; LLVM IR from mjbots/moteus :: fw/test/foc_test.ll (ZN8FocTest211test_methodEv)

; 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.boost::test_tools::assertion::value_expr" = type { ptr }
%"class.boost::test_tools::assertion::binary_expr" = type <{ %"class.boost::test_tools::assertion::value_expr", float, [4 x i8] }>
%"class.boost::test_tools::assertion_result" = type { %"class.boost::test_tools::assertion_result::readonly_property65", %"class.boost::shared_ptr" }
%"class.boost::test_tools::assertion_result::readonly_property65" = type { %"class.boost::unit_test::readonly_property" }
%"class.boost::unit_test::readonly_property" = type { %"class.boost::unit_test::class_property" }
%"class.boost::unit_test::class_property" = type { i8 }
%"class.boost::shared_ptr" = type { ptr, %"class.boost::detail::shared_count" }
%"class.boost::detail::shared_count" = type { ptr }
%"class.boost::unit_test::lazy_ostream_impl" = type { %"class.boost::unit_test::lazy_ostream.base", ptr, ptr }
%"class.boost::unit_test::lazy_ostream.base" = type <{ ptr, i8 }>
%"class.boost::test_tools::assertion::binary_expr.3" = type { %"class.boost::test_tools::assertion::value_expr", ptr }
%"class.moteus::Cordic" = type { i8 }
%"struct.moteus::SinCos" = type { float, float }
%"struct.moteus::DqTransform" = type { float, float }
%"class.boost::unit_test::basic_cstring" = type { ptr, ptr }
%"class.boost::test_tools::assertion::binary_expr.5" = type { %"class.boost::test_tools::assertion::value_expr.7", double }
%"class.boost::test_tools::assertion::value_expr.7" = type { float }
%"class.boost::test_tools::assertion::seed" = type { i8 }
%"struct.moteus::ClarkTransform" = type { float, float }
%"struct.moteus::InverseClarkTransform" = type { float, float, float }
%"struct.moteus::ParkTransform" = type { float, float }
%"struct.moteus::InverseParkTransform" = type { float, float }
%"struct.moteus::InverseDqTransform" = type { float, float, float }

@_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE = external hidden global ptr, align 8
@.str.3 = external hidden unnamed_addr constant [67 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [14 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [14 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [15 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [15 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [15 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [23 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [24 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [24 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [25 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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6moteus6CordicC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK6moteus6Cordic7radiansEf(ptr noundef nonnull align 1 dereferenceable(1), float noundef) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6moteus11DqTransformC2ERKNS_6SinCosEfff(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef, float noundef) unnamed_addr #1 align 2

declare void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef, i64 noundef, ptr noundef) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef, i64 noundef) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 align 2

declare noundef zeroext i1 @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(9), ptr noundef, i64 noundef, i32 noundef, i32 noundef, i64 noundef, ...) #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::value_expr") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIfEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::binary_expr") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion_result") align 8, ptr noundef nonnull align 8 dereferenceable(12), i1 noundef zeroext) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind noalias writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8, ptr noundef nonnull align 8 dereferenceable(9), ptr noundef nonnull align 8 dereferenceable(16)) #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv() #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv() #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6moteus14ClarkTransformC2Efff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef, float noundef) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6moteus21InverseClarkTransformC2Eff(ptr noundef nonnull align 4 dereferenceable(12), float noundef, float noundef) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6moteus13ParkTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion_result") align 8, ptr noundef nonnull align 8 dereferenceable(16), i1 noundef zeroext) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6moteus20InverseParkTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6moteus18InverseDqTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8FocTest211test_methodEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #2 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca ptr, align 8
  %3 = alloca %"class.moteus::Cordic", align 1
  %4 = alloca %"struct.moteus::SinCos", align 4
  %5 = alloca %"struct.moteus::DqTransform", align 4
  %6 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %7 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %8 = alloca %"class.boost::test_tools::assertion_result", align 8
  %9 = alloca %"class.boost::test_tools::assertion::binary_expr.5", align 8
  %10 = alloca %"class.boost::test_tools::assertion::value_expr.7", align 4
  %11 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %12 = alloca float, align 4
  %13 = alloca double, align 8
  %14 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %15 = alloca ptr, align 8
  %16 = alloca i32, align 4
  %17 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %18 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %19 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %20 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %21 = alloca %"class.boost::test_tools::assertion_result", align 8
  %22 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %23 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %24 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %25 = alloca float, align 4
  %26 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %27 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %28 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %29 = alloca %"struct.moteus::ClarkTransform", align 4
  %30 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %31 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %32 = alloca %"class.boost::test_tools::assertion_result", align 8
  %33 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %34 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %35 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %36 = alloca float, align 4
  %37 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %38 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %39 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %40 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %41 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %42 = alloca %"class.boost::test_tools::assertion_result", align 8
  %43 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %44 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %45 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %46 = alloca float, align 4
  %47 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %48 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %49 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %50 = alloca %"struct.moteus::InverseClarkTransform", align 4
  %51 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %52 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %53 = alloca %"class.boost::test_tools::assertion_result", align 8
  %54 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %55 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %56 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %57 = alloca float, align 4
  %58 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %59 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %60 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %61 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %62 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %63 = alloca %"class.boost::test_tools::assertion_result", align 8
  %64 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %65 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %66 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %67 = alloca float, align 4
  %68 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %69 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %70 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %71 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %72 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %73 = alloca %"class.boost::test_tools::assertion_result", align 8
  %74 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %75 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %76 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %77 = alloca float, align 4
  %78 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %79 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %80 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %81 = alloca %"struct.moteus::ParkTransform", align 4
  %82 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %83 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %84 = alloca %"class.boost::test_tools::assertion_result", align 8
  %85 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %86 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %87 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %88 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %89 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %90 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %91 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %92 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %93 = alloca %"class.boost::test_tools::assertion_result", align 8
  %94 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %95 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %96 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %97 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %98 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %99 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %100 = alloca %"struct.moteus::InverseParkTransform", align 4
  %101 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %102 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %103 = alloca %"class.boost::test_tools::assertion_result", align 8
  %104 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %105 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %106 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %107 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %108 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %109 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %110 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %111 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %112 = alloca %"class.boost::test_tools::assertion_result", align 8
  %113 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %114 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %115 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %116 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %117 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %118 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %119 = alloca %"struct.moteus::InverseDqTransform", align 4
  %120 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %121 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %122 = alloca %"class.boost::test_tools::assertion_result", align 8
  %123 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %124 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %125 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %126 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %127 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %128 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %129 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %130 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %131 = alloca %"class.boost::test_tools::assertion_result", align 8
  %132 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %133 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %134 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %135 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %136 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %137 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %138 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %139 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %140 = alloca %"class.boost::test_tools::assertion_result", align 8
  %141 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %142 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %143 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %144 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %145 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %146 = alloca %"class.boost::unit_test::basic_cstring", align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  %147 = load ptr, ptr %2, align 8
  call void @llvm.lifetime.start.p0(i64 1, ptr %3) #7
  call void @_ZN6moteus6CordicC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %3)
  call void @llvm.lifetime.start.p0(i64 8, ptr %4) #7
  %148 = call <2 x float> @_ZNK6moteus6Cordic7radiansEf(ptr noundef nonnull align 1 dereferenceable(1) %3, float noundef 0x3FF921FB60000000)
  store <2 x float> %148, ptr %4, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #7
  call void @_ZN6moteus11DqTransformC2ERKNS_6SinCosEfff(ptr noundef nonnull align 4 dereferenceable(8) %5, ptr noundef nonnull align 4 dereferenceable(8) %4, float noundef 2.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %149

149:                                              ; preds = %161, %1
  %150 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %6, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %150, ptr noundef %6, i64 noundef 59, ptr noundef %7)
  call void @llvm.lifetime.start.p0(i64 24, ptr %8) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %9) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %11) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #7
  %151 = getelementptr inbounds %"struct.moteus::DqTransform", ptr %5, i32 0, i32 0
  %152 = load float, ptr %151, align 4, !tbaa !9
  %153 = call noundef float @_ZSt3absf(float noundef %152)
  store float %153, ptr %12, align 4, !tbaa !12
  call void @_ZNK5boost10test_tools9assertion4seedpmIfEENS1_10value_exprIT_EEOS5_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr.7") align 4 %10, ptr noundef nonnull align 1 dereferenceable(1) %11, ptr noundef nonnull align 4 dereferenceable(4) %12)
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #7
  store double 1.000000e-05, ptr %13, align 8, !tbaa !13
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIfEEfEleIdEENS1_11binary_exprIS4_T_NS1_2op2LEIfNS5_4RhsTIS8_E4typeEvEEEEOS8_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr.5") align 8 %9, ptr noundef nonnull align 1 dereferenceable(1) %10, ptr noundef nonnull align 8 dereferenceable(8) %13)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIfEEdNS1_2op2LEIfdvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %8, ptr noundef nonnull align 8 dereferenceable(16) %9, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %14) #7
  %154 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %155 unwind label %356

155:                                              ; preds = %149
  call void @llvm.lifetime.start.p0(i64 16, ptr %17) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %17, ptr noundef @.str.20, i64 noundef 22)
          to label %156 unwind label %360

156:                                              ; preds = %155
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %14, ptr noundef nonnull align 8 dereferenceable(9) %154, ptr noundef nonnull align 8 dereferenceable(16) %17)
          to label %157 unwind label %360

157:                                              ; preds = %156
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %18, ptr noundef @.str.3, i64 noundef 66)
          to label %158 unwind label %364

158:                                              ; preds = %157
  %159 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %8, ptr noundef nonnull align 8 dereferenceable(9) %14, ptr noundef %18, i64 noundef 59, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %160 unwind label %364

160:                                              ; preds = %158
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %14) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %11) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %8) #7
  br label %161

161:                                              ; preds = %160
  %162 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %162, label %149, label %163, !llvm.loop !15

163:                                              ; preds = %161
  br label %164

164:                                              ; preds = %174, %163
  %165 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %19, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %20)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %165, ptr noundef %19, i64 noundef 60, ptr noundef %20)
  call void @llvm.lifetime.start.p0(i64 24, ptr %21) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %24) #7
  %166 = getelementptr inbounds %"struct.moteus::DqTransform", ptr %5, i32 0, i32 1
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %24, ptr noundef nonnull align 4 dereferenceable(4) %166)
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #7
  store float 0xBFF5555560000000, ptr %25, align 4, !tbaa !12
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIfEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr") align 8 %22, ptr noundef nonnull align 1 dereferenceable(1) %23, ptr noundef nonnull align 4 dereferenceable(4) %25)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %21, ptr noundef nonnull align 8 dereferenceable(12) %22, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %26) #7
  %167 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %168 unwind label %370

168:                                              ; preds = %164
  call void @llvm.lifetime.start.p0(i64 16, ptr %27) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %27, ptr noundef @.str.21, i64 noundef 23)
          to label %169 unwind label %374

169:                                              ; preds = %168
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %26, ptr noundef nonnull align 8 dereferenceable(9) %167, ptr noundef nonnull align 8 dereferenceable(16) %27)
          to label %170 unwind label %374

170:                                              ; preds = %169
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %28, ptr noundef @.str.3, i64 noundef 66)
          to label %171 unwind label %378

171:                                              ; preds = %170
  %172 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %21, ptr noundef nonnull align 8 dereferenceable(9) %26, ptr noundef %28, i64 noundef 60, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %173 unwind label %378

173:                                              ; preds = %171
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %26) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %26) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %21) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %21) #7
  br label %174

174:                                              ; preds = %173
  %175 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %175, label %164, label %176, !llvm.loop !17

176:                                              ; preds = %174
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #7
  call void @_ZN6moteus14ClarkTransformC2Efff(ptr noundef nonnull align 4 dereferenceable(8) %29, float noundef 2.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %177

