; LLVM IR from mjbots/moteus :: fw/test/math_test.ll (ZN19WrapZeroToTwoPiTest11test_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::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::unit_test::lazy_ostream_impl.2" = type { %"class.boost::unit_test::lazy_ostream.base", ptr, ptr }
%"struct.boost::test_tools::tt_detail::context_frame" = type { i32 }
%"class.boost::unit_test::basic_cstring" = type { ptr, ptr }
%"class.boost::test_tools::assertion_result" = type { %"class.boost::test_tools::assertion_result::readonly_property65", %"class.boost::shared_ptr.0" }
%"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.0" = type { ptr, %"class.boost::detail::shared_count" }
%"class.boost::detail::shared_count" = type { ptr }
%"class.boost::test_tools::assertion::binary_expr.12" = type <{ %"class.boost::test_tools::assertion::value_expr.14", float, [4 x i8] }>
%"class.boost::test_tools::assertion::value_expr.14" = type { double }
%"class.boost::test_tools::assertion::seed" = type { i8 }

@_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE = external hidden global ptr, align 8
@.str.3 = external hidden unnamed_addr constant [68 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [38 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: inlinehint mustprogress uwtable
declare dso_local void @_ZN5boost9unit_testlsIfEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS4_EERKS3_S6_(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 4 dereferenceable(4)) #1

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

declare void @_ZN5boost10test_tools9tt_detail13context_frameC1ERKNS_9unit_test12lazy_ostreamE(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 8 dereferenceable(9)) unnamed_addr #3

declare noundef zeroext i1 @_ZN5boost10test_tools9tt_detail13context_framecvbEv(ptr noundef nonnull align 4 dereferenceable(4)) #3

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 #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 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: 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.2") align 8, ptr noundef nonnull align 8 dereferenceable(9), ptr noundef nonnull align 8 dereferenceable(16)) #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv() #4

; Function Attrs: nounwind
declare void @_ZN5boost10test_tools9tt_detail13context_frameD1Ev(ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #5

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN19WrapZeroToTwoPiTest11test_methodEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #6 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca ptr, align 8
  %3 = alloca float, align 4
  %4 = alloca %"struct.boost::test_tools::tt_detail::context_frame", align 4
  %5 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %6 = alloca ptr, align 8
  %7 = alloca i32, align 4
  %8 = alloca float, align 4
  %9 = alloca float, align 4
  %10 = alloca double, align 8
  %11 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %12 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %13 = alloca %"class.boost::test_tools::assertion_result", align 8
  %14 = alloca %"class.boost::test_tools::assertion::binary_expr.12", align 8
  %15 = alloca %"class.boost::test_tools::assertion::value_expr.14", align 8
  %16 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %17 = alloca double, align 8
  %18 = alloca float, align 4
  %19 = alloca %"class.boost::unit_test::lazy_ostream_impl.2", align 8
  %20 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %21 = alloca %"class.boost::unit_test::basic_cstring", align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  %22 = load ptr, ptr %2, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %3) #8
  store float -5.000000e+01, ptr %3, align 4, !tbaa !9
  br label %23

23:                                               ; preds = %128, %1
  %24 = load float, ptr %3, align 4, !tbaa !9
  %25 = fcmp ole float %24, 5.000000e+01
  br i1 %25, label %27, label %26

26:                                               ; preds = %23
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #8
  br label %133

27:                                               ; preds = %23
  call void @llvm.lifetime.start.p0(i64 4, ptr %4) #8
  call void @llvm.lifetime.start.p0(i64 32, ptr %5) #8
  %28 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @_ZN5boost9unit_testlsIfEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS4_EERKS3_S6_(ptr dead_on_unwind writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %5, ptr noundef nonnull align 8 dereferenceable(9) %28, ptr noundef nonnull align 4 dereferenceable(4) %3)
  invoke void @_ZN5boost10test_tools9tt_detail13context_frameC1ERKNS_9unit_test12lazy_ostreamE(ptr noundef nonnull align 4 dereferenceable(4) %4, ptr noundef nonnull align 8 dereferenceable(9) %5)
          to label %29 unwind label %80

