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %3) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %3) #5
  resume { ptr, i32 } %.pn
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELi12ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.37") align 8, i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi1ELin1ELi1ELi1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELi12ELi12EEC2INS0_IdLi1ELin1ELi1ELi1ELin1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(1168), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLi1ELin1ELi1ELi1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 = { 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 #3 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
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 = { 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, !13, i64 224}
!6 = !{!"_ZTSN15control_toolbox15StateSpaceModelE", !7, i64 0, !7, i64 112, !13, i64 224, !7, i64 240, !14, i64 352, !14, i64 1520, !14, i64 2688, !14, i64 3856, !18, i64 5024}
!7 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELi12ELi1EEE", !8, i64 0}
!8 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELi12ELi1EEEEE", !9, i64 0}
!9 = !{!"_ZTSN5Eigen12DenseStorageIdLi12ELin1ELi1ELi0EEE", !10, i64 0, !13, i64 96}
!10 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi12ELi0ELi16EEE", !11, i64 0}
!11 = !{!"omnipotent char", !12, i64 0}
!12 = !{!"Simple C++ TBAA"}
!13 = !{!"long", !11, i64 0}
!14 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELi12ELi12EEE", !15, i64 0}
!15 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELi12ELi12EEEEE", !16, i64 0}
!16 = !{!"_ZTSN5Eigen12DenseStorageIdLi144ELin1ELin1ELi0EEE", !17, i64 0, !13, i64 1152, !13, i64 1160}
!17 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi144ELi0ELi16EEE", !11, i64 0}
!18 = !{!"_ZTSSt10unique_ptrIN15control_toolbox6SolverESt14default_deleteIS1_EE", !19, i64 0}
!19 = !{!"_ZTSSt15__uniq_ptr_dataIN15control_toolbox6SolverESt14default_deleteIS1_ELb1ELb1EE", !20, i64 0}
!20 = !{!"_ZTSSt15__uniq_ptr_implIN15control_toolbox6SolverESt14default_deleteIS1_EE", !21, i64 0}
!21 = !{!"_ZTSSt5tupleIJPN15control_toolbox6SolverESt14default_deleteIS1_EEE", !22, i64 0}
!22 = !{!"_ZTSSt11_Tuple_implILm0EJPN15control_toolbox6SolverESt14default_deleteIS1_EEE", !23, i64 0}
!23 = !{!"_ZTSSt10_Head_baseILm0EPN15control_toolbox6SolverELb0EE", !24, i64 0}
!24 = !{!"any pointer", !11, i64 0}
!25 = !{!26, !26, i64 0}
!26 = !{!"double", !11, i64 0}
!27 = distinct !{!27, !28}
!28 = !{!"llvm.loop.mustprogress"}


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