177:                                              ; preds = %187, %176
  %178 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %30, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %31)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %178, ptr noundef %30, i64 noundef 63, ptr noundef %31)
  call void @llvm.lifetime.start.p0(i64 24, ptr %32) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %33) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %35) #7
  %179 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %29, i32 0, i32 0
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %34, ptr noundef nonnull align 1 dereferenceable(1) %35, ptr noundef nonnull align 4 dereferenceable(4) %179)
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #7
  store float 0x3FF5555560000000, ptr %36, align 4, !tbaa !12
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIfEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr") align 8 %33, ptr noundef nonnull align 1 dereferenceable(1) %34, ptr noundef nonnull align 4 dereferenceable(4) %36)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %32, ptr noundef nonnull align 8 dereferenceable(12) %33, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %37) #7
  %180 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %181 unwind label %384

181:                                              ; preds = %177
  call void @llvm.lifetime.start.p0(i64 16, ptr %38) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %38, ptr noundef @.str.22, i64 noundef 23)
          to label %182 unwind label %388

182:                                              ; preds = %181
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %37, ptr noundef nonnull align 8 dereferenceable(9) %180, ptr noundef nonnull align 8 dereferenceable(16) %38)
          to label %183 unwind label %388

183:                                              ; preds = %182
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %39, ptr noundef @.str.3, i64 noundef 66)
          to label %184 unwind label %392

184:                                              ; preds = %183
  %185 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %32, ptr noundef nonnull align 8 dereferenceable(9) %37, ptr noundef %39, i64 noundef 63, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %186 unwind label %392

186:                                              ; preds = %184
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %37) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %37) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %32) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %35) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %32) #7
  br label %187

187:                                              ; preds = %186
  %188 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %188, label %177, label %189, !llvm.loop !18

189:                                              ; preds = %187
  br label %190

190:                                              ; preds = %200, %189
  %191 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %40, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %41)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %191, ptr noundef %40, i64 noundef 64, ptr noundef %41)
  call void @llvm.lifetime.start.p0(i64 24, ptr %42) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %43) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %44) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %45) #7
  %192 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %29, i32 0, i32 1
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %44, ptr noundef nonnull align 1 dereferenceable(1) %45, ptr noundef nonnull align 4 dereferenceable(4) %192)
  call void @llvm.lifetime.start.p0(i64 4, ptr %46) #7
  store float 0.000000e+00, ptr %46, align 4, !tbaa !12
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIfEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr") align 8 %43, ptr noundef nonnull align 1 dereferenceable(1) %44, ptr noundef nonnull align 4 dereferenceable(4) %46)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %42, ptr noundef nonnull align 8 dereferenceable(12) %43, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %47) #7
  %193 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %194 unwind label %398

194:                                              ; preds = %190
  call void @llvm.lifetime.start.p0(i64 16, ptr %48) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %48, ptr noundef @.str.23, i64 noundef 12)
          to label %195 unwind label %402

195:                                              ; preds = %194
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %47, ptr noundef nonnull align 8 dereferenceable(9) %193, ptr noundef nonnull align 8 dereferenceable(16) %48)
          to label %196 unwind label %402

196:                                              ; preds = %195
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %49, ptr noundef @.str.3, i64 noundef 66)
          to label %197 unwind label %406

197:                                              ; preds = %196
  %198 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %42, ptr noundef nonnull align 8 dereferenceable(9) %47, ptr noundef %49, i64 noundef 64, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %199 unwind label %406

199:                                              ; preds = %197
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %47) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %48) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %47) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %42) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %46) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %45) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %43) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %42) #7
  br label %200

200:                                              ; preds = %199
  %201 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %201, label %190, label %202, !llvm.loop !19

202:                                              ; preds = %200
  call void @llvm.lifetime.start.p0(i64 12, ptr %50) #7
  %203 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %29, i32 0, i32 0
  %204 = load float, ptr %203, align 4, !tbaa !20
  %205 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %29, i32 0, i32 1
  %206 = load float, ptr %205, align 4, !tbaa !22
  call void @_ZN6moteus21InverseClarkTransformC2Eff(ptr noundef nonnull align 4 dereferenceable(12) %50, float noundef %204, float noundef %206)
  br label %207

207:                                              ; preds = %217, %202
  %208 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %51, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %52)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %208, ptr noundef %51, i64 noundef 67, ptr noundef %52)
  call void @llvm.lifetime.start.p0(i64 24, ptr %53) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %54) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %55) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %56) #7
  %209 = getelementptr inbounds %"struct.moteus::InverseClarkTransform", ptr %50, i32 0, i32 0
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %55, ptr noundef nonnull align 1 dereferenceable(1) %56, ptr noundef nonnull align 4 dereferenceable(4) %209)
  call void @llvm.lifetime.start.p0(i64 4, ptr %57) #7
  store float 0x3FF5555560000000, ptr %57, align 4, !tbaa !12
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIfEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr") align 8 %54, ptr noundef nonnull align 1 dereferenceable(1) %55, ptr noundef nonnull align 4 dereferenceable(4) %57)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %53, ptr noundef nonnull align 8 dereferenceable(12) %54, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %58) #7
  %210 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %211 unwind label %412

211:                                              ; preds = %207
  call void @llvm.lifetime.start.p0(i64 16, ptr %59) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %59, ptr noundef @.str.24, i64 noundef 24)
          to label %212 unwind label %416

212:                                              ; preds = %211
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %58, ptr noundef nonnull align 8 dereferenceable(9) %210, ptr noundef nonnull align 8 dereferenceable(16) %59)
          to label %213 unwind label %416

213:                                              ; preds = %212
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %60, ptr noundef @.str.3, i64 noundef 66)
          to label %214 unwind label %420

214:                                              ; preds = %213
  %215 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %53, ptr noundef nonnull align 8 dereferenceable(9) %58, ptr noundef %60, i64 noundef 67, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %216 unwind label %420

216:                                              ; preds = %214
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %58) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %59) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %58) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %53) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %57) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %56) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %54) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %53) #7
  br label %217

217:                                              ; preds = %216
  %218 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %218, label %207, label %219, !llvm.loop !23

219:                                              ; preds = %217
  br label %220

220:                                              ; preds = %230, %219
  %221 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %61, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %62)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %221, ptr noundef %61, i64 noundef 68, ptr noundef %62)
  call void @llvm.lifetime.start.p0(i64 24, ptr %63) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %64) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %65) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %66) #7
  %222 = getelementptr inbounds %"struct.moteus::InverseClarkTransform", ptr %50, i32 0, i32 1
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %65, ptr noundef nonnull align 1 dereferenceable(1) %66, ptr noundef nonnull align 4 dereferenceable(4) %222)
  call void @llvm.lifetime.start.p0(i64 4, ptr %67) #7
  store float 0xBFE5555560000000, ptr %67, align 4, !tbaa !12
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIfEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr") align 8 %64, ptr noundef nonnull align 1 dereferenceable(1) %65, ptr noundef nonnull align 4 dereferenceable(4) %67)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %63, ptr noundef nonnull align 8 dereferenceable(12) %64, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %68) #7
  %223 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %224 unwind label %426

224:                                              ; preds = %220
  call void @llvm.lifetime.start.p0(i64 16, ptr %69) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %69, ptr noundef @.str.25, i64 noundef 24)
          to label %225 unwind label %430

225:                                              ; preds = %224
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %68, ptr noundef nonnull align 8 dereferenceable(9) %223, ptr noundef nonnull align 8 dereferenceable(16) %69)
          to label %226 unwind label %430

226:                                              ; preds = %225
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %70, ptr noundef @.str.3, i64 noundef 66)
          to label %227 unwind label %434

227:                                              ; preds = %226
  %228 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %63, ptr noundef nonnull align 8 dereferenceable(9) %68, ptr noundef %70, i64 noundef 68, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %229 unwind label %434

229:                                              ; preds = %227
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %68) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %69) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %68) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %63) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %67) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %66) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %65) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %64) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %63) #7
  br label %230

230:                                              ; preds = %229
  %231 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %231, label %220, label %232, !llvm.loop !24

232:                                              ; preds = %230
  br label %233

233:                                              ; preds = %243, %232
  %234 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %71, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %72)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %234, ptr noundef %71, i64 noundef 69, ptr noundef %72)
  call void @llvm.lifetime.start.p0(i64 24, ptr %73) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %74) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %75) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %76) #7
  %235 = getelementptr inbounds %"struct.moteus::InverseClarkTransform", ptr %50, i32 0, i32 2
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %75, ptr noundef nonnull align 1 dereferenceable(1) %76, ptr noundef nonnull align 4 dereferenceable(4) %235)
  call void @llvm.lifetime.start.p0(i64 4, ptr %77) #7
  store float 0xBFE5555560000000, ptr %77, align 4, !tbaa !12
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIfEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr") align 8 %74, ptr noundef nonnull align 1 dereferenceable(1) %75, ptr noundef nonnull align 4 dereferenceable(4) %77)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %73, ptr noundef nonnull align 8 dereferenceable(12) %74, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %78) #7
  %236 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %237 unwind label %440

237:                                              ; preds = %233
  call void @llvm.lifetime.start.p0(i64 16, ptr %79) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %79, ptr noundef @.str.26, i64 noundef 24)
          to label %238 unwind label %444

238:                                              ; preds = %237
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %78, ptr noundef nonnull align 8 dereferenceable(9) %236, ptr noundef nonnull align 8 dereferenceable(16) %79)
          to label %239 unwind label %444

239:                                              ; preds = %238
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %80, ptr noundef @.str.3, i64 noundef 66)
          to label %240 unwind label %448

240:                                              ; preds = %239
  %241 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %73, ptr noundef nonnull align 8 dereferenceable(9) %78, ptr noundef %80, i64 noundef 69, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %242 unwind label %448

242:                                              ; preds = %240
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %78) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %79) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %78) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %73) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %77) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %76) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %75) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %74) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %73) #7
  br label %243

243:                                              ; preds = %242
  %244 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %244, label %233, label %245, !llvm.loop !25

245:                                              ; preds = %243
  call void @llvm.lifetime.start.p0(i64 8, ptr %81) #7
  %246 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %29, i32 0, i32 0
  %247 = load float, ptr %246, align 4, !tbaa !20
  %248 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %29, i32 0, i32 1
  %249 = load float, ptr %248, align 4, !tbaa !22
  call void @_ZN6moteus13ParkTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(8) %81, ptr noundef nonnull align 4 dereferenceable(8) %4, float noundef %247, float noundef %249)
  br label %250

250:                                              ; preds = %261, %245
  %251 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %82, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %83)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %251, ptr noundef %82, i64 noundef 72, ptr noundef %83)
  call void @llvm.lifetime.start.p0(i64 24, ptr %84) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %85) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %86) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %87) #7
  %252 = getelementptr inbounds %"struct.moteus::ParkTransform", ptr %81, i32 0, i32 0
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %86, ptr noundef nonnull align 1 dereferenceable(1) %87, ptr noundef nonnull align 4 dereferenceable(4) %252)
  %253 = getelementptr inbounds %"struct.moteus::DqTransform", ptr %5, i32 0, i32 0
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8 %85, ptr noundef nonnull align 1 dereferenceable(1) %86, ptr noundef nonnull align 4 dereferenceable(4) %253)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %84, ptr noundef nonnull align 8 dereferenceable(16) %85, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %88) #7
  %254 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %255 unwind label %454

255:                                              ; preds = %250
  call void @llvm.lifetime.start.p0(i64 16, ptr %89) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %89, ptr noundef @.str.11, i64 noundef 12)
          to label %256 unwind label %458

256:                                              ; preds = %255
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %88, ptr noundef nonnull align 8 dereferenceable(9) %254, ptr noundef nonnull align 8 dereferenceable(16) %89)
          to label %257 unwind label %458

257:                                              ; preds = %256
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %90, ptr noundef @.str.3, i64 noundef 66)
          to label %258 unwind label %462

258:                                              ; preds = %257
  %259 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %84, ptr noundef nonnull align 8 dereferenceable(9) %88, ptr noundef %90, i64 noundef 72, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %260 unwind label %462

260:                                              ; preds = %258
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %88) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %89) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %88) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %84) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %87) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %86) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %85) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %84) #7
  br label %261

261:                                              ; preds = %260
  %262 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %262, label %250, label %263, !llvm.loop !26