29:                                               ; preds = %27
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %5) #8
  %30 = invoke noundef zeroext i1 @_ZN5boost10test_tools9tt_detail13context_framecvbEv(ptr noundef nonnull align 4 dereferenceable(4) %4)
          to label %31 unwind label %84

31:                                               ; preds = %29
  br i1 %30, label %32, label %127

32:                                               ; preds = %31
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #8
  %33 = load float, ptr %3, align 4, !tbaa !9
  %34 = invoke noundef float @_ZN6moteus15WrapZeroToTwoPiEf(float noundef %33)
          to label %35 unwind label %88

35:                                               ; preds = %32
  store float %34, ptr %8, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #8
  %36 = load float, ptr %3, align 4, !tbaa !9
  %37 = invoke noundef float @_ZSt3sinf(float noundef %36)
          to label %38 unwind label %92

38:                                               ; preds = %35
  %39 = load float, ptr %3, align 4, !tbaa !9
  %40 = invoke noundef float @_ZSt3cosf(float noundef %39)
          to label %41 unwind label %92

41:                                               ; preds = %38
  %42 = invoke noundef float @_ZSt5atan2ff(float noundef %37, float noundef %40)
          to label %43 unwind label %92

43:                                               ; preds = %41
  store float %42, ptr %9, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #8
  %44 = load float, ptr %9, align 4, !tbaa !9
  %45 = fcmp ogt float %44, 0.000000e+00
  br i1 %45, label %46, label %49

46:                                               ; preds = %43
  %47 = load float, ptr %9, align 4, !tbaa !9
  %48 = fpext float %47 to double
  br label %53

49:                                               ; preds = %43
  %50 = load float, ptr %9, align 4, !tbaa !9
  %51 = fpext float %50 to double
  %52 = fadd double 0x401921FB54442D18, %51
  br label %53

53:                                               ; preds = %49, %46
  %54 = phi double [ %48, %46 ], [ %52, %49 ]
  store double %54, ptr %10, align 8, !tbaa !11
  br label %55

55:                                               ; preds = %78, %53
  %56 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !5
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %11, ptr noundef @.str.3, i64 noundef 67)
          to label %57 unwind label %96

57:                                               ; preds = %55
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %12)
          to label %58 unwind label %96

58:                                               ; preds = %57
  invoke void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %56, ptr noundef %11, i64 noundef 60, ptr noundef %12)
          to label %59 unwind label %96

59:                                               ; preds = %58
  call void @llvm.lifetime.start.p0(i64 24, ptr %13) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #8
  call void @llvm.lifetime.start.p0(i64 1, ptr %16) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #8
  %60 = load double, ptr %10, align 8, !tbaa !11
  %61 = load float, ptr %8, align 4, !tbaa !9
  %62 = fpext float %61 to double
  %63 = fsub double %60, %62
  %64 = invoke noundef double @_ZSt3absd(double noundef %63)
          to label %65 unwind label %100

65:                                               ; preds = %59
  store double %64, ptr %17, align 8, !tbaa !11
  invoke void @_ZNK5boost10test_tools9assertion4seedpmIdEENS1_10value_exprIT_EEOS5_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::value_expr.14") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %16, ptr noundef nonnull align 8 dereferenceable(8) %17)
          to label %66 unwind label %100

66:                                               ; preds = %65
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #8
  store float 0x3F50624DE0000000, ptr %18, align 4, !tbaa !9
  invoke void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIdEEdEltIfEENS1_11binary_exprIS4_T_NS1_2op2LTIdNS5_4RhsTIS8_E4typeEvEEEEOS8_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr.12") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %15, ptr noundef nonnull align 4 dereferenceable(4) %18)
          to label %67 unwind label %104

67:                                               ; preds = %66
  invoke void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIdEEfNS1_2op2LTIdfvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %13, ptr noundef nonnull align 8 dereferenceable(12) %14, i1 noundef zeroext false)
          to label %68 unwind label %104

68:                                               ; preds = %67
  call void @llvm.lifetime.start.p0(i64 32, ptr %19) #8
  %69 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %70 unwind label %108

70:                                               ; preds = %68
  call void @llvm.lifetime.start.p0(i64 16, ptr %20) #8
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %20, ptr noundef @.str.10, i64 noundef 37)
          to label %71 unwind label %112