263:                                              ; preds = %261
  br label %264

264:                                              ; preds = %275, %263
  %265 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %91, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %92)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %265, ptr noundef %91, i64 noundef 73, ptr noundef %92)
  call void @llvm.lifetime.start.p0(i64 24, ptr %93) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %94) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %95) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %96) #7
  %266 = getelementptr inbounds %"struct.moteus::ParkTransform", ptr %81, i32 0, i32 1
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %95, ptr noundef nonnull align 1 dereferenceable(1) %96, ptr noundef nonnull align 4 dereferenceable(4) %266)
  %267 = getelementptr inbounds %"struct.moteus::DqTransform", ptr %5, i32 0, i32 1
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8 %94, ptr noundef nonnull align 1 dereferenceable(1) %95, ptr noundef nonnull align 4 dereferenceable(4) %267)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %93, ptr noundef nonnull align 8 dereferenceable(16) %94, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %97) #7
  %268 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %269 unwind label %468

269:                                              ; preds = %264
  call void @llvm.lifetime.start.p0(i64 16, ptr %98) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %98, ptr noundef @.str.12, i64 noundef 12)
          to label %270 unwind label %472

270:                                              ; preds = %269
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %97, ptr noundef nonnull align 8 dereferenceable(9) %268, ptr noundef nonnull align 8 dereferenceable(16) %98)
          to label %271 unwind label %472

271:                                              ; preds = %270
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %99, ptr noundef @.str.3, i64 noundef 66)
          to label %272 unwind label %476

272:                                              ; preds = %271
  %273 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %93, ptr noundef nonnull align 8 dereferenceable(9) %97, ptr noundef %99, i64 noundef 73, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %274 unwind label %476

274:                                              ; preds = %272
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %97) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %98) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %97) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %93) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %96) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %95) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %94) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %93) #7
  br label %275

275:                                              ; preds = %274
  %276 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %276, label %264, label %277, !llvm.loop !27

277:                                              ; preds = %275
  call void @llvm.lifetime.start.p0(i64 8, ptr %100) #7
  %278 = getelementptr inbounds %"struct.moteus::ParkTransform", ptr %81, i32 0, i32 0
  %279 = load float, ptr %278, align 4, !tbaa !28
  %280 = getelementptr inbounds %"struct.moteus::ParkTransform", ptr %81, i32 0, i32 1
  %281 = load float, ptr %280, align 4, !tbaa !30
  call void @_ZN6moteus20InverseParkTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(8) %100, ptr noundef nonnull align 4 dereferenceable(8) %4, float noundef %279, float noundef %281)
  br label %282

282:                                              ; preds = %293, %277
  %283 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %101, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %102)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %283, ptr noundef %101, i64 noundef 76, ptr noundef %102)
  call void @llvm.lifetime.start.p0(i64 24, ptr %103) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %104) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %105) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %106) #7
  %284 = getelementptr inbounds %"struct.moteus::InverseParkTransform", ptr %100, i32 0, i32 0
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %105, ptr noundef nonnull align 1 dereferenceable(1) %106, ptr noundef nonnull align 4 dereferenceable(4) %284)
  %285 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %29, i32 0, i32 0
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8 %104, ptr noundef nonnull align 1 dereferenceable(1) %105, ptr noundef nonnull align 4 dereferenceable(4) %285)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %103, ptr noundef nonnull align 8 dereferenceable(16) %104, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %107) #7
  %286 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %287 unwind label %482

287:                                              ; preds = %282
  call void @llvm.lifetime.start.p0(i64 16, ptr %108) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %108, ptr noundef @.str.13, i64 noundef 13)
          to label %288 unwind label %486

288:                                              ; preds = %287
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %107, ptr noundef nonnull align 8 dereferenceable(9) %286, ptr noundef nonnull align 8 dereferenceable(16) %108)
          to label %289 unwind label %486

289:                                              ; preds = %288
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %109, ptr noundef @.str.3, i64 noundef 66)
          to label %290 unwind label %490

290:                                              ; preds = %289
  %291 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %103, ptr noundef nonnull align 8 dereferenceable(9) %107, ptr noundef %109, i64 noundef 76, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %292 unwind label %490

292:                                              ; preds = %290
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %107) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %108) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %107) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %103) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %106) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %105) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %104) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %103) #7
  br label %293

293:                                              ; preds = %292
  %294 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %294, label %282, label %295, !llvm.loop !31

295:                                              ; preds = %293
  br label %296

296:                                              ; preds = %307, %295
  %297 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %110, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %111)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %297, ptr noundef %110, i64 noundef 77, ptr noundef %111)
  call void @llvm.lifetime.start.p0(i64 24, ptr %112) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %113) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %114) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %115) #7
  %298 = getelementptr inbounds %"struct.moteus::InverseParkTransform", ptr %100, i32 0, i32 1
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %114, ptr noundef nonnull align 1 dereferenceable(1) %115, ptr noundef nonnull align 4 dereferenceable(4) %298)
  %299 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %29, i32 0, i32 1
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8 %113, ptr noundef nonnull align 1 dereferenceable(1) %114, ptr noundef nonnull align 4 dereferenceable(4) %299)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %112, ptr noundef nonnull align 8 dereferenceable(16) %113, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %116) #7
  %300 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %301 unwind label %496

301:                                              ; preds = %296
  call void @llvm.lifetime.start.p0(i64 16, ptr %117) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %117, ptr noundef @.str.14, i64 noundef 13)
          to label %302 unwind label %500

302:                                              ; preds = %301
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %116, ptr noundef nonnull align 8 dereferenceable(9) %300, ptr noundef nonnull align 8 dereferenceable(16) %117)
          to label %303 unwind label %500

303:                                              ; preds = %302
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %118, ptr noundef @.str.3, i64 noundef 66)
          to label %304 unwind label %504

304:                                              ; preds = %303
  %305 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %112, ptr noundef nonnull align 8 dereferenceable(9) %116, ptr noundef %118, i64 noundef 77, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %306 unwind label %504

306:                                              ; preds = %304
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %116) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %117) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %116) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %112) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %115) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %114) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %113) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %112) #7
  br label %307

307:                                              ; preds = %306
  %308 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %308, label %296, label %309, !llvm.loop !32

309:                                              ; preds = %307
  call void @llvm.lifetime.start.p0(i64 12, ptr %119) #7
  %310 = getelementptr inbounds %"struct.moteus::ParkTransform", ptr %81, i32 0, i32 0
  %311 = load float, ptr %310, align 4, !tbaa !28
  %312 = getelementptr inbounds %"struct.moteus::ParkTransform", ptr %81, i32 0, i32 1
  %313 = load float, ptr %312, align 4, !tbaa !30
  call void @_ZN6moteus18InverseDqTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(12) %119, ptr noundef nonnull align 4 dereferenceable(8) %4, float noundef %311, float noundef %313)
  br label %314

314:                                              ; preds = %325, %309
  %315 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %120, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %121)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %315, ptr noundef %120, i64 noundef 80, ptr noundef %121)
  call void @llvm.lifetime.start.p0(i64 24, ptr %122) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %123) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %124) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %125) #7
  %316 = getelementptr inbounds %"struct.moteus::InverseDqTransform", ptr %119, i32 0, i32 0
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %124, ptr noundef nonnull align 1 dereferenceable(1) %125, ptr noundef nonnull align 4 dereferenceable(4) %316)
  %317 = getelementptr inbounds %"struct.moteus::InverseClarkTransform", ptr %50, i32 0, i32 0
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8 %123, ptr noundef nonnull align 1 dereferenceable(1) %124, ptr noundef nonnull align 4 dereferenceable(4) %317)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %122, ptr noundef nonnull align 8 dereferenceable(16) %123, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %126) #7
  %318 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %319 unwind label %510

319:                                              ; preds = %314
  call void @llvm.lifetime.start.p0(i64 16, ptr %127) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %127, ptr noundef @.str.15, i64 noundef 14)
          to label %320 unwind label %514

320:                                              ; preds = %319
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %126, ptr noundef nonnull align 8 dereferenceable(9) %318, ptr noundef nonnull align 8 dereferenceable(16) %127)
          to label %321 unwind label %514

321:                                              ; preds = %320
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %128, ptr noundef @.str.3, i64 noundef 66)
          to label %322 unwind label %518

322:                                              ; preds = %321
  %323 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %122, ptr noundef nonnull align 8 dereferenceable(9) %126, ptr noundef %128, i64 noundef 80, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %324 unwind label %518

324:                                              ; preds = %322
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %126) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %127) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %126) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %122) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %125) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %124) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %123) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %122) #7
  br label %325

325:                                              ; preds = %324
  %326 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %326, label %314, label %327, !llvm.loop !33

327:                                              ; preds = %325
  br label %328

328:                                              ; preds = %339, %327
  %329 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %129, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %130)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %329, ptr noundef %129, i64 noundef 81, ptr noundef %130)
  call void @llvm.lifetime.start.p0(i64 24, ptr %131) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %132) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %133) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %134) #7
  %330 = getelementptr inbounds %"struct.moteus::InverseDqTransform", ptr %119, i32 0, i32 1
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %133, ptr noundef nonnull align 1 dereferenceable(1) %134, ptr noundef nonnull align 4 dereferenceable(4) %330)
  %331 = getelementptr inbounds %"struct.moteus::InverseClarkTransform", ptr %50, i32 0, i32 1
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8 %132, ptr noundef nonnull align 1 dereferenceable(1) %133, ptr noundef nonnull align 4 dereferenceable(4) %331)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %131, ptr noundef nonnull align 8 dereferenceable(16) %132, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %135) #7
  %332 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %333 unwind label %524

333:                                              ; preds = %328
  call void @llvm.lifetime.start.p0(i64 16, ptr %136) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %136, ptr noundef @.str.16, i64 noundef 14)
          to label %334 unwind label %528

334:                                              ; preds = %333
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %135, ptr noundef nonnull align 8 dereferenceable(9) %332, ptr noundef nonnull align 8 dereferenceable(16) %136)
          to label %335 unwind label %528

335:                                              ; preds = %334
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %137, ptr noundef @.str.3, i64 noundef 66)
          to label %336 unwind label %532

336:                                              ; preds = %335
  %337 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %131, ptr noundef nonnull align 8 dereferenceable(9) %135, ptr noundef %137, i64 noundef 81, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %338 unwind label %532

338:                                              ; preds = %336
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %135) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %136) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %135) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %131) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %134) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %133) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %132) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %131) #7
  br label %339

339:                                              ; preds = %338
  %340 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %340, label %328, label %341, !llvm.loop !34

341:                                              ; preds = %339
  br label %342

342:                                              ; preds = %353, %341
  %343 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %138, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %139)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %343, ptr noundef %138, i64 noundef 82, ptr noundef %139)
  call void @llvm.lifetime.start.p0(i64 24, ptr %140) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %141) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %142) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %143) #7
  %344 = getelementptr inbounds %"struct.moteus::InverseDqTransform", ptr %119, i32 0, i32 2
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %142, ptr noundef nonnull align 1 dereferenceable(1) %143, ptr noundef nonnull align 4 dereferenceable(4) %344)
  %345 = getelementptr inbounds %"struct.moteus::InverseClarkTransform", ptr %50, i32 0, i32 2
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8 %141, ptr noundef nonnull align 1 dereferenceable(1) %142, ptr noundef nonnull align 4 dereferenceable(4) %345)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %140, ptr noundef nonnull align 8 dereferenceable(16) %141, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %144) #7
  %346 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %347 unwind label %538

347:                                              ; preds = %342
  call void @llvm.lifetime.start.p0(i64 16, ptr %145) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %145, ptr noundef @.str.17, i64 noundef 14)
          to label %348 unwind label %542

348:                                              ; preds = %347
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %144, ptr noundef nonnull align 8 dereferenceable(9) %346, ptr noundef nonnull align 8 dereferenceable(16) %145)
          to label %349 unwind label %542

349:                                              ; preds = %348
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %146, ptr noundef @.str.3, i64 noundef 66)
          to label %350 unwind label %546

350:                                              ; preds = %349
  %351 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %140, ptr noundef nonnull align 8 dereferenceable(9) %144, ptr noundef %146, i64 noundef 82, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %352 unwind label %546

352:                                              ; preds = %350
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %144) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %145) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %144) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %140) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %143) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %142) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %141) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %140) #7
  br label %353

353:                                              ; preds = %352
  %354 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %354, label %342, label %355, !llvm.loop !35

355:                                              ; preds = %353
  call void @llvm.lifetime.end.p0(i64 12, ptr %119) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %100) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %81) #7
  call void @llvm.lifetime.end.p0(i64 12, ptr %50) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %4) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %3) #7
  ret void

356:                                              ; preds = %149
  %357 = landingpad { ptr, i32 }
          cleanup
  %358 = extractvalue { ptr, i32 } %357, 0
  store ptr %358, ptr %15, align 8
  %359 = extractvalue { ptr, i32 } %357, 1
  store i32 %359, ptr %16, align 4
  br label %369

360:                                              ; preds = %156, %155
  %361 = landingpad { ptr, i32 }
          cleanup
  %362 = extractvalue { ptr, i32 } %361, 0
  store ptr %362, ptr %15, align 8
  %363 = extractvalue { ptr, i32 } %361, 1
  store i32 %363, ptr %16, align 4
  br label %368

364:                                              ; preds = %158, %157
  %365 = landingpad { ptr, i32 }
          cleanup
  %366 = extractvalue { ptr, i32 } %365, 0
  store ptr %366, ptr %15, align 8
  %367 = extractvalue { ptr, i32 } %365, 1
  store i32 %367, ptr %16, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %14) #7
  br label %368

368:                                              ; preds = %364, %360
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #7
  br label %369

369:                                              ; preds = %368, %356
  call void @llvm.lifetime.end.p0(i64 32, ptr %14) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %11) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %8) #7
  br label %557

370:                                              ; preds = %164
  %371 = landingpad { ptr, i32 }
          cleanup
  %372 = extractvalue { ptr, i32 } %371, 0
  store ptr %372, ptr %15, align 8
  %373 = extractvalue { ptr, i32 } %371, 1
  store i32 %373, ptr %16, align 4
  br label %383

374:                                              ; preds = %169, %168
  %375 = landingpad { ptr, i32 }
          cleanup
  %376 = extractvalue { ptr, i32 } %375, 0
  store ptr %376, ptr %15, align 8
  %377 = extractvalue { ptr, i32 } %375, 1
  store i32 %377, ptr %16, align 4
  br label %382

378:                                              ; preds = %171, %170
  %379 = landingpad { ptr, i32 }
          cleanup
  %380 = extractvalue { ptr, i32 } %379, 0
  store ptr %380, ptr %15, align 8
  %381 = extractvalue { ptr, i32 } %379, 1
  store i32 %381, ptr %16, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %26) #7
  br label %382

382:                                              ; preds = %378, %374
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #7
  br label %383

383:                                              ; preds = %382, %370
  call void @llvm.lifetime.end.p0(i64 32, ptr %26) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %21) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %21) #7
  br label %557

384:                                              ; preds = %177
  %385 = landingpad { ptr, i32 }
          cleanup
  %386 = extractvalue { ptr, i32 } %385, 0
  store ptr %386, ptr %15, align 8
  %387 = extractvalue { ptr, i32 } %385, 1
  store i32 %387, ptr %16, align 4
  br label %397

388:                                              ; preds = %182, %181
  %389 = landingpad { ptr, i32 }
          cleanup
  %390 = extractvalue { ptr, i32 } %389, 0
  store ptr %390, ptr %15, align 8
  %391 = extractvalue { ptr, i32 } %389, 1
  store i32 %391, ptr %16, align 4
  br label %396

392:                                              ; preds = %184, %183
  %393 = landingpad { ptr, i32 }
          cleanup
  %394 = extractvalue { ptr, i32 } %393, 0
  store ptr %394, ptr %15, align 8
  %395 = extractvalue { ptr, i32 } %393, 1
  store i32 %395, ptr %16, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %37) #7
  br label %396

396:                                              ; preds = %392, %388
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #7
  br label %397

397:                                              ; preds = %396, %384
  call void @llvm.lifetime.end.p0(i64 32, ptr %37) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %32) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %35) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %32) #7
  br label %556

398:                                              ; preds = %190
  %399 = landingpad { ptr, i32 }
          cleanup
  %400 = extractvalue { ptr, i32 } %399, 0
  store ptr %400, ptr %15, align 8
  %401 = extractvalue { ptr, i32 } %399, 1
  store i32 %401, ptr %16, align 4
  br label %411

402:                                              ; preds = %195, %194
  %403 = landingpad { ptr, i32 }
          cleanup
  %404 = extractvalue { ptr, i32 } %403, 0
  store ptr %404, ptr %15, align 8
  %405 = extractvalue { ptr, i32 } %403, 1
  store i32 %405, ptr %16, align 4
  br label %410

406:                                              ; preds = %197, %196
  %407 = landingpad { ptr, i32 }
          cleanup
  %408 = extractvalue { ptr, i32 } %407, 0
  store ptr %408, ptr %15, align 8
  %409 = extractvalue { ptr, i32 } %407, 1
  store i32 %409, ptr %16, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %47) #7
  br label %410

410:                                              ; preds = %406, %402
  call void @llvm.lifetime.end.p0(i64 16, ptr %48) #7
  br label %411

411:                                              ; preds = %410, %398
  call void @llvm.lifetime.end.p0(i64 32, ptr %47) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %42) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %46) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %45) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %43) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %42) #7
  br label %556

412:                                              ; preds = %207
  %413 = landingpad { ptr, i32 }
          cleanup
  %414 = extractvalue { ptr, i32 } %413, 0
  store ptr %414, ptr %15, align 8
  %415 = extractvalue { ptr, i32 } %413, 1
  store i32 %415, ptr %16, align 4
  br label %425

416:                                              ; preds = %212, %211
  %417 = landingpad { ptr, i32 }
          cleanup
  %418 = extractvalue { ptr, i32 } %417, 0
  store ptr %418, ptr %15, align 8
  %419 = extractvalue { ptr, i32 } %417, 1
  store i32 %419, ptr %16, align 4
  br label %424

420:                                              ; preds = %214, %213
  %421 = landingpad { ptr, i32 }
          cleanup
  %422 = extractvalue { ptr, i32 } %421, 0
  store ptr %422, ptr %15, align 8
  %423 = extractvalue { ptr, i32 } %421, 1
  store i32 %423, ptr %16, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %58) #7
  br label %424

424:                                              ; preds = %420, %416
  call void @llvm.lifetime.end.p0(i64 16, ptr %59) #7
  br label %425

425:                                              ; preds = %424, %412
  call void @llvm.lifetime.end.p0(i64 32, ptr %58) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %53) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %57) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %56) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %54) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %53) #7
  br label %555

426:                                              ; preds = %220
  %427 = landingpad { ptr, i32 }
          cleanup
  %428 = extractvalue { ptr, i32 } %427, 0
  store ptr %428, ptr %15, align 8
  %429 = extractvalue { ptr, i32 } %427, 1
  store i32 %429, ptr %16, align 4
  br label %439

430:                                              ; preds = %225, %224
  %431 = landingpad { ptr, i32 }
          cleanup
  %432 = extractvalue { ptr, i32 } %431, 0
  store ptr %432, ptr %15, align 8
  %433 = extractvalue { ptr, i32 } %431, 1
  store i32 %433, ptr %16, align 4
  br label %438

434:                                              ; preds = %227, %226
  %435 = landingpad { ptr, i32 }
          cleanup
  %436 = extractvalue { ptr, i32 } %435, 0
  store ptr %436, ptr %15, align 8
  %437 = extractvalue { ptr, i32 } %435, 1
  store i32 %437, ptr %16, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %68) #7
  br label %438

438:                                              ; preds = %434, %430
  call void @llvm.lifetime.end.p0(i64 16, ptr %69) #7
  br label %439

439:                                              ; preds = %438, %426
  call void @llvm.lifetime.end.p0(i64 32, ptr %68) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %63) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %67) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %66) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %65) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %64) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %63) #7
  br label %555

440:                                              ; preds = %233
  %441 = landingpad { ptr, i32 }
          cleanup
  %442 = extractvalue { ptr, i32 } %441, 0
  store ptr %442, ptr %15, align 8
  %443 = extractvalue { ptr, i32 } %441, 1
  store i32 %443, ptr %16, align 4
  br label %453

444:                                              ; preds = %238, %237
  %445 = landingpad { ptr, i32 }
          cleanup
  %446 = extractvalue { ptr, i32 } %445, 0
  store ptr %446, ptr %15, align 8
  %447 = extractvalue { ptr, i32 } %445, 1
  store i32 %447, ptr %16, align 4
  br label %452

448:                                              ; preds = %240, %239
  %449 = landingpad { ptr, i32 }
          cleanup
  %450 = extractvalue { ptr, i32 } %449, 0
  store ptr %450, ptr %15, align 8
  %451 = extractvalue { ptr, i32 } %449, 1
  store i32 %451, ptr %16, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %78) #7
  br label %452

452:                                              ; preds = %448, %444
  call void @llvm.lifetime.end.p0(i64 16, ptr %79) #7
  br label %453

453:                                              ; preds = %452, %440
  call void @llvm.lifetime.end.p0(i64 32, ptr %78) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %73) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %77) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %76) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %75) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %74) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %73) #7
  br label %555

454:                                              ; preds = %250
  %455 = landingpad { ptr, i32 }
          cleanup
  %456 = extractvalue { ptr, i32 } %455, 0
  store ptr %456, ptr %15, align 8
  %457 = extractvalue { ptr, i32 } %455, 1
  store i32 %457, ptr %16, align 4
  br label %467

458:                                              ; preds = %256, %255
  %459 = landingpad { ptr, i32 }
          cleanup
  %460 = extractvalue { ptr, i32 } %459, 0
  store ptr %460, ptr %15, align 8
  %461 = extractvalue { ptr, i32 } %459, 1
  store i32 %461, ptr %16, align 4
  br label %466

462:                                              ; preds = %258, %257
  %463 = landingpad { ptr, i32 }
          cleanup
  %464 = extractvalue { ptr, i32 } %463, 0
  store ptr %464, ptr %15, align 8
  %465 = extractvalue { ptr, i32 } %463, 1
  store i32 %465, ptr %16, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %88) #7
  br label %466

466:                                              ; preds = %462, %458
  call void @llvm.lifetime.end.p0(i64 16, ptr %89) #7
  br label %467

467:                                              ; preds = %466, %454
  call void @llvm.lifetime.end.p0(i64 32, ptr %88) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %84) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %87) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %86) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %85) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %84) #7
  br label %554

468:                                              ; preds = %264
  %469 = landingpad { ptr, i32 }
          cleanup
  %470 = extractvalue { ptr, i32 } %469, 0
  store ptr %470, ptr %15, align 8
  %471 = extractvalue { ptr, i32 } %469, 1
  store i32 %471, ptr %16, align 4
  br label %481

472:                                              ; preds = %270, %269
  %473 = landingpad { ptr, i32 }
          cleanup
  %474 = extractvalue { ptr, i32 } %473, 0
  store ptr %474, ptr %15, align 8
  %475 = extractvalue { ptr, i32 } %473, 1
  store i32 %475, ptr %16, align 4
  br label %480

476:                                              ; preds = %272, %271
  %477 = landingpad { ptr, i32 }
          cleanup
  %478 = extractvalue { ptr, i32 } %477, 0
  store ptr %478, ptr %15, align 8
  %479 = extractvalue { ptr, i32 } %477, 1
  store i32 %479, ptr %16, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %97) #7
  br label %480

480:                                              ; preds = %476, %472
  call void @llvm.lifetime.end.p0(i64 16, ptr %98) #7
  br label %481

481:                                              ; preds = %480, %468
  call void @llvm.lifetime.end.p0(i64 32, ptr %97) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %93) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %96) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %95) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %94) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %93) #7
  br label %554