71:                                               ; preds = %70
  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.2") align 8 %19, ptr noundef nonnull align 8 dereferenceable(9) %69, ptr noundef nonnull align 8 dereferenceable(16) %20)
          to label %72 unwind label %112

72:                                               ; preds = %71
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %21, ptr noundef @.str.3, i64 noundef 67)
          to label %73 unwind label %116

73:                                               ; preds = %72
  %74 = 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) %13, ptr noundef nonnull align 8 dereferenceable(9) %19, ptr noundef %21, i64 noundef 60, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %75 unwind label %116

75:                                               ; preds = %73
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %19) #8
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %16) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #8
  br label %76

76:                                               ; preds = %75
  %77 = invoke noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
          to label %78 unwind label %96

78:                                               ; preds = %76
  br i1 %77, label %55, label %79, !llvm.loop !13

79:                                               ; preds = %78
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #8
  br label %127

80:                                               ; preds = %27
  %81 = landingpad { ptr, i32 }
          cleanup
  %82 = extractvalue { ptr, i32 } %81, 0
  store ptr %82, ptr %6, align 8
  %83 = extractvalue { ptr, i32 } %81, 1
  store i32 %83, ptr %7, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %5) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr %5) #8
  br label %132

84:                                               ; preds = %29
  %85 = landingpad { ptr, i32 }
          cleanup
  %86 = extractvalue { ptr, i32 } %85, 0
  store ptr %86, ptr %6, align 8
  %87 = extractvalue { ptr, i32 } %85, 1
  store i32 %87, ptr %7, align 4
  br label %131

88:                                               ; preds = %32
  %89 = landingpad { ptr, i32 }
          cleanup
  %90 = extractvalue { ptr, i32 } %89, 0
  store ptr %90, ptr %6, align 8
  %91 = extractvalue { ptr, i32 } %89, 1
  store i32 %91, ptr %7, align 4
  br label %126

92:                                               ; preds = %41, %38, %35
  %93 = landingpad { ptr, i32 }
          cleanup
  %94 = extractvalue { ptr, i32 } %93, 0
  store ptr %94, ptr %6, align 8
  %95 = extractvalue { ptr, i32 } %93, 1
  store i32 %95, ptr %7, align 4
  br label %125

96:                                               ; preds = %76, %58, %57, %55
  %97 = landingpad { ptr, i32 }
          cleanup
  %98 = extractvalue { ptr, i32 } %97, 0
  store ptr %98, ptr %6, align 8
  %99 = extractvalue { ptr, i32 } %97, 1
  store i32 %99, ptr %7, align 4
  br label %124

100:                                              ; preds = %65, %59
  %101 = landingpad { ptr, i32 }
          cleanup
  %102 = extractvalue { ptr, i32 } %101, 0
  store ptr %102, ptr %6, align 8
  %103 = extractvalue { ptr, i32 } %101, 1
  store i32 %103, ptr %7, align 4
  br label %123

104:                                              ; preds = %67, %66
  %105 = landingpad { ptr, i32 }
          cleanup
  %106 = extractvalue { ptr, i32 } %105, 0
  store ptr %106, ptr %6, align 8
  %107 = extractvalue { ptr, i32 } %105, 1
  store i32 %107, ptr %7, align 4
  br label %122

108:                                              ; preds = %68
  %109 = landingpad { ptr, i32 }
          cleanup
  %110 = extractvalue { ptr, i32 } %109, 0
  store ptr %110, ptr %6, align 8
  %111 = extractvalue { ptr, i32 } %109, 1
  store i32 %111, ptr %7, align 4
  br label %121

112:                                              ; preds = %71, %70
  %113 = landingpad { ptr, i32 }
          cleanup
  %114 = extractvalue { ptr, i32 } %113, 0
  store ptr %114, ptr %6, align 8
  %115 = extractvalue { ptr, i32 } %113, 1
  store i32 %115, ptr %7, align 4
  br label %120

116:                                              ; preds = %73, %72
  %117 = landingpad { ptr, i32 }
          cleanup
  %118 = extractvalue { ptr, i32 } %117, 0
  store ptr %118, ptr %6, align 8
  %119 = extractvalue { ptr, i32 } %117, 1
  store i32 %119, ptr %7, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %19) #8
  br label %120

120:                                              ; preds = %116, %112
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #8
  br label %121