482:                                              ; preds = %282
  %483 = landingpad { ptr, i32 }
          cleanup
  %484 = extractvalue { ptr, i32 } %483, 0
  store ptr %484, ptr %15, align 8
  %485 = extractvalue { ptr, i32 } %483, 1
  store i32 %485, ptr %16, align 4
  br label %495

486:                                              ; preds = %288, %287
  %487 = landingpad { ptr, i32 }
          cleanup
  %488 = extractvalue { ptr, i32 } %487, 0
  store ptr %488, ptr %15, align 8
  %489 = extractvalue { ptr, i32 } %487, 1
  store i32 %489, ptr %16, align 4
  br label %494

490:                                              ; preds = %290, %289
  %491 = landingpad { ptr, i32 }
          cleanup
  %492 = extractvalue { ptr, i32 } %491, 0
  store ptr %492, ptr %15, align 8
  %493 = extractvalue { ptr, i32 } %491, 1
  store i32 %493, ptr %16, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %107) #7
  br label %494

494:                                              ; preds = %490, %486
  call void @llvm.lifetime.end.p0(i64 16, ptr %108) #7
  br label %495

495:                                              ; preds = %494, %482
  call void @llvm.lifetime.end.p0(i64 32, ptr %107) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %103) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %106) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %105) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %104) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %103) #7
  br label %553

496:                                              ; preds = %296
  %497 = landingpad { ptr, i32 }
          cleanup
  %498 = extractvalue { ptr, i32 } %497, 0
  store ptr %498, ptr %15, align 8
  %499 = extractvalue { ptr, i32 } %497, 1
  store i32 %499, ptr %16, align 4
  br label %509

500:                                              ; preds = %302, %301
  %501 = landingpad { ptr, i32 }
          cleanup
  %502 = extractvalue { ptr, i32 } %501, 0
  store ptr %502, ptr %15, align 8
  %503 = extractvalue { ptr, i32 } %501, 1
  store i32 %503, ptr %16, align 4
  br label %508

504:                                              ; preds = %304, %303
  %505 = landingpad { ptr, i32 }
          cleanup
  %506 = extractvalue { ptr, i32 } %505, 0
  store ptr %506, ptr %15, align 8
  %507 = extractvalue { ptr, i32 } %505, 1
  store i32 %507, ptr %16, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %116) #7
  br label %508

508:                                              ; preds = %504, %500
  call void @llvm.lifetime.end.p0(i64 16, ptr %117) #7
  br label %509

509:                                              ; preds = %508, %496
  call void @llvm.lifetime.end.p0(i64 32, ptr %116) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %112) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %115) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %114) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %113) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %112) #7
  br label %553

510:                                              ; preds = %314
  %511 = landingpad { ptr, i32 }
          cleanup
  %512 = extractvalue { ptr, i32 } %511, 0
  store ptr %512, ptr %15, align 8
  %513 = extractvalue { ptr, i32 } %511, 1
  store i32 %513, ptr %16, align 4
  br label %523

514:                                              ; preds = %320, %319
  %515 = landingpad { ptr, i32 }
          cleanup
  %516 = extractvalue { ptr, i32 } %515, 0
  store ptr %516, ptr %15, align 8
  %517 = extractvalue { ptr, i32 } %515, 1
  store i32 %517, ptr %16, align 4
  br label %522

518:                                              ; preds = %322, %321
  %519 = landingpad { ptr, i32 }
          cleanup
  %520 = extractvalue { ptr, i32 } %519, 0
  store ptr %520, ptr %15, align 8
  %521 = extractvalue { ptr, i32 } %519, 1
  store i32 %521, ptr %16, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %126) #7
  br label %522

522:                                              ; preds = %518, %514
  call void @llvm.lifetime.end.p0(i64 16, ptr %127) #7
  br label %523

523:                                              ; preds = %522, %510
  call void @llvm.lifetime.end.p0(i64 32, ptr %126) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %122) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %125) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %124) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %123) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %122) #7
  br label %552

524:                                              ; preds = %328
  %525 = landingpad { ptr, i32 }
          cleanup
  %526 = extractvalue { ptr, i32 } %525, 0
  store ptr %526, ptr %15, align 8
  %527 = extractvalue { ptr, i32 } %525, 1
  store i32 %527, ptr %16, align 4
  br label %537

528:                                              ; preds = %334, %333
  %529 = landingpad { ptr, i32 }
          cleanup
  %530 = extractvalue { ptr, i32 } %529, 0
  store ptr %530, ptr %15, align 8
  %531 = extractvalue { ptr, i32 } %529, 1
  store i32 %531, ptr %16, align 4
  br label %536

532:                                              ; preds = %336, %335
  %533 = landingpad { ptr, i32 }
          cleanup
  %534 = extractvalue { ptr, i32 } %533, 0
  store ptr %534, ptr %15, align 8
  %535 = extractvalue { ptr, i32 } %533, 1
  store i32 %535, ptr %16, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %135) #7
  br label %536

536:                                              ; preds = %532, %528
  call void @llvm.lifetime.end.p0(i64 16, ptr %136) #7
  br label %537

537:                                              ; preds = %536, %524
  call void @llvm.lifetime.end.p0(i64 32, ptr %135) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %131) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %134) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %133) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %132) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %131) #7
  br label %552

538:                                              ; preds = %342
  %539 = landingpad { ptr, i32 }
          cleanup
  %540 = extractvalue { ptr, i32 } %539, 0
  store ptr %540, ptr %15, align 8
  %541 = extractvalue { ptr, i32 } %539, 1
  store i32 %541, ptr %16, align 4
  br label %551

542:                                              ; preds = %348, %347
  %543 = landingpad { ptr, i32 }
          cleanup
  %544 = extractvalue { ptr, i32 } %543, 0
  store ptr %544, ptr %15, align 8
  %545 = extractvalue { ptr, i32 } %543, 1
  store i32 %545, ptr %16, align 4
  br label %550

546:                                              ; preds = %350, %349
  %547 = landingpad { ptr, i32 }
          cleanup
  %548 = extractvalue { ptr, i32 } %547, 0
  store ptr %548, ptr %15, align 8
  %549 = extractvalue { ptr, i32 } %547, 1
  store i32 %549, ptr %16, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %144) #7
  br label %550

550:                                              ; preds = %546, %542
  call void @llvm.lifetime.end.p0(i64 16, ptr %145) #7
  br label %551

551:                                              ; preds = %550, %538
  call void @llvm.lifetime.end.p0(i64 32, ptr %144) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %140) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %143) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %142) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %141) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %140) #7
  br label %552

552:                                              ; preds = %551, %537, %523
  call void @llvm.lifetime.end.p0(i64 12, ptr %119) #7
  br label %553

553:                                              ; preds = %552, %509, %495
  call void @llvm.lifetime.end.p0(i64 8, ptr %100) #7
  br label %554

554:                                              ; preds = %553, %481, %467
  call void @llvm.lifetime.end.p0(i64 8, ptr %81) #7
  br label %555

555:                                              ; preds = %554, %453, %439, %425
  call void @llvm.lifetime.end.p0(i64 12, ptr %50) #7
  br label %556

556:                                              ; preds = %555, %411, %397
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #7
  br label %557

557:                                              ; preds = %556, %383, %369
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %4) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %3) #7
  br label %558

558:                                              ; preds = %557
  %559 = load ptr, ptr %15, align 8
  %560 = load i32, ptr %16, align 4
  %561 = insertvalue { ptr, i32 } poison, ptr %559, 0
  %562 = insertvalue { ptr, i32 } %561, i32 %560, 1
  resume { ptr, i32 } %562
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5boost10test_tools9assertion4seedpmIfEENS1_10value_exprIT_EEOS5_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::value_expr.7") align 4, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3absf(float noundef) #6

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIfEEfEleIdEENS1_11binary_exprIS4_T_NS1_2op2LEIfNS5_4RhsTIS8_E4typeEvEEEEOS8_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::binary_expr.5") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIfEEdNS1_2op2LEIfdvEEE8evaluateEb(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion_result") align 8, ptr noundef nonnull align 8 dereferenceable(16), i1 noundef zeroext) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(9)) unnamed_addr #1 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="64" "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 = { 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 #6 = { 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 #7 = { 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, !11, i64 0}
!10 = !{!"_ZTSN6moteus11DqTransformE", !11, i64 0, !11, i64 4}
!11 = !{!"float", !7, i64 0}
!12 = !{!11, !11, 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}
!19 = distinct !{!19, !16}
!20 = !{!21, !11, i64 0}
!21 = !{!"_ZTSN6moteus14ClarkTransformE", !11, i64 0, !11, i64 4}
!22 = !{!21, !11, i64 4}
!23 = distinct !{!23, !16}
!24 = distinct !{!24, !16}
!25 = distinct !{!25, !16}
!26 = distinct !{!26, !16}
!27 = distinct !{!27, !16}
!28 = !{!29, !11, i64 0}
!29 = !{!"_ZTSN6moteus13ParkTransformE", !11, i64 0, !11, i64 4}
!30 = !{!29, !11, i64 4}
!31 = distinct !{!31, !16}
!32 = distinct !{!32, !16}
!33 = distinct !{!33, !16}
!34 = distinct !{!34, !16}
!35 = distinct !{!35, !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.boost::test_tools::assertion::value_expr" = type { ptr }
%"class.boost::test_tools::assertion::binary_expr" = type <{ %"class.boost::test_tools::assertion::value_expr", float, [4 x i8] }>
%"class.boost::test_tools::assertion_result" = type { %"class.boost::test_tools::assertion_result::readonly_property65", %"class.boost::shared_ptr" }
%"class.boost::test_tools::assertion_result::readonly_property65" = type { %"class.boost::unit_test::readonly_property" }
%"class.boost::unit_test::readonly_property" = type { %"class.boost::unit_test::class_property" }
%"class.boost::unit_test::class_property" = type { i8 }
%"class.boost::shared_ptr" = type { ptr, %"class.boost::detail::shared_count" }
%"class.boost::detail::shared_count" = type { ptr }
%"class.boost::unit_test::lazy_ostream_impl" = type { %"class.boost::unit_test::lazy_ostream.base", ptr, ptr }
%"class.boost::unit_test::lazy_ostream.base" = type <{ ptr, i8 }>
%"class.boost::test_tools::assertion::binary_expr.3" = type { %"class.boost::test_tools::assertion::value_expr", ptr }
%"class.moteus::Cordic" = type { i8 }
%"struct.moteus::SinCos" = type { float, float }
%"struct.moteus::DqTransform" = type { float, float }
%"class.boost::unit_test::basic_cstring" = type { ptr, ptr }
%"class.boost::test_tools::assertion::binary_expr.5" = type { %"class.boost::test_tools::assertion::value_expr.7", double }
%"class.boost::test_tools::assertion::value_expr.7" = type { float }
%"class.boost::test_tools::assertion::seed" = type { i8 }
%"struct.moteus::ClarkTransform" = type { float, float }
%"struct.moteus::InverseClarkTransform" = type { float, float, float }
%"struct.moteus::ParkTransform" = type { float, float }
%"struct.moteus::InverseParkTransform" = type { float, float }
%"struct.moteus::InverseDqTransform" = type { float, float, float }

@_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE = external hidden local_unnamed_addr global ptr, align 8
@.str.3 = external hidden unnamed_addr constant [67 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.13 = external hidden unnamed_addr constant [14 x i8], align 1
@.str.14 = external hidden unnamed_addr constant [14 x i8], align 1
@.str.15 = external hidden unnamed_addr constant [15 x i8], align 1
@.str.16 = external hidden unnamed_addr constant [15 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [15 x i8], align 1
@.str.20 = external hidden unnamed_addr constant [23 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [24 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [24 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.24 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [25 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

declare i32 @__gxx_personality_v0(...)