121:                                              ; preds = %120, %108
  call void @llvm.lifetime.end.p0(i64 32, ptr %19) #8
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #8
  br label %122

122:                                              ; preds = %121, %104
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #8
  br label %123

123:                                              ; preds = %122, %100
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %16) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #8
  br label %124

124:                                              ; preds = %123, %96
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #8
  br label %125

125:                                              ; preds = %124, %92
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #8
  br label %126

126:                                              ; preds = %125, %88
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #8
  br label %131

127:                                              ; preds = %79, %31
  call void @_ZN5boost10test_tools9tt_detail13context_frameD1Ev(ptr noundef nonnull align 4 dereferenceable(4) %4) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %4) #8
  br label %128

128:                                              ; preds = %127
  %129 = load float, ptr %3, align 4, !tbaa !9
  %130 = fadd float %129, 0x3F50624DE0000000
  store float %130, ptr %3, align 4, !tbaa !9
  br label %23, !llvm.loop !15

131:                                              ; preds = %126, %84
  call void @_ZN5boost10test_tools9tt_detail13context_frameD1Ev(ptr noundef nonnull align 4 dereferenceable(4) %4) #8
  br label %132

132:                                              ; preds = %131, %80
  call void @llvm.lifetime.end.p0(i64 4, ptr %4) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #8
  br label %134

133:                                              ; preds = %26
  ret void

134:                                              ; preds = %132
  %135 = load ptr, ptr %6, align 8
  %136 = load i32, ptr %7, align 4
  %137 = insertvalue { ptr, i32 } poison, ptr %135, 0
  %138 = insertvalue { ptr, i32 } %137, i32 %136, 1
  resume { ptr, i32 } %138
}

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZN6moteus15WrapZeroToTwoPiEf(float noundef) #7

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt5atan2ff(float noundef, float noundef) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3sinf(float noundef) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3cosf(float noundef) #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5boost10test_tools9assertion4seedpmIdEENS1_10value_exprIT_EEOS5_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::value_expr.14") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZSt3absd(double noundef) #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIdEEdEltIfEENS1_11binary_exprIS4_T_NS1_2op2LTIdNS5_4RhsTIS8_E4typeEvEEEEOS8_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::binary_expr.12") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIdEEfNS1_2op2LTIdfvEEE8evaluateEb(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) #6 align 2

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

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { nounwind "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 = { 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 #7 = { alwaysinline 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 #8 = { nounwind }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"float", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"double", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = distinct !{!15, !14}


; 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::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::unit_test::lazy_ostream_impl.2" = type { %"class.boost::unit_test::lazy_ostream.base", ptr, ptr }
%"struct.boost::test_tools::tt_detail::context_frame" = type { i32 }
%"class.boost::unit_test::basic_cstring" = type { ptr, ptr }
%"class.boost::test_tools::assertion_result" = type { %"class.boost::test_tools::assertion_result::readonly_property65", %"class.boost::shared_ptr.0" }
%"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.0" = type { ptr, %"class.boost::detail::shared_count" }
%"class.boost::detail::shared_count" = type { ptr }
%"class.boost::test_tools::assertion::binary_expr.12" = type <{ %"class.boost::test_tools::assertion::value_expr.14", float, [4 x i8] }>
%"class.boost::test_tools::assertion::value_expr.14" = type { double }
%"class.boost::test_tools::assertion::seed" = type { i8 }

@_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE = external hidden local_unnamed_addr global ptr, align 8
@.str.3 = external hidden unnamed_addr constant [68 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [38 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: inlinehint mustprogress uwtable
declare dso_local void @_ZN5boost9unit_testlsIfEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS4_EERKS3_S6_(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 4 dereferenceable(4)) local_unnamed_addr #1

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

declare void @_ZN5boost10test_tools9tt_detail13context_frameC1ERKNS_9unit_test12lazy_ostreamE(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 8 dereferenceable(9)) unnamed_addr #3

declare noundef zeroext i1 @_ZN5boost10test_tools9tt_detail13context_framecvbEv(ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #3

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 #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #1 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: 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.2") align 8, ptr noundef nonnull align 8 dereferenceable(9), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv() local_unnamed_addr #4