; 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 nounwind uwtable
declare dso_local void @_ZN6moteus6CordicC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK6moteus6Cordic7radiansEf(ptr noundef nonnull align 1 dereferenceable(1), float noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6moteus11DqTransformC2ERKNS_6SinCosEfff(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef, float noundef) unnamed_addr #1 align 2

declare void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef, i64 noundef, ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef, i64 noundef) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 align 2

declare noundef zeroext i1 @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(9), ptr noundef, i64 noundef, i32 noundef, i32 noundef, i64 noundef, ...) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::value_expr") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIfEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::binary_expr") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion_result") align 8, ptr noundef nonnull align 8 dereferenceable(12), i1 noundef zeroext) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind noalias writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8, ptr noundef nonnull align 8 dereferenceable(9), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #4

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv() local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv() local_unnamed_addr #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6moteus14ClarkTransformC2Efff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef, float noundef) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6moteus21InverseClarkTransformC2Eff(ptr noundef nonnull align 4 dereferenceable(12), float noundef, float noundef) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6moteus13ParkTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion_result") align 8, ptr noundef nonnull align 8 dereferenceable(16), i1 noundef zeroext) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6moteus20InverseParkTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN6moteus18InverseDqTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN8FocTest211test_methodEv(ptr nocapture noundef nonnull readnone align 1 dereferenceable(1) %0) local_unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca %"class.moteus::Cordic", align 1
  %3 = alloca %"struct.moteus::SinCos", align 8
  %4 = alloca %"struct.moteus::DqTransform", align 4
  %5 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %6 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %7 = alloca %"class.boost::test_tools::assertion_result", align 8
  %8 = alloca %"class.boost::test_tools::assertion::binary_expr.5", align 8
  %9 = alloca %"class.boost::test_tools::assertion::value_expr.7", align 4
  %10 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %11 = alloca float, align 4
  %12 = alloca double, align 8
  %13 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %14 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %15 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %16 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %17 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %18 = alloca %"class.boost::test_tools::assertion_result", align 8
  %19 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %20 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %21 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %22 = alloca float, align 4
  %23 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %24 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %25 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %26 = alloca %"struct.moteus::ClarkTransform", align 4
  %27 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %28 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %29 = alloca %"class.boost::test_tools::assertion_result", align 8
  %30 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %31 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %32 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %33 = alloca float, align 4
  %34 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %35 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %36 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %37 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %38 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %39 = alloca %"class.boost::test_tools::assertion_result", align 8
  %40 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %41 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %42 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %43 = alloca float, align 4
  %44 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %45 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %46 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %47 = alloca %"struct.moteus::InverseClarkTransform", align 4
  %48 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %49 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %50 = alloca %"class.boost::test_tools::assertion_result", align 8
  %51 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %52 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %53 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %54 = alloca float, align 4
  %55 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %56 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %57 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %58 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %59 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %60 = alloca %"class.boost::test_tools::assertion_result", align 8
  %61 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %62 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %63 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %64 = alloca float, align 4
  %65 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %66 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %67 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %68 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %69 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %70 = alloca %"class.boost::test_tools::assertion_result", align 8
  %71 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %72 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %73 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %74 = alloca float, align 4
  %75 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %76 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %77 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %78 = alloca %"struct.moteus::ParkTransform", align 4
  %79 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %80 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %81 = alloca %"class.boost::test_tools::assertion_result", align 8
  %82 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %83 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %84 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %85 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %86 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %87 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %88 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %89 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %90 = alloca %"class.boost::test_tools::assertion_result", align 8
  %91 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %92 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %93 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %94 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %95 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %96 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %97 = alloca %"struct.moteus::InverseParkTransform", align 4
  %98 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %99 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %100 = alloca %"class.boost::test_tools::assertion_result", align 8
  %101 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %102 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %103 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %104 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %105 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %106 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %107 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %108 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %109 = alloca %"class.boost::test_tools::assertion_result", align 8
  %110 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %111 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %112 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %113 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %114 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %115 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %116 = alloca %"struct.moteus::InverseDqTransform", align 4
  %117 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %118 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %119 = alloca %"class.boost::test_tools::assertion_result", align 8
  %120 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %121 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %122 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %123 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %124 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %125 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %126 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %127 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %128 = alloca %"class.boost::test_tools::assertion_result", align 8
  %129 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %130 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %131 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %132 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %133 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %134 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %135 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %136 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %137 = alloca %"class.boost::test_tools::assertion_result", align 8
  %138 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %139 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %140 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %141 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %142 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %143 = alloca %"class.boost::unit_test::basic_cstring", align 8
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %2) #7
  call void @_ZN6moteus6CordicC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %2)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #7
  %144 = call <2 x float> @_ZNK6moteus6Cordic7radiansEf(ptr noundef nonnull align 1 dereferenceable(1) %2, float noundef 0x3FF921FB60000000)
  store <2 x float> %144, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #7
  call void @_ZN6moteus11DqTransformC2ERKNS_6SinCosEfff(ptr noundef nonnull align 4 dereferenceable(8) %4, ptr noundef nonnull align 4 dereferenceable(8) %3, float noundef 2.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %145

145:                                              ; preds = %152, %1
  %146 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %5, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %6)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %146, ptr noundef nonnull %5, i64 noundef 59, ptr noundef nonnull %6)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %7) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %9) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %10) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %11) #7
  %147 = load float, ptr %4, align 4, !tbaa !9
  %148 = call noundef float @_ZSt3absf(float noundef %147)
  store float %148, ptr %11, align 4, !tbaa !12
  call void @_ZNK5boost10test_tools9assertion4seedpmIfEENS1_10value_exprIT_EEOS5_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr.7") align 4 %9, ptr noundef nonnull align 1 dereferenceable(1) %10, ptr noundef nonnull align 4 dereferenceable(4) %11)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #7
  store double 1.000000e-05, ptr %12, align 8, !tbaa !13
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIfEEfEleIdEENS1_11binary_exprIS4_T_NS1_2op2LEIfNS5_4RhsTIS8_E4typeEvEEEEOS8_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr.5") align 8 %8, ptr noundef nonnull align 1 dereferenceable(1) %9, ptr noundef nonnull align 8 dereferenceable(8) %12)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIfEEdNS1_2op2LEIfdvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %7, ptr noundef nonnull align 8 dereferenceable(16) %8, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %13) #7
  %149 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %14, ptr noundef nonnull @.str.20, i64 noundef 22)
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %13, ptr noundef nonnull align 8 dereferenceable(9) %149, ptr noundef nonnull align 8 dereferenceable(16) %14)
          to label %150 unwind label %267

150:                                              ; preds = %145
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %15, ptr noundef nonnull @.str.3, i64 noundef 66)
  %151 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull align 8 dereferenceable(9) %13, ptr noundef nonnull %15, i64 noundef 59, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %152 unwind label %269

152:                                              ; preds = %150
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %13) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %11) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %10) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %9) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #7
  %153 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %153, label %145, label %.preheader68, !llvm.loop !15

.preheader68:                                     ; preds = %152
  %154 = getelementptr inbounds i8, ptr %4, i64 4
  br label %155

155:                                              ; preds = %.preheader68, %160
  %156 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %16, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %17)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %156, ptr noundef nonnull %16, i64 noundef 60, ptr noundef nonnull %17)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %18) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %19) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %20) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %21) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %21, ptr noundef nonnull align 4 dereferenceable(4) %154)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %22) #7
  store float 0xBFF5555560000000, ptr %22, align 4, !tbaa !12
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIfEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr") align 8 %19, ptr noundef nonnull align 1 dereferenceable(1) %20, ptr noundef nonnull align 4 dereferenceable(4) %22)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %18, ptr noundef nonnull align 8 dereferenceable(12) %19, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %23) #7
  %157 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %24) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %24, ptr noundef nonnull @.str.21, i64 noundef 23)
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %23, ptr noundef nonnull align 8 dereferenceable(9) %157, ptr noundef nonnull align 8 dereferenceable(16) %24)
          to label %158 unwind label %272

158:                                              ; preds = %155
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %25, ptr noundef nonnull @.str.3, i64 noundef 66)
  %159 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %18, ptr noundef nonnull align 8 dereferenceable(9) %23, ptr noundef nonnull %25, i64 noundef 60, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %160 unwind label %274

160:                                              ; preds = %158
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %23) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %24) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %23) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %18) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %22) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %21) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %19) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %18) #7
  %161 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %161, label %155, label %162, !llvm.loop !17

162:                                              ; preds = %160
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #7
  call void @_ZN6moteus14ClarkTransformC2Efff(ptr noundef nonnull align 4 dereferenceable(8) %26, float noundef 2.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %163

163:                                              ; preds = %168, %162
  %164 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %27, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %28)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %164, ptr noundef nonnull %27, i64 noundef 63, ptr noundef nonnull %28)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %29) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %30) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %31) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %32) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %31, ptr noundef nonnull align 1 dereferenceable(1) %32, ptr noundef nonnull align 4 dereferenceable(4) %26)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %33) #7
  store float 0x3FF5555560000000, ptr %33, align 4, !tbaa !12
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIfEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr") align 8 %30, ptr noundef nonnull align 1 dereferenceable(1) %31, ptr noundef nonnull align 4 dereferenceable(4) %33)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %29, ptr noundef nonnull align 8 dereferenceable(12) %30, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %34) #7
  %165 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %35) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %35, ptr noundef nonnull @.str.22, i64 noundef 23)
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %34, ptr noundef nonnull align 8 dereferenceable(9) %165, ptr noundef nonnull align 8 dereferenceable(16) %35)
          to label %166 unwind label %277

166:                                              ; preds = %163
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %36, ptr noundef nonnull @.str.3, i64 noundef 66)
  %167 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %29, ptr noundef nonnull align 8 dereferenceable(9) %34, ptr noundef nonnull %36, i64 noundef 63, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %168 unwind label %279

168:                                              ; preds = %166
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %34) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %35) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %34) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %29) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %33) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %32) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %30) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %29) #7
  %169 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %169, label %163, label %.preheader67, !llvm.loop !18

.preheader67:                                     ; preds = %168
  %170 = getelementptr inbounds i8, ptr %26, i64 4
  br label %171

171:                                              ; preds = %.preheader67, %176
  %172 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %37, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %38)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %172, ptr noundef nonnull %37, i64 noundef 64, ptr noundef nonnull %38)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %39) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %40) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %41) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %42) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %41, ptr noundef nonnull align 1 dereferenceable(1) %42, ptr noundef nonnull align 4 dereferenceable(4) %170)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %43) #7
  store float 0.000000e+00, ptr %43, align 4, !tbaa !12
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIfEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr") align 8 %40, ptr noundef nonnull align 1 dereferenceable(1) %41, ptr noundef nonnull align 4 dereferenceable(4) %43)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %39, ptr noundef nonnull align 8 dereferenceable(12) %40, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %44) #7
  %173 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %45) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %45, ptr noundef nonnull @.str.23, i64 noundef 12)
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %44, ptr noundef nonnull align 8 dereferenceable(9) %173, ptr noundef nonnull align 8 dereferenceable(16) %45)
          to label %174 unwind label %282

174:                                              ; preds = %171
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %46, ptr noundef nonnull @.str.3, i64 noundef 66)
  %175 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %39, ptr noundef nonnull align 8 dereferenceable(9) %44, ptr noundef nonnull %46, i64 noundef 64, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %176 unwind label %284

176:                                              ; preds = %174
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %44) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %45) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %44) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %39) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %43) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %42) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %41) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %40) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %39) #7
  %177 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %177, label %171, label %178, !llvm.loop !19

178:                                              ; preds = %176
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %47) #7
  %179 = load float, ptr %26, align 4, !tbaa !20
  %180 = load float, ptr %170, align 4, !tbaa !22
  call void @_ZN6moteus21InverseClarkTransformC2Eff(ptr noundef nonnull align 4 dereferenceable(12) %47, float noundef %179, float noundef %180)
  br label %181

181:                                              ; preds = %186, %178
  %182 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %48, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %49)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %182, ptr noundef nonnull %48, i64 noundef 67, ptr noundef nonnull %49)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %50) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %51) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %52) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %53) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %52, ptr noundef nonnull align 1 dereferenceable(1) %53, ptr noundef nonnull align 4 dereferenceable(4) %47)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %54) #7
  store float 0x3FF5555560000000, ptr %54, align 4, !tbaa !12
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIfEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr") align 8 %51, ptr noundef nonnull align 1 dereferenceable(1) %52, ptr noundef nonnull align 4 dereferenceable(4) %54)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %50, ptr noundef nonnull align 8 dereferenceable(12) %51, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %55) #7
  %183 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %56) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %56, ptr noundef nonnull @.str.24, i64 noundef 24)
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %55, ptr noundef nonnull align 8 dereferenceable(9) %183, ptr noundef nonnull align 8 dereferenceable(16) %56)
          to label %184 unwind label %287