; Function Attrs: nounwind
declare void @_ZN5boost10test_tools9tt_detail13context_frameD1Ev(ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #5

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN19WrapZeroToTwoPiTest11test_methodEv(ptr nocapture noundef nonnull readnone align 1 dereferenceable(1) %0) local_unnamed_addr #6 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca float, align 4
  %3 = alloca %"struct.boost::test_tools::tt_detail::context_frame", align 4
  %4 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %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.12", align 8
  %9 = alloca %"class.boost::test_tools::assertion::value_expr.14", align 8
  %10 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %11 = alloca double, align 8
  %12 = alloca float, align 4
  %13 = alloca %"class.boost::unit_test::lazy_ostream_impl.2", align 8
  %14 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %15 = alloca %"class.boost::unit_test::basic_cstring", align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %2) #8
  store float -5.000000e+01, ptr %2, align 4, !tbaa !5
  br label %17

16:                                               ; preds = %.loopexit
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %2) #8
  ret void

17:                                               ; preds = %1, %.loopexit
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %3) #8
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %4) #8
  %18 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @_ZN5boost9unit_testlsIfEENS0_17lazy_ostream_implINS0_12lazy_ostreamET_RKS4_EERKS3_S6_(ptr dead_on_unwind nonnull writable sret(%"class.boost::unit_test::lazy_ostream_impl") align 8 %4, ptr noundef nonnull align 8 dereferenceable(9) %18, ptr noundef nonnull align 4 dereferenceable(4) %2)
  invoke void @_ZN5boost10test_tools9tt_detail13context_frameC1ERKNS_9unit_test12lazy_ostreamE(ptr noundef nonnull align 4 dereferenceable(4) %3, ptr noundef nonnull align 8 dereferenceable(9) %4)
          to label %19 unwind label %49

19:                                               ; preds = %17
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #8
  %20 = invoke noundef zeroext i1 @_ZN5boost10test_tools9tt_detail13context_framecvbEv(ptr noundef nonnull align 4 dereferenceable(4) %3)
          to label %21 unwind label %51

21:                                               ; preds = %19
  br i1 %20, label %22, label %.loopexit

22:                                               ; preds = %21
  %23 = load float, ptr %2, align 4, !tbaa !5
  %24 = call noundef float @_ZN6moteus15WrapZeroToTwoPiEf(float noundef %23)
  %25 = load float, ptr %2, align 4, !tbaa !5
  %26 = call noundef float @_ZSt3sinf(float noundef %25)
  %27 = load float, ptr %2, align 4, !tbaa !5
  %28 = call noundef float @_ZSt3cosf(float noundef %27)
  %29 = call noundef float @_ZSt5atan2ff(float noundef %26, float noundef %28)
  %30 = fcmp ogt float %29, 0.000000e+00
  %31 = fpext float %29 to double
  %32 = fadd double %31, 0x401921FB54442D18
  %33 = select i1 %30, double %31, double %32
  %34 = fpext float %24 to double
  %35 = fsub double %33, %34
  br label %36

36:                                               ; preds = %47, %22
  %37 = load ptr, ptr @_ZN5boost9unit_test12_GLOBAL__N_113unit_test_logE, align 8, !tbaa !9
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %5, ptr noundef nonnull @.str.3, i64 noundef 67)
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %6)
          to label %38 unwind label %53

38:                                               ; preds = %36
  invoke void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %37, ptr noundef nonnull %5, i64 noundef 60, ptr noundef nonnull %6)
          to label %39 unwind label %53

39:                                               ; preds = %38
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %7) #8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #8
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %10) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #8
  %40 = call noundef double @_ZSt3absd(double noundef %35)
  store double %40, ptr %11, align 8, !tbaa !11
  invoke void @_ZNK5boost10test_tools9assertion4seedpmIdEENS1_10value_exprIT_EEOS5_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr.14") align 8 %9, ptr noundef nonnull align 1 dereferenceable(1) %10, ptr noundef nonnull align 8 dereferenceable(8) %11)
          to label %41 unwind label %55

41:                                               ; preds = %39
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %12) #8
  store float 0x3F50624DE0000000, ptr %12, align 4, !tbaa !5
  invoke void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIdEEdEltIfEENS1_11binary_exprIS4_T_NS1_2op2LTIdNS5_4RhsTIS8_E4typeEvEEEEOS8_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr.12") align 8 %8, ptr noundef nonnull align 1 dereferenceable(1) %9, ptr noundef nonnull align 4 dereferenceable(4) %12)
          to label %42 unwind label %57

42:                                               ; preds = %41
  invoke void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIdEEfNS1_2op2LTIdfvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %7, ptr noundef nonnull align 8 dereferenceable(12) %8, i1 noundef zeroext false)
          to label %43 unwind label %57

43:                                               ; preds = %42
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %13) #8
  %44 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #8
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %14, ptr noundef nonnull @.str.10, i64 noundef 37)
  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.2") align 8 %13, ptr noundef nonnull align 8 dereferenceable(9) %44, ptr noundef nonnull align 8 dereferenceable(16) %14)
          to label %45 unwind label %59

45:                                               ; preds = %43
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %15, ptr noundef nonnull @.str.3, i64 noundef 67)
  %46 = 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 60, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %47 unwind label %61

47:                                               ; preds = %45
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %13) #8
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %12) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %10) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #8
  %48 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %48, label %36, label %.loopexit, !llvm.loop !13

49:                                               ; preds = %17
  %50 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %4) #8
  br label %70

51:                                               ; preds = %19
  %52 = landingpad { ptr, i32 }
          cleanup
  br label %69

53:                                               ; preds = %38, %36
  %54 = landingpad { ptr, i32 }
          cleanup
  br label %69

55:                                               ; preds = %39
  %56 = landingpad { ptr, i32 }
          cleanup
  br label %65

57:                                               ; preds = %42, %41
  %58 = landingpad { ptr, i32 }
          cleanup
  br label %64

59:                                               ; preds = %43
  %60 = landingpad { ptr, i32 }
          cleanup
  br label %63

61:                                               ; preds = %45
  %62 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #8
  br label %63

63:                                               ; preds = %61, %59
  %.pn = phi { ptr, i32 } [ %62, %61 ], [ %60, %59 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #8
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %13) #8
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #8
  br label %64

64:                                               ; preds = %63, %57
  %.pn.pn = phi { ptr, i32 } [ %.pn, %63 ], [ %58, %57 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %12) #8
  br label %65

65:                                               ; preds = %64, %55
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %64 ], [ %56, %55 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %10) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #8
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #8
  br label %69

.loopexit:                                        ; preds = %47, %21
  call void @_ZN5boost10test_tools9tt_detail13context_frameD1Ev(ptr noundef nonnull align 4 dereferenceable(4) %3) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %3) #8
  %66 = load float, ptr %2, align 4, !tbaa !5
  %67 = fadd float %66, 0x3F50624DE0000000
  store float %67, ptr %2, align 4, !tbaa !5
  %68 = fcmp ugt float %67, 5.000000e+01
  br i1 %68, label %16, label %17, !llvm.loop !15

69:                                               ; preds = %53, %65, %51
  %.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %52, %51 ], [ %.pn.pn.pn, %65 ], [ %54, %53 ]
  call void @_ZN5boost10test_tools9tt_detail13context_frameD1Ev(ptr noundef nonnull align 4 dereferenceable(4) %3) #8
  br label %70

70:                                               ; preds = %69, %49
  %.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn.pn.pn, %69 ], [ %50, %49 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %3) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %2) #8
  resume { ptr, i32 } %.pn.pn.pn.pn.pn.pn
}

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZN6moteus15WrapZeroToTwoPiEf(float noundef) local_unnamed_addr #7

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt5atan2ff(float noundef, float noundef) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3sinf(float noundef) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3cosf(float noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5boost10test_tools9assertion4seedpmIdEENS1_10value_exprIT_EEOS5_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::value_expr.14") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZSt3absd(double noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIdEEdEltIfEENS1_11binary_exprIS4_T_NS1_2op2LTIdNS5_4RhsTIS8_E4typeEvEEEEOS8_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::binary_expr.12") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIdEEfNS1_2op2LTIdfvEEE8evaluateEb(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 #6 align 2

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

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { nounwind "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 = { 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 #7 = { alwaysinline 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 #8 = { nounwind }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"float", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"any pointer", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"double", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = distinct !{!15, !14}


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