184:                                              ; preds = %181
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %57, ptr noundef nonnull @.str.3, i64 noundef 66)
  %185 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %50, ptr noundef nonnull align 8 dereferenceable(9) %55, ptr noundef nonnull %57, i64 noundef 67, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %186 unwind label %289

186:                                              ; preds = %184
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %55) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %56) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %55) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %50) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %54) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %53) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %52) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %51) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %50) #7
  %187 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %187, label %181, label %.preheader66, !llvm.loop !23

.preheader66:                                     ; preds = %186
  %188 = getelementptr inbounds i8, ptr %47, i64 4
  br label %189

189:                                              ; preds = %.preheader66, %194
  %190 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %58, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %59)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %190, ptr noundef nonnull %58, i64 noundef 68, ptr noundef nonnull %59)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %60) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %61) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %62) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %63) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %62, ptr noundef nonnull align 1 dereferenceable(1) %63, ptr noundef nonnull align 4 dereferenceable(4) %188)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %64) #7
  store float 0xBFE5555560000000, ptr %64, align 4, !tbaa !12
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIfEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr") align 8 %61, ptr noundef nonnull align 1 dereferenceable(1) %62, ptr noundef nonnull align 4 dereferenceable(4) %64)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %60, ptr noundef nonnull align 8 dereferenceable(12) %61, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %65) #7
  %191 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %66) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %66, ptr noundef nonnull @.str.25, i64 noundef 24)
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %65, ptr noundef nonnull align 8 dereferenceable(9) %191, ptr noundef nonnull align 8 dereferenceable(16) %66)
          to label %192 unwind label %292

192:                                              ; preds = %189
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %67, ptr noundef nonnull @.str.3, i64 noundef 66)
  %193 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %60, ptr noundef nonnull align 8 dereferenceable(9) %65, ptr noundef nonnull %67, i64 noundef 68, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %194 unwind label %294

194:                                              ; preds = %192
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %65) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %66) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %65) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %60) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %64) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %63) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %62) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %61) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %60) #7
  %195 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %195, label %189, label %.preheader65, !llvm.loop !24

.preheader65:                                     ; preds = %194
  %196 = getelementptr inbounds i8, ptr %47, i64 8
  br label %197

197:                                              ; preds = %.preheader65, %202
  %198 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %68, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %69)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %198, ptr noundef nonnull %68, i64 noundef 69, ptr noundef nonnull %69)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %70) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %71) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %72) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %73) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %72, ptr noundef nonnull align 1 dereferenceable(1) %73, ptr noundef nonnull align 4 dereferenceable(4) %196)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %74) #7
  store float 0xBFE5555560000000, ptr %74, align 4, !tbaa !12
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIfEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr") align 8 %71, ptr noundef nonnull align 1 dereferenceable(1) %72, ptr noundef nonnull align 4 dereferenceable(4) %74)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %70, ptr noundef nonnull align 8 dereferenceable(12) %71, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %75) #7
  %199 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %76) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %76, ptr noundef nonnull @.str.26, i64 noundef 24)
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %75, ptr noundef nonnull align 8 dereferenceable(9) %199, ptr noundef nonnull align 8 dereferenceable(16) %76)
          to label %200 unwind label %297

200:                                              ; preds = %197
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %77, ptr noundef nonnull @.str.3, i64 noundef 66)
  %201 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %70, ptr noundef nonnull align 8 dereferenceable(9) %75, ptr noundef nonnull %77, i64 noundef 69, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %202 unwind label %299

202:                                              ; preds = %200
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %75) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %76) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %75) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %70) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %74) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %73) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %72) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %71) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %70) #7
  %203 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %203, label %197, label %204, !llvm.loop !25

204:                                              ; preds = %202
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %78) #7
  %205 = load float, ptr %26, align 4, !tbaa !20
  %206 = load float, ptr %170, align 4, !tbaa !22
  call void @_ZN6moteus13ParkTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(8) %78, ptr noundef nonnull align 4 dereferenceable(8) %3, float noundef %205, float noundef %206)
  br label %207

207:                                              ; preds = %212, %204
  %208 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %79, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %80)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %208, ptr noundef nonnull %79, i64 noundef 72, ptr noundef nonnull %80)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %81) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %82) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %83) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %84) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %83, ptr noundef nonnull align 1 dereferenceable(1) %84, ptr noundef nonnull align 4 dereferenceable(4) %78)
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8 %82, ptr noundef nonnull align 1 dereferenceable(1) %83, ptr noundef nonnull align 4 dereferenceable(4) %4)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %81, ptr noundef nonnull align 8 dereferenceable(16) %82, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %85) #7
  %209 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %86) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %86, ptr noundef nonnull @.str.11, i64 noundef 12)
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %85, ptr noundef nonnull align 8 dereferenceable(9) %209, ptr noundef nonnull align 8 dereferenceable(16) %86)
          to label %210 unwind label %302

210:                                              ; preds = %207
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %87, ptr noundef nonnull @.str.3, i64 noundef 66)
  %211 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %81, ptr noundef nonnull align 8 dereferenceable(9) %85, ptr noundef nonnull %87, i64 noundef 72, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %212 unwind label %304

212:                                              ; preds = %210
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %85) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %86) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %85) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %81) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %84) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %83) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %82) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %81) #7
  %213 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %213, label %207, label %.preheader64, !llvm.loop !26

.preheader64:                                     ; preds = %212
  %214 = getelementptr inbounds i8, ptr %78, i64 4
  br label %215

215:                                              ; preds = %.preheader64, %220
  %216 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %88, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %89)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %216, ptr noundef nonnull %88, i64 noundef 73, ptr noundef nonnull %89)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %90) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %91) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %92) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %93) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %92, ptr noundef nonnull align 1 dereferenceable(1) %93, ptr noundef nonnull align 4 dereferenceable(4) %214)
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8 %91, ptr noundef nonnull align 1 dereferenceable(1) %92, ptr noundef nonnull align 4 dereferenceable(4) %154)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %90, ptr noundef nonnull align 8 dereferenceable(16) %91, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %94) #7
  %217 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %95) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %95, ptr noundef nonnull @.str.12, i64 noundef 12)
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %94, ptr noundef nonnull align 8 dereferenceable(9) %217, ptr noundef nonnull align 8 dereferenceable(16) %95)
          to label %218 unwind label %307

218:                                              ; preds = %215
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %96, ptr noundef nonnull @.str.3, i64 noundef 66)
  %219 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %90, ptr noundef nonnull align 8 dereferenceable(9) %94, ptr noundef nonnull %96, i64 noundef 73, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %220 unwind label %309

220:                                              ; preds = %218
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %94) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %95) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %94) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %90) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %93) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %92) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %91) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %90) #7
  %221 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %221, label %215, label %222, !llvm.loop !27

222:                                              ; preds = %220
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %97) #7
  %223 = load float, ptr %78, align 4, !tbaa !28
  %224 = load float, ptr %214, align 4, !tbaa !30
  call void @_ZN6moteus20InverseParkTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(8) %97, ptr noundef nonnull align 4 dereferenceable(8) %3, float noundef %223, float noundef %224)
  br label %225

225:                                              ; preds = %230, %222
  %226 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %98, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %99)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %226, ptr noundef nonnull %98, i64 noundef 76, ptr noundef nonnull %99)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %100) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %101) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %102) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %103) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %102, ptr noundef nonnull align 1 dereferenceable(1) %103, ptr noundef nonnull align 4 dereferenceable(4) %97)
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8 %101, ptr noundef nonnull align 1 dereferenceable(1) %102, ptr noundef nonnull align 4 dereferenceable(4) %26)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %100, ptr noundef nonnull align 8 dereferenceable(16) %101, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %104) #7
  %227 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %105) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %105, ptr noundef nonnull @.str.13, i64 noundef 13)
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %104, ptr noundef nonnull align 8 dereferenceable(9) %227, ptr noundef nonnull align 8 dereferenceable(16) %105)
          to label %228 unwind label %312

228:                                              ; preds = %225
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %106, ptr noundef nonnull @.str.3, i64 noundef 66)
  %229 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %100, ptr noundef nonnull align 8 dereferenceable(9) %104, ptr noundef nonnull %106, i64 noundef 76, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %230 unwind label %314

230:                                              ; preds = %228
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %104) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %105) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %104) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %100) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %103) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %102) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %101) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %100) #7
  %231 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %231, label %225, label %.preheader63, !llvm.loop !31

.preheader63:                                     ; preds = %230
  %232 = getelementptr inbounds i8, ptr %97, i64 4
  br label %233

233:                                              ; preds = %.preheader63, %238
  %234 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %107, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %108)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %234, ptr noundef nonnull %107, i64 noundef 77, ptr noundef nonnull %108)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %109) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %110) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %111) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %112) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %111, ptr noundef nonnull align 1 dereferenceable(1) %112, ptr noundef nonnull align 4 dereferenceable(4) %232)
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8 %110, ptr noundef nonnull align 1 dereferenceable(1) %111, ptr noundef nonnull align 4 dereferenceable(4) %170)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %109, ptr noundef nonnull align 8 dereferenceable(16) %110, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %113) #7
  %235 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %114) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %114, ptr noundef nonnull @.str.14, i64 noundef 13)
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %113, ptr noundef nonnull align 8 dereferenceable(9) %235, ptr noundef nonnull align 8 dereferenceable(16) %114)
          to label %236 unwind label %317

236:                                              ; preds = %233
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %115, ptr noundef nonnull @.str.3, i64 noundef 66)
  %237 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %109, ptr noundef nonnull align 8 dereferenceable(9) %113, ptr noundef nonnull %115, i64 noundef 77, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %238 unwind label %319

238:                                              ; preds = %236
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %113) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %114) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %113) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %109) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %112) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %111) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %110) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %109) #7
  %239 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %239, label %233, label %240, !llvm.loop !32

240:                                              ; preds = %238
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %116) #7
  %241 = load float, ptr %78, align 4, !tbaa !28
  %242 = load float, ptr %214, align 4, !tbaa !30
  call void @_ZN6moteus18InverseDqTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(12) %116, ptr noundef nonnull align 4 dereferenceable(8) %3, float noundef %241, float noundef %242)
  br label %243

243:                                              ; preds = %248, %240
  %244 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %117, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %118)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %244, ptr noundef nonnull %117, i64 noundef 80, ptr noundef nonnull %118)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %119) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %120) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %121) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %122) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %121, ptr noundef nonnull align 1 dereferenceable(1) %122, ptr noundef nonnull align 4 dereferenceable(4) %116)
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8 %120, ptr noundef nonnull align 1 dereferenceable(1) %121, ptr noundef nonnull align 4 dereferenceable(4) %47)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %119, ptr noundef nonnull align 8 dereferenceable(16) %120, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %123) #7
  %245 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %124) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %124, ptr noundef nonnull @.str.15, i64 noundef 14)
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %123, ptr noundef nonnull align 8 dereferenceable(9) %245, ptr noundef nonnull align 8 dereferenceable(16) %124)
          to label %246 unwind label %322

246:                                              ; preds = %243
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %125, ptr noundef nonnull @.str.3, i64 noundef 66)
  %247 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %119, ptr noundef nonnull align 8 dereferenceable(9) %123, ptr noundef nonnull %125, i64 noundef 80, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %248 unwind label %324

248:                                              ; preds = %246
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %123) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %124) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %123) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %119) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %122) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %121) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %120) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %119) #7
  %249 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %249, label %243, label %.preheader62, !llvm.loop !33

.preheader62:                                     ; preds = %248
  %250 = getelementptr inbounds i8, ptr %116, i64 4
  br label %251

251:                                              ; preds = %.preheader62, %256
  %252 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %126, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %127)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %252, ptr noundef nonnull %126, i64 noundef 81, ptr noundef nonnull %127)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %128) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %129) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %130) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %131) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %130, ptr noundef nonnull align 1 dereferenceable(1) %131, ptr noundef nonnull align 4 dereferenceable(4) %250)
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8 %129, ptr noundef nonnull align 1 dereferenceable(1) %130, ptr noundef nonnull align 4 dereferenceable(4) %188)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %128, ptr noundef nonnull align 8 dereferenceable(16) %129, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %132) #7
  %253 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %133) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %133, ptr noundef nonnull @.str.16, i64 noundef 14)
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %132, ptr noundef nonnull align 8 dereferenceable(9) %253, ptr noundef nonnull align 8 dereferenceable(16) %133)
          to label %254 unwind label %327

254:                                              ; preds = %251
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %134, ptr noundef nonnull @.str.3, i64 noundef 66)
  %255 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %128, ptr noundef nonnull align 8 dereferenceable(9) %132, ptr noundef nonnull %134, i64 noundef 81, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %256 unwind label %329

256:                                              ; preds = %254
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %132) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %133) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %132) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %128) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %131) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %130) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %129) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %128) #7
  %257 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %257, label %251, label %.preheader, !llvm.loop !34

.preheader:                                       ; preds = %256
  %258 = getelementptr inbounds i8, ptr %116, i64 8
  br label %259

259:                                              ; preds = %.preheader, %264
  %260 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %135, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %136)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %260, ptr noundef nonnull %135, i64 noundef 82, ptr noundef nonnull %136)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %137) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %138) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %139) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %140) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %139, ptr noundef nonnull align 1 dereferenceable(1) %140, ptr noundef nonnull align 4 dereferenceable(4) %258)
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIS5_EENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr.3") align 8 %138, ptr noundef nonnull align 1 dereferenceable(1) %139, ptr noundef nonnull align 4 dereferenceable(4) %196)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %137, ptr noundef nonnull align 8 dereferenceable(16) %138, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %141) #7
  %261 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %142) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %142, ptr noundef nonnull @.str.17, i64 noundef 14)
  invoke void @_ZN5boost9unit_testlsINS0_13basic_cstringIKcEEEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS7_EERKS6_S9_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %141, ptr noundef nonnull align 8 dereferenceable(9) %261, ptr noundef nonnull align 8 dereferenceable(16) %142)
          to label %262 unwind label %332

262:                                              ; preds = %259
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %143, ptr noundef nonnull @.str.3, i64 noundef 66)
  %263 = invoke noundef zeroext i1 (ptr, ptr, ptr, i64, i32, i32, i64, ...) @_ZN5boost10test_tools9tt_detail16report_assertionERKNS0_16assertion_resultERKNS_9unit_test12lazy_ostreamENS5_13basic_cstringIKcEEmNS1_10tool_levelENS1_10check_typeEmz(ptr noundef nonnull align 8 dereferenceable(24) %137, ptr noundef nonnull align 8 dereferenceable(9) %141, ptr noundef nonnull %143, i64 noundef 82, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %264 unwind label %334

264:                                              ; preds = %262
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %141) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %142) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %141) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %137) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %140) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %139) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %138) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %137) #7
  %265 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %265, label %259, label %266, !llvm.loop !35

266:                                              ; preds = %264
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %116) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %97) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %78) #7
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %47) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %2) #7
  ret void

267:                                              ; preds = %145
  %268 = landingpad { ptr, i32 }
          cleanup
  br label %271

269:                                              ; preds = %150
  %270 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #7
  br label %271

271:                                              ; preds = %269, %267
  %.pn = phi { ptr, i32 } [ %270, %269 ], [ %268, %267 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %13) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %11) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %10) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %9) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #7
  br label %342

272:                                              ; preds = %155
  %273 = landingpad { ptr, i32 }
          cleanup
  br label %276

274:                                              ; preds = %158
  %275 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %23) #7
  br label %276

276:                                              ; preds = %274, %272
  %.pn30 = phi { ptr, i32 } [ %275, %274 ], [ %273, %272 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %24) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %23) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %18) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %22) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %21) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %19) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %18) #7
  br label %342

277:                                              ; preds = %163
  %278 = landingpad { ptr, i32 }
          cleanup
  br label %281

279:                                              ; preds = %166
  %280 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %34) #7
  br label %281

281:                                              ; preds = %279, %277
  %.pn32 = phi { ptr, i32 } [ %280, %279 ], [ %278, %277 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %35) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %34) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %29) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %33) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %32) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %30) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %29) #7
  br label %341

282:                                              ; preds = %171
  %283 = landingpad { ptr, i32 }
          cleanup
  br label %286

284:                                              ; preds = %174
  %285 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %44) #7
  br label %286

286:                                              ; preds = %284, %282
  %.pn34 = phi { ptr, i32 } [ %285, %284 ], [ %283, %282 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %45) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %44) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %39) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %43) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %42) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %41) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %40) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %39) #7
  br label %341

287:                                              ; preds = %181
  %288 = landingpad { ptr, i32 }
          cleanup
  br label %291

289:                                              ; preds = %184
  %290 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %55) #7
  br label %291

291:                                              ; preds = %289, %287
  %.pn36 = phi { ptr, i32 } [ %290, %289 ], [ %288, %287 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %56) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %55) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %50) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %54) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %53) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %52) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %51) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %50) #7
  br label %340

292:                                              ; preds = %189
  %293 = landingpad { ptr, i32 }
          cleanup
  br label %296

294:                                              ; preds = %192
  %295 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %65) #7
  br label %296

296:                                              ; preds = %294, %292
  %.pn38 = phi { ptr, i32 } [ %295, %294 ], [ %293, %292 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %66) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %65) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %60) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %64) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %63) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %62) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %61) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %60) #7
  br label %340

297:                                              ; preds = %197
  %298 = landingpad { ptr, i32 }
          cleanup
  br label %301

299:                                              ; preds = %200
  %300 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %75) #7
  br label %301

301:                                              ; preds = %299, %297
  %.pn40 = phi { ptr, i32 } [ %300, %299 ], [ %298, %297 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %76) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %75) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %70) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %74) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %73) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %72) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %71) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %70) #7
  br label %340

302:                                              ; preds = %207
  %303 = landingpad { ptr, i32 }
          cleanup
  br label %306

304:                                              ; preds = %210
  %305 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %85) #7
  br label %306

306:                                              ; preds = %304, %302
  %.pn42 = phi { ptr, i32 } [ %305, %304 ], [ %303, %302 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %86) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %85) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %81) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %84) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %83) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %82) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %81) #7
  br label %339

307:                                              ; preds = %215
  %308 = landingpad { ptr, i32 }
          cleanup
  br label %311

309:                                              ; preds = %218
  %310 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %94) #7
  br label %311

311:                                              ; preds = %309, %307
  %.pn44 = phi { ptr, i32 } [ %310, %309 ], [ %308, %307 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %95) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %94) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %90) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %93) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %92) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %91) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %90) #7
  br label %339

312:                                              ; preds = %225
  %313 = landingpad { ptr, i32 }
          cleanup
  br label %316

314:                                              ; preds = %228
  %315 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %104) #7
  br label %316

316:                                              ; preds = %314, %312
  %.pn46 = phi { ptr, i32 } [ %315, %314 ], [ %313, %312 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %105) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %104) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %100) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %103) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %102) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %101) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %100) #7
  br label %338

317:                                              ; preds = %233
  %318 = landingpad { ptr, i32 }
          cleanup
  br label %321

319:                                              ; preds = %236
  %320 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %113) #7
  br label %321

321:                                              ; preds = %319, %317
  %.pn48 = phi { ptr, i32 } [ %320, %319 ], [ %318, %317 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %114) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %113) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %109) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %112) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %111) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %110) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %109) #7
  br label %338

322:                                              ; preds = %243
  %323 = landingpad { ptr, i32 }
          cleanup
  br label %326

324:                                              ; preds = %246
  %325 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %123) #7
  br label %326

326:                                              ; preds = %324, %322
  %.pn50 = phi { ptr, i32 } [ %325, %324 ], [ %323, %322 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %124) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %123) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %119) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %122) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %121) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %120) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %119) #7
  br label %337

327:                                              ; preds = %251
  %328 = landingpad { ptr, i32 }
          cleanup
  br label %331

329:                                              ; preds = %254
  %330 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %132) #7
  br label %331

331:                                              ; preds = %329, %327
  %.pn52 = phi { ptr, i32 } [ %330, %329 ], [ %328, %327 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %133) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %132) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %128) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %131) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %130) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %129) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %128) #7
  br label %337

332:                                              ; preds = %259
  %333 = landingpad { ptr, i32 }
          cleanup
  br label %336

334:                                              ; preds = %262
  %335 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %141) #7
  br label %336

336:                                              ; preds = %334, %332
  %.pn54 = phi { ptr, i32 } [ %335, %334 ], [ %333, %332 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %142) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %141) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %137) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %140) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %139) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %138) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %137) #7
  br label %337

337:                                              ; preds = %336, %331, %326
  %.pn54.pn = phi { ptr, i32 } [ %.pn54, %336 ], [ %.pn52, %331 ], [ %.pn50, %326 ]
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %116) #7
  br label %338

338:                                              ; preds = %337, %321, %316
  %.pn54.pn.pn = phi { ptr, i32 } [ %.pn54.pn, %337 ], [ %.pn48, %321 ], [ %.pn46, %316 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %97) #7
  br label %339

339:                                              ; preds = %338, %311, %306
  %.pn54.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn, %338 ], [ %.pn44, %311 ], [ %.pn42, %306 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %78) #7
  br label %340

340:                                              ; preds = %339, %301, %296, %291
  %.pn54.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn.pn, %339 ], [ %.pn40, %301 ], [ %.pn38, %296 ], [ %.pn36, %291 ]
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %47) #7
  br label %341

341:                                              ; preds = %340, %286, %281
  %.pn54.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn.pn.pn, %340 ], [ %.pn34, %286 ], [ %.pn32, %281 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #7
  br label %342

342:                                              ; preds = %341, %276, %271
  %.pn54.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn.pn.pn.pn, %341 ], [ %.pn30, %276 ], [ %.pn, %271 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %2) #7
  resume { ptr, i32 } %.pn54.pn.pn.pn.pn.pn.pn
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5boost10test_tools9assertion4seedpmIfEENS1_10value_exprIT_EEOS5_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::value_expr.7") align 4, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3absf(float noundef) local_unnamed_addr #6

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIfEEfEleIdEENS1_11binary_exprIS4_T_NS1_2op2LEIfNS5_4RhsTIS8_E4typeEvEEEEOS8_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::binary_expr.5") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIfEEdNS1_2op2LEIfdvEEE8evaluateEb(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion_result") align 8, ptr noundef nonnull align 8 dereferenceable(16), i1 noundef zeroext) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(9)) unnamed_addr #1 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="64" "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 = { 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 #6 = { 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 #7 = { 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, !11, i64 0}
!10 = !{!"_ZTSN6moteus11DqTransformE", !11, i64 0, !11, i64 4}
!11 = !{!"float", !7, i64 0}
!12 = !{!11, !11, 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}
!19 = distinct !{!19, !16}
!20 = !{!21, !11, i64 0}
!21 = !{!"_ZTSN6moteus14ClarkTransformE", !11, i64 0, !11, i64 4}
!22 = !{!21, !11, i64 4}
!23 = distinct !{!23, !16}
!24 = distinct !{!24, !16}
!25 = distinct !{!25, !16}
!26 = distinct !{!26, !16}
!27 = distinct !{!27, !16}
!28 = !{!29, !11, i64 0}
!29 = !{!"_ZTSN6moteus13ParkTransformE", !11, i64 0, !11, i64 4}
!30 = !{!29, !11, i64 4}
!31 = distinct !{!31, !16}
!32 = distinct !{!32, !16}
!33 = distinct !{!33, !16}
!34 = distinct !{!34, !16}
!35 = distinct !{!35, !16}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,LCSSAPass,LICMPass,LoopSimplifyPass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass