; LLVM IR from mjbots/moteus :: fw/test/foc_test.ll (ZN8FocTest111test_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.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_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::test_tools::assertion::binary_expr" = type <{ %"class.boost::test_tools::assertion::value_expr", float, [4 x i8] }>
%"class.boost::test_tools::assertion::value_expr" = type { ptr }
%"class.boost::test_tools::assertion::seed" = type { i8 }
%"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.1" = type { %"class.boost::test_tools::assertion::value_expr", double }
%"struct.moteus::ClarkTransform" = type { float, float }
%"struct.moteus::InverseClarkTransform" = type { float, float, float }
%"struct.moteus::ParkTransform" = type { float, float }
%"class.boost::test_tools::assertion::binary_expr.3" = type { %"class.boost::test_tools::assertion::value_expr", ptr }
%"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.4 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [23 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [26 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [26 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

; 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 uwtable
define dso_local void @_ZN8FocTest111test_methodEv(ptr noundef nonnull align 1 dereferenceable(1) %0) #1 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", align 8
  %10 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %11 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %12 = alloca float, align 4
  %13 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %14 = alloca ptr, align 8
  %15 = alloca i32, align 4
  %16 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %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::test_tools::assertion_result", align 8
  %21 = alloca %"class.boost::test_tools::assertion::binary_expr.1", align 8
  %22 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %23 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %24 = alloca double, align 8
  %25 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %26 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %27 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %28 = alloca %"struct.moteus::ClarkTransform", align 4
  %29 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %30 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %31 = alloca %"class.boost::test_tools::assertion_result", align 8
  %32 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %33 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %34 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %35 = alloca float, align 4
  %36 = alloca %"class.boost::unit_test::lazy_ostream_impl", 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::unit_test::basic_cstring", align 8
  %40 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %41 = alloca %"class.boost::test_tools::assertion_result", align 8
  %42 = alloca %"class.boost::test_tools::assertion::binary_expr.1", align 8
  %43 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %44 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %45 = alloca double, align 8
  %46 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %47 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %48 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %49 = alloca %"struct.moteus::InverseClarkTransform", align 4
  %50 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %51 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %52 = alloca %"class.boost::test_tools::assertion_result", align 8
  %53 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %54 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %55 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %56 = alloca float, align 4
  %57 = alloca %"class.boost::unit_test::lazy_ostream_impl", 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::unit_test::basic_cstring", align 8
  %61 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %62 = alloca %"class.boost::test_tools::assertion_result", align 8
  %63 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %64 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %65 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %66 = alloca float, align 4
  %67 = alloca %"class.boost::unit_test::lazy_ostream_impl", 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::unit_test::basic_cstring", align 8
  %71 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %72 = alloca %"class.boost::test_tools::assertion_result", align 8
  %73 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %74 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %75 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %76 = alloca float, align 4
  %77 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %78 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %79 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %80 = alloca %"struct.moteus::ParkTransform", align 4
  %81 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %82 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %83 = alloca %"class.boost::test_tools::assertion_result", align 8
  %84 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %85 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %86 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %87 = alloca %"class.boost::unit_test::lazy_ostream_impl", 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::unit_test::basic_cstring", align 8
  %91 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %92 = alloca %"class.boost::test_tools::assertion_result", align 8
  %93 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %94 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %95 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %96 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %97 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %98 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %99 = alloca %"struct.moteus::InverseParkTransform", align 4
  %100 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %101 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %102 = alloca %"class.boost::test_tools::assertion_result", align 8
  %103 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %104 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %105 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %106 = alloca %"class.boost::unit_test::lazy_ostream_impl", 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::unit_test::basic_cstring", align 8
  %110 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %111 = alloca %"class.boost::test_tools::assertion_result", align 8
  %112 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %113 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %114 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %115 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %116 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %117 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %118 = alloca %"struct.moteus::InverseDqTransform", align 4
  %119 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %120 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %121 = alloca %"class.boost::test_tools::assertion_result", align 8
  %122 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %123 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %124 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %125 = alloca %"class.boost::unit_test::lazy_ostream_impl", 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::unit_test::basic_cstring", align 8
  %129 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %130 = alloca %"class.boost::test_tools::assertion_result", align 8
  %131 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %132 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %133 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %134 = alloca %"class.boost::unit_test::lazy_ostream_impl", 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::unit_test::basic_cstring", align 8
  %138 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %139 = alloca %"class.boost::test_tools::assertion_result", align 8
  %140 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %141 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %142 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %143 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %144 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %145 = alloca %"class.boost::unit_test::basic_cstring", align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  %146 = 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
  %147 = call <2 x float> @_ZNK6moteus6Cordic7radiansEf(ptr noundef nonnull align 1 dereferenceable(1) %3, float noundef 0.000000e+00)
  store <2 x float> %147, 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 %148

148:                                              ; preds = %158, %1
  %149 = 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) %149, ptr noundef %6, i64 noundef 28, 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 8, ptr %10) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %11) #7
  %150 = getelementptr inbounds %"struct.moteus::DqTransform", ptr %5, 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 %10, ptr noundef nonnull align 1 dereferenceable(1) %11, ptr noundef nonnull align 4 dereferenceable(4) %150)
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #7
  store float 0x3FF5555560000000, ptr %12, align 4, !tbaa !9
  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 %9, ptr noundef nonnull align 1 dereferenceable(1) %10, ptr noundef nonnull align 4 dereferenceable(4) %12)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %8, ptr noundef nonnull align 8 dereferenceable(12) %9, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %13) #7
  %151 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %152 unwind label %353

152:                                              ; preds = %148
  call void @llvm.lifetime.start.p0(i64 16, ptr %16) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %16, ptr noundef @.str.4, i64 noundef 21)
          to label %153 unwind label %357

153:                                              ; preds = %152
  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 %13, ptr noundef nonnull align 8 dereferenceable(9) %151, ptr noundef nonnull align 8 dereferenceable(16) %16)
          to label %154 unwind label %357

154:                                              ; preds = %153
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %17, ptr noundef @.str.3, i64 noundef 66)
          to label %155 unwind label %361

155:                                              ; preds = %154
  %156 = 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) %13, ptr noundef %17, i64 noundef 28, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %157 unwind label %361

157:                                              ; preds = %155
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #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 8, 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 %158

158:                                              ; preds = %157
  %159 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %159, label %148, label %160, !llvm.loop !11

160:                                              ; preds = %158
  br label %161

161:                                              ; preds = %171, %160
  %162 = 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) %18, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %19)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %162, ptr noundef %18, i64 noundef 29, ptr noundef %19)
  call void @llvm.lifetime.start.p0(i64 24, ptr %20) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %21) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %23) #7
  %163 = 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 %22, ptr noundef nonnull align 1 dereferenceable(1) %23, ptr noundef nonnull align 4 dereferenceable(4) %163)
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #7
  store double 0.000000e+00, ptr %24, align 8, !tbaa !13
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIdEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr.1") align 8 %21, ptr noundef nonnull align 1 dereferenceable(1) %22, ptr noundef nonnull align 8 dereferenceable(8) %24)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEdNS1_2op2EQIfdvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %20, ptr noundef nonnull align 8 dereferenceable(16) %21, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %25) #7
  %164 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %165 unwind label %367

165:                                              ; preds = %161
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %26, ptr noundef @.str.5, i64 noundef 11)
          to label %166 unwind label %371

166:                                              ; preds = %165
  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 %25, ptr noundef nonnull align 8 dereferenceable(9) %164, ptr noundef nonnull align 8 dereferenceable(16) %26)
          to label %167 unwind label %371

167:                                              ; preds = %166
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %27, ptr noundef @.str.3, i64 noundef 66)
          to label %168 unwind label %375

168:                                              ; preds = %167
  %169 = 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) %20, ptr noundef nonnull align 8 dereferenceable(9) %25, ptr noundef %27, i64 noundef 29, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %170 unwind label %375

170:                                              ; preds = %168
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %25) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %25) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #7
  br label %171

171:                                              ; preds = %170
  %172 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %172, label %161, label %173, !llvm.loop !15

173:                                              ; preds = %171
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #7
  call void @_ZN6moteus14ClarkTransformC2Efff(ptr noundef nonnull align 4 dereferenceable(8) %28, float noundef 2.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %174

174:                                              ; preds = %184, %173
  %175 = 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) %29, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %30)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %175, ptr noundef %29, i64 noundef 32, ptr noundef %30)
  call void @llvm.lifetime.start.p0(i64 24, ptr %31) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %34) #7
  %176 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %28, 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 %33, ptr noundef nonnull align 1 dereferenceable(1) %34, ptr noundef nonnull align 4 dereferenceable(4) %176)
  call void @llvm.lifetime.start.p0(i64 4, ptr %35) #7
  store float 0x3FF5555560000000, ptr %35, align 4, !tbaa !9
  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 %32, ptr noundef nonnull align 1 dereferenceable(1) %33, ptr noundef nonnull align 4 dereferenceable(4) %35)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %31, ptr noundef nonnull align 8 dereferenceable(12) %32, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %36) #7
  %177 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %178 unwind label %381

178:                                              ; preds = %174
  call void @llvm.lifetime.start.p0(i64 16, ptr %37) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %37, ptr noundef @.str.6, i64 noundef 21)
          to label %179 unwind label %385

179:                                              ; preds = %178
  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 %36, ptr noundef nonnull align 8 dereferenceable(9) %177, ptr noundef nonnull align 8 dereferenceable(16) %37)
          to label %180 unwind label %385

180:                                              ; preds = %179
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %38, ptr noundef @.str.3, i64 noundef 66)
          to label %181 unwind label %389

181:                                              ; preds = %180
  %182 = 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) %31, ptr noundef nonnull align 8 dereferenceable(9) %36, ptr noundef %38, i64 noundef 32, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %183 unwind label %389

183:                                              ; preds = %181
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %36) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %36) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %31) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %35) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %34) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %31) #7
  br label %184

184:                                              ; preds = %183
  %185 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %185, label %174, label %186, !llvm.loop !16

186:                                              ; preds = %184
  br label %187

187:                                              ; preds = %197, %186
  %188 = 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) %39, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %40)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %188, ptr noundef %39, i64 noundef 33, ptr noundef %40)
  call void @llvm.lifetime.start.p0(i64 24, ptr %41) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %42) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %43) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %44) #7
  %189 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %28, 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 %43, ptr noundef nonnull align 1 dereferenceable(1) %44, ptr noundef nonnull align 4 dereferenceable(4) %189)
  call void @llvm.lifetime.start.p0(i64 8, ptr %45) #7
  store double 0.000000e+00, ptr %45, align 8, !tbaa !13
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIdEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion::binary_expr.1") align 8 %42, ptr noundef nonnull align 1 dereferenceable(1) %43, ptr noundef nonnull align 8 dereferenceable(8) %45)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEdNS1_2op2EQIfdvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %41, ptr noundef nonnull align 8 dereferenceable(16) %42, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %46) #7
  %190 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %191 unwind label %395

191:                                              ; preds = %187
  call void @llvm.lifetime.start.p0(i64 16, ptr %47) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %47, ptr noundef @.str.7, i64 noundef 11)
          to label %192 unwind label %399

192:                                              ; preds = %191
  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 %46, ptr noundef nonnull align 8 dereferenceable(9) %190, ptr noundef nonnull align 8 dereferenceable(16) %47)
          to label %193 unwind label %399

193:                                              ; preds = %192
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %48, ptr noundef @.str.3, i64 noundef 66)
          to label %194 unwind label %403

194:                                              ; preds = %193
  %195 = 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) %41, ptr noundef nonnull align 8 dereferenceable(9) %46, ptr noundef %48, i64 noundef 33, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %196 unwind label %403

196:                                              ; preds = %194
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %46) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %47) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %46) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %41) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %44) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %42) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %41) #7
  br label %197

197:                                              ; preds = %196
  %198 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %198, label %187, label %199, !llvm.loop !17

199:                                              ; preds = %197
  call void @llvm.lifetime.start.p0(i64 12, ptr %49) #7
  %200 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %28, i32 0, i32 0
  %201 = load float, ptr %200, align 4, !tbaa !18
  %202 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %28, i32 0, i32 1
  %203 = load float, ptr %202, align 4, !tbaa !20
  call void @_ZN6moteus21InverseClarkTransformC2Eff(ptr noundef nonnull align 4 dereferenceable(12) %49, float noundef %201, float noundef %203)
  br label %204

204:                                              ; preds = %214, %199
  %205 = 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) %50, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %51)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %205, ptr noundef %50, i64 noundef 36, ptr noundef %51)
  call void @llvm.lifetime.start.p0(i64 24, ptr %52) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %53) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %54) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %55) #7
  %206 = getelementptr inbounds %"struct.moteus::InverseClarkTransform", ptr %49, 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 %54, ptr noundef nonnull align 1 dereferenceable(1) %55, ptr noundef nonnull align 4 dereferenceable(4) %206)
  call void @llvm.lifetime.start.p0(i64 4, ptr %56) #7
  store float 0x3FF5555560000000, ptr %56, align 4, !tbaa !9
  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 %53, ptr noundef nonnull align 1 dereferenceable(1) %54, ptr noundef nonnull align 4 dereferenceable(4) %56)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %52, ptr noundef nonnull align 8 dereferenceable(12) %53, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %57) #7
  %207 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %208 unwind label %409

208:                                              ; preds = %204
  call void @llvm.lifetime.start.p0(i64 16, ptr %58) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %58, ptr noundef @.str.8, i64 noundef 22)
          to label %209 unwind label %413

209:                                              ; preds = %208
  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 %57, ptr noundef nonnull align 8 dereferenceable(9) %207, ptr noundef nonnull align 8 dereferenceable(16) %58)
          to label %210 unwind label %413

210:                                              ; preds = %209
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %59, ptr noundef @.str.3, i64 noundef 66)
          to label %211 unwind label %417

211:                                              ; preds = %210
  %212 = 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) %52, ptr noundef nonnull align 8 dereferenceable(9) %57, ptr noundef %59, i64 noundef 36, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %213 unwind label %417

213:                                              ; preds = %211
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %57) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %58) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %57) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %52) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %56) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %55) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %53) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %52) #7
  br label %214

214:                                              ; preds = %213
  %215 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %215, label %204, label %216, !llvm.loop !21

216:                                              ; preds = %214
  br label %217

217:                                              ; preds = %227, %216
  %218 = 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) %60, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %61)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %218, ptr noundef %60, i64 noundef 37, ptr noundef %61)
  call void @llvm.lifetime.start.p0(i64 24, ptr %62) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %63) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %64) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %65) #7
  %219 = getelementptr inbounds %"struct.moteus::InverseClarkTransform", ptr %49, 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 %64, ptr noundef nonnull align 1 dereferenceable(1) %65, ptr noundef nonnull align 4 dereferenceable(4) %219)
  call void @llvm.lifetime.start.p0(i64 4, ptr %66) #7
  store float 0xBFE5555560000000, ptr %66, align 4, !tbaa !9
  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 %63, ptr noundef nonnull align 1 dereferenceable(1) %64, ptr noundef nonnull align 4 dereferenceable(4) %66)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %62, ptr noundef nonnull align 8 dereferenceable(12) %63, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %67) #7
  %220 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %221 unwind label %423

221:                                              ; preds = %217
  call void @llvm.lifetime.start.p0(i64 16, ptr %68) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %68, ptr noundef @.str.9, i64 noundef 25)
          to label %222 unwind label %427

222:                                              ; preds = %221
  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 %67, ptr noundef nonnull align 8 dereferenceable(9) %220, ptr noundef nonnull align 8 dereferenceable(16) %68)
          to label %223 unwind label %427

223:                                              ; preds = %222
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %69, ptr noundef @.str.3, i64 noundef 66)
          to label %224 unwind label %431

224:                                              ; preds = %223
  %225 = 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) %62, ptr noundef nonnull align 8 dereferenceable(9) %67, ptr noundef %69, i64 noundef 37, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %226 unwind label %431

226:                                              ; preds = %224
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %67) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %68) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %67) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %62) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %66) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %65) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %64) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %63) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %62) #7
  br label %227

227:                                              ; preds = %226
  %228 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %228, label %217, label %229, !llvm.loop !22

229:                                              ; preds = %227
  br label %230

230:                                              ; preds = %240, %229
  %231 = 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) %70, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %71)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %231, ptr noundef %70, i64 noundef 38, ptr noundef %71)
  call void @llvm.lifetime.start.p0(i64 24, ptr %72) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %73) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %74) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %75) #7
  %232 = getelementptr inbounds %"struct.moteus::InverseClarkTransform", ptr %49, 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 %74, ptr noundef nonnull align 1 dereferenceable(1) %75, ptr noundef nonnull align 4 dereferenceable(4) %232)
  call void @llvm.lifetime.start.p0(i64 4, ptr %76) #7
  store float 0xBFE5555560000000, ptr %76, align 4, !tbaa !9
  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 %73, ptr noundef nonnull align 1 dereferenceable(1) %74, ptr noundef nonnull align 4 dereferenceable(4) %76)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %72, ptr noundef nonnull align 8 dereferenceable(12) %73, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %77) #7
  %233 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %234 unwind label %437

234:                                              ; preds = %230
  call void @llvm.lifetime.start.p0(i64 16, ptr %78) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %78, ptr noundef @.str.10, i64 noundef 25)
          to label %235 unwind label %441

235:                                              ; preds = %234
  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 %77, ptr noundef nonnull align 8 dereferenceable(9) %233, ptr noundef nonnull align 8 dereferenceable(16) %78)
          to label %236 unwind label %441

236:                                              ; preds = %235
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %79, ptr noundef @.str.3, i64 noundef 66)
          to label %237 unwind label %445

237:                                              ; preds = %236
  %238 = 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) %72, ptr noundef nonnull align 8 dereferenceable(9) %77, ptr noundef %79, i64 noundef 38, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %239 unwind label %445

239:                                              ; preds = %237
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %77) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %78) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %77) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %72) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %76) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %75) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %74) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %73) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %72) #7
  br label %240

240:                                              ; preds = %239
  %241 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %241, label %230, label %242, !llvm.loop !23

242:                                              ; preds = %240
  call void @llvm.lifetime.start.p0(i64 8, ptr %80) #7
  %243 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %28, i32 0, i32 0
  %244 = load float, ptr %243, align 4, !tbaa !18
  %245 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %28, i32 0, i32 1
  %246 = load float, ptr %245, align 4, !tbaa !20
  call void @_ZN6moteus13ParkTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(8) %80, ptr noundef nonnull align 4 dereferenceable(8) %4, float noundef %244, float noundef %246)
  br label %247

247:                                              ; preds = %258, %242
  %248 = 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) %81, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %82)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %248, ptr noundef %81, i64 noundef 41, ptr noundef %82)
  call void @llvm.lifetime.start.p0(i64 24, ptr %83) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %84) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %85) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %86) #7
  %249 = getelementptr inbounds %"struct.moteus::ParkTransform", ptr %80, 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 %85, ptr noundef nonnull align 1 dereferenceable(1) %86, ptr noundef nonnull align 4 dereferenceable(4) %249)
  %250 = 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 %84, ptr noundef nonnull align 1 dereferenceable(1) %85, ptr noundef nonnull align 4 dereferenceable(4) %250)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %83, ptr noundef nonnull align 8 dereferenceable(16) %84, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %87) #7
  %251 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %252 unwind label %451

252:                                              ; preds = %247
  call void @llvm.lifetime.start.p0(i64 16, ptr %88) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %88, ptr noundef @.str.11, i64 noundef 12)
          to label %253 unwind label %455

253:                                              ; preds = %252
  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 %87, ptr noundef nonnull align 8 dereferenceable(9) %251, ptr noundef nonnull align 8 dereferenceable(16) %88)
          to label %254 unwind label %455

254:                                              ; preds = %253
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %89, ptr noundef @.str.3, i64 noundef 66)
          to label %255 unwind label %459

255:                                              ; preds = %254
  %256 = 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) %83, ptr noundef nonnull align 8 dereferenceable(9) %87, ptr noundef %89, i64 noundef 41, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %257 unwind label %459

257:                                              ; preds = %255
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %87) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %88) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %87) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %83) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %86) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %85) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %84) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %83) #7
  br label %258

258:                                              ; preds = %257
  %259 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %259, label %247, label %260, !llvm.loop !24

260:                                              ; preds = %258
  br label %261

261:                                              ; preds = %272, %260
  %262 = 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) %90, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %91)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %262, ptr noundef %90, i64 noundef 42, ptr noundef %91)
  call void @llvm.lifetime.start.p0(i64 24, ptr %92) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %93) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %94) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %95) #7
  %263 = getelementptr inbounds %"struct.moteus::ParkTransform", ptr %80, 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 %94, ptr noundef nonnull align 1 dereferenceable(1) %95, ptr noundef nonnull align 4 dereferenceable(4) %263)
  %264 = 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 %93, ptr noundef nonnull align 1 dereferenceable(1) %94, ptr noundef nonnull align 4 dereferenceable(4) %264)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %92, ptr noundef nonnull align 8 dereferenceable(16) %93, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %96) #7
  %265 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %266 unwind label %465

266:                                              ; preds = %261
  call void @llvm.lifetime.start.p0(i64 16, ptr %97) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %97, ptr noundef @.str.12, i64 noundef 12)
          to label %267 unwind label %469

267:                                              ; preds = %266
  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 %96, ptr noundef nonnull align 8 dereferenceable(9) %265, ptr noundef nonnull align 8 dereferenceable(16) %97)
          to label %268 unwind label %469

268:                                              ; preds = %267
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %98, ptr noundef @.str.3, i64 noundef 66)
          to label %269 unwind label %473

269:                                              ; preds = %268
  %270 = 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) %92, ptr noundef nonnull align 8 dereferenceable(9) %96, ptr noundef %98, i64 noundef 42, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %271 unwind label %473

271:                                              ; preds = %269
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %96) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %97) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %96) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %92) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %95) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %94) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %93) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %92) #7
  br label %272

272:                                              ; preds = %271
  %273 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %273, label %261, label %274, !llvm.loop !25

274:                                              ; preds = %272
  call void @llvm.lifetime.start.p0(i64 8, ptr %99) #7
  %275 = getelementptr inbounds %"struct.moteus::ParkTransform", ptr %80, i32 0, i32 0
  %276 = load float, ptr %275, align 4, !tbaa !26
  %277 = getelementptr inbounds %"struct.moteus::ParkTransform", ptr %80, i32 0, i32 1
  %278 = load float, ptr %277, align 4, !tbaa !28
  call void @_ZN6moteus20InverseParkTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(8) %99, ptr noundef nonnull align 4 dereferenceable(8) %4, float noundef %276, float noundef %278)
  br label %279

279:                                              ; preds = %290, %274
  %280 = 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) %100, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %101)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %280, ptr noundef %100, i64 noundef 45, ptr noundef %101)
  call void @llvm.lifetime.start.p0(i64 24, ptr %102) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %103) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %104) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %105) #7
  %281 = getelementptr inbounds %"struct.moteus::InverseParkTransform", ptr %99, 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 %104, ptr noundef nonnull align 1 dereferenceable(1) %105, ptr noundef nonnull align 4 dereferenceable(4) %281)
  %282 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %28, 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 %103, ptr noundef nonnull align 1 dereferenceable(1) %104, ptr noundef nonnull align 4 dereferenceable(4) %282)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %102, ptr noundef nonnull align 8 dereferenceable(16) %103, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %106) #7
  %283 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %284 unwind label %479

284:                                              ; preds = %279
  call void @llvm.lifetime.start.p0(i64 16, ptr %107) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %107, ptr noundef @.str.13, i64 noundef 13)
          to label %285 unwind label %483

285:                                              ; preds = %284
  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 %106, ptr noundef nonnull align 8 dereferenceable(9) %283, ptr noundef nonnull align 8 dereferenceable(16) %107)
          to label %286 unwind label %483

286:                                              ; preds = %285
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %108, ptr noundef @.str.3, i64 noundef 66)
          to label %287 unwind label %487

287:                                              ; preds = %286
  %288 = 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) %102, ptr noundef nonnull align 8 dereferenceable(9) %106, ptr noundef %108, i64 noundef 45, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %289 unwind label %487

289:                                              ; preds = %287
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %106) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %107) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %106) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %102) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %105) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %104) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %103) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %102) #7
  br label %290

290:                                              ; preds = %289
  %291 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %291, label %279, label %292, !llvm.loop !29

292:                                              ; preds = %290
  br label %293

293:                                              ; preds = %304, %292
  %294 = 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) %109, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %110)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %294, ptr noundef %109, i64 noundef 46, ptr noundef %110)
  call void @llvm.lifetime.start.p0(i64 24, ptr %111) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %112) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %113) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %114) #7
  %295 = getelementptr inbounds %"struct.moteus::InverseParkTransform", ptr %99, 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 %113, ptr noundef nonnull align 1 dereferenceable(1) %114, ptr noundef nonnull align 4 dereferenceable(4) %295)
  %296 = getelementptr inbounds %"struct.moteus::ClarkTransform", ptr %28, 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 %112, ptr noundef nonnull align 1 dereferenceable(1) %113, ptr noundef nonnull align 4 dereferenceable(4) %296)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %111, ptr noundef nonnull align 8 dereferenceable(16) %112, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %115) #7
  %297 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %298 unwind label %493

298:                                              ; preds = %293
  call void @llvm.lifetime.start.p0(i64 16, ptr %116) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %116, ptr noundef @.str.14, i64 noundef 13)
          to label %299 unwind label %497

299:                                              ; preds = %298
  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 %115, ptr noundef nonnull align 8 dereferenceable(9) %297, ptr noundef nonnull align 8 dereferenceable(16) %116)
          to label %300 unwind label %497

300:                                              ; preds = %299
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %117, ptr noundef @.str.3, i64 noundef 66)
          to label %301 unwind label %501

301:                                              ; preds = %300
  %302 = 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) %111, ptr noundef nonnull align 8 dereferenceable(9) %115, ptr noundef %117, i64 noundef 46, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %303 unwind label %501

303:                                              ; preds = %301
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %115) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %116) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %115) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %111) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %114) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %113) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %112) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %111) #7
  br label %304

304:                                              ; preds = %303
  %305 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %305, label %293, label %306, !llvm.loop !30

306:                                              ; preds = %304
  call void @llvm.lifetime.start.p0(i64 12, ptr %118) #7
  %307 = getelementptr inbounds %"struct.moteus::ParkTransform", ptr %80, i32 0, i32 0
  %308 = load float, ptr %307, align 4, !tbaa !26
  %309 = getelementptr inbounds %"struct.moteus::ParkTransform", ptr %80, i32 0, i32 1
  %310 = load float, ptr %309, align 4, !tbaa !28
  call void @_ZN6moteus18InverseDqTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(12) %118, ptr noundef nonnull align 4 dereferenceable(8) %4, float noundef %308, float noundef %310)
  br label %311

311:                                              ; preds = %322, %306
  %312 = 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) %119, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %120)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %312, ptr noundef %119, i64 noundef 49, ptr noundef %120)
  call void @llvm.lifetime.start.p0(i64 24, ptr %121) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %122) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %123) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %124) #7
  %313 = getelementptr inbounds %"struct.moteus::InverseDqTransform", ptr %118, 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 %123, ptr noundef nonnull align 1 dereferenceable(1) %124, ptr noundef nonnull align 4 dereferenceable(4) %313)
  %314 = getelementptr inbounds %"struct.moteus::InverseClarkTransform", ptr %49, 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 %122, ptr noundef nonnull align 1 dereferenceable(1) %123, ptr noundef nonnull align 4 dereferenceable(4) %314)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %121, ptr noundef nonnull align 8 dereferenceable(16) %122, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %125) #7
  %315 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %316 unwind label %507

316:                                              ; preds = %311
  call void @llvm.lifetime.start.p0(i64 16, ptr %126) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %126, ptr noundef @.str.15, i64 noundef 14)
          to label %317 unwind label %511

317:                                              ; preds = %316
  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 %125, ptr noundef nonnull align 8 dereferenceable(9) %315, ptr noundef nonnull align 8 dereferenceable(16) %126)
          to label %318 unwind label %511

318:                                              ; preds = %317
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %127, ptr noundef @.str.3, i64 noundef 66)
          to label %319 unwind label %515

319:                                              ; preds = %318
  %320 = 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) %121, ptr noundef nonnull align 8 dereferenceable(9) %125, ptr noundef %127, i64 noundef 49, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %321 unwind label %515

321:                                              ; preds = %319
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %125) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %126) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %125) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %121) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %124) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %123) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %122) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %121) #7
  br label %322

322:                                              ; preds = %321
  %323 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %323, label %311, label %324, !llvm.loop !31

324:                                              ; preds = %322
  br label %325

325:                                              ; preds = %336, %324
  %326 = 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) %128, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %129)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %326, ptr noundef %128, i64 noundef 50, ptr noundef %129)
  call void @llvm.lifetime.start.p0(i64 24, ptr %130) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %131) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %132) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %133) #7
  %327 = getelementptr inbounds %"struct.moteus::InverseDqTransform", ptr %118, 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 %132, ptr noundef nonnull align 1 dereferenceable(1) %133, ptr noundef nonnull align 4 dereferenceable(4) %327)
  %328 = getelementptr inbounds %"struct.moteus::InverseClarkTransform", ptr %49, 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 %131, ptr noundef nonnull align 1 dereferenceable(1) %132, ptr noundef nonnull align 4 dereferenceable(4) %328)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %130, ptr noundef nonnull align 8 dereferenceable(16) %131, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %134) #7
  %329 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %330 unwind label %521

330:                                              ; preds = %325
  call void @llvm.lifetime.start.p0(i64 16, ptr %135) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %135, ptr noundef @.str.16, i64 noundef 14)
          to label %331 unwind label %525

331:                                              ; preds = %330
  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 %134, ptr noundef nonnull align 8 dereferenceable(9) %329, ptr noundef nonnull align 8 dereferenceable(16) %135)
          to label %332 unwind label %525

332:                                              ; preds = %331
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %136, ptr noundef @.str.3, i64 noundef 66)
          to label %333 unwind label %529

333:                                              ; preds = %332
  %334 = 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) %130, ptr noundef nonnull align 8 dereferenceable(9) %134, ptr noundef %136, i64 noundef 50, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %335 unwind label %529

335:                                              ; preds = %333
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %134) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %135) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %134) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %130) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %133) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %132) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %131) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %130) #7
  br label %336

336:                                              ; preds = %335
  %337 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %337, label %325, label %338, !llvm.loop !32

338:                                              ; preds = %336
  br label %339

339:                                              ; preds = %350, %338
  %340 = 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) %137, ptr noundef @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %138)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %340, ptr noundef %137, i64 noundef 51, ptr noundef %138)
  call void @llvm.lifetime.start.p0(i64 24, ptr %139) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %140) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %141) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr %142) #7
  %341 = getelementptr inbounds %"struct.moteus::InverseDqTransform", ptr %118, 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 %141, ptr noundef nonnull align 1 dereferenceable(1) %142, ptr noundef nonnull align 4 dereferenceable(4) %341)
  %342 = getelementptr inbounds %"struct.moteus::InverseClarkTransform", ptr %49, 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 %140, ptr noundef nonnull align 1 dereferenceable(1) %141, ptr noundef nonnull align 4 dereferenceable(4) %342)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind writable sret(%"class.boost::test_tools::assertion_result") align 8 %139, ptr noundef nonnull align 8 dereferenceable(16) %140, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr %143) #7
  %343 = invoke noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
          to label %344 unwind label %535

344:                                              ; preds = %339
  call void @llvm.lifetime.start.p0(i64 16, ptr %144) #7
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %144, ptr noundef @.str.17, i64 noundef 14)
          to label %345 unwind label %539

345:                                              ; preds = %344
  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 %143, ptr noundef nonnull align 8 dereferenceable(9) %343, ptr noundef nonnull align 8 dereferenceable(16) %144)
          to label %346 unwind label %539

346:                                              ; preds = %345
  invoke void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %145, ptr noundef @.str.3, i64 noundef 66)
          to label %347 unwind label %543

347:                                              ; preds = %346
  %348 = 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) %139, ptr noundef nonnull align 8 dereferenceable(9) %143, ptr noundef %145, i64 noundef 51, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %349 unwind label %543

349:                                              ; preds = %347
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %143) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %144) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr %143) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %139) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %142) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %141) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %140) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %139) #7
  br label %350

350:                                              ; preds = %349
  %351 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %351, label %339, label %352, !llvm.loop !33

352:                                              ; preds = %350
  call void @llvm.lifetime.end.p0(i64 12, ptr %118) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %99) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %80) #7
  call void @llvm.lifetime.end.p0(i64 12, ptr %49) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #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

353:                                              ; preds = %148
  %354 = landingpad { ptr, i32 }
          cleanup
  %355 = extractvalue { ptr, i32 } %354, 0
  store ptr %355, ptr %14, align 8
  %356 = extractvalue { ptr, i32 } %354, 1
  store i32 %356, ptr %15, align 4
  br label %366

357:                                              ; preds = %153, %152
  %358 = landingpad { ptr, i32 }
          cleanup
  %359 = extractvalue { ptr, i32 } %358, 0
  store ptr %359, ptr %14, align 8
  %360 = extractvalue { ptr, i32 } %358, 1
  store i32 %360, ptr %15, align 4
  br label %365

361:                                              ; preds = %155, %154
  %362 = landingpad { ptr, i32 }
          cleanup
  %363 = extractvalue { ptr, i32 } %362, 0
  store ptr %363, ptr %14, align 8
  %364 = extractvalue { ptr, i32 } %362, 1
  store i32 %364, ptr %15, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %13) #7
  br label %365

365:                                              ; preds = %361, %357
  call void @llvm.lifetime.end.p0(i64 16, ptr %16) #7
  br label %366

366:                                              ; preds = %365, %353
  call void @llvm.lifetime.end.p0(i64 32, ptr %13) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #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 8, 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 %554

367:                                              ; preds = %161
  %368 = landingpad { ptr, i32 }
          cleanup
  %369 = extractvalue { ptr, i32 } %368, 0
  store ptr %369, ptr %14, align 8
  %370 = extractvalue { ptr, i32 } %368, 1
  store i32 %370, ptr %15, align 4
  br label %380

371:                                              ; preds = %166, %165
  %372 = landingpad { ptr, i32 }
          cleanup
  %373 = extractvalue { ptr, i32 } %372, 0
  store ptr %373, ptr %14, align 8
  %374 = extractvalue { ptr, i32 } %372, 1
  store i32 %374, ptr %15, align 4
  br label %379

375:                                              ; preds = %168, %167
  %376 = landingpad { ptr, i32 }
          cleanup
  %377 = extractvalue { ptr, i32 } %376, 0
  store ptr %377, ptr %14, align 8
  %378 = extractvalue { ptr, i32 } %376, 1
  store i32 %378, ptr %15, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %25) #7
  br label %379

379:                                              ; preds = %375, %371
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #7
  br label %380

380:                                              ; preds = %379, %367
  call void @llvm.lifetime.end.p0(i64 32, ptr %25) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %21) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #7
  br label %554

381:                                              ; preds = %174
  %382 = landingpad { ptr, i32 }
          cleanup
  %383 = extractvalue { ptr, i32 } %382, 0
  store ptr %383, ptr %14, align 8
  %384 = extractvalue { ptr, i32 } %382, 1
  store i32 %384, ptr %15, align 4
  br label %394

385:                                              ; preds = %179, %178
  %386 = landingpad { ptr, i32 }
          cleanup
  %387 = extractvalue { ptr, i32 } %386, 0
  store ptr %387, ptr %14, align 8
  %388 = extractvalue { ptr, i32 } %386, 1
  store i32 %388, ptr %15, align 4
  br label %393

389:                                              ; preds = %181, %180
  %390 = landingpad { ptr, i32 }
          cleanup
  %391 = extractvalue { ptr, i32 } %390, 0
  store ptr %391, ptr %14, align 8
  %392 = extractvalue { ptr, i32 } %390, 1
  store i32 %392, ptr %15, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %36) #7
  br label %393

393:                                              ; preds = %389, %385
  call void @llvm.lifetime.end.p0(i64 16, ptr %37) #7
  br label %394

394:                                              ; preds = %393, %381
  call void @llvm.lifetime.end.p0(i64 32, ptr %36) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %31) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %35) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %34) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %31) #7
  br label %553

395:                                              ; preds = %187
  %396 = landingpad { ptr, i32 }
          cleanup
  %397 = extractvalue { ptr, i32 } %396, 0
  store ptr %397, ptr %14, align 8
  %398 = extractvalue { ptr, i32 } %396, 1
  store i32 %398, ptr %15, align 4
  br label %408

399:                                              ; preds = %192, %191
  %400 = landingpad { ptr, i32 }
          cleanup
  %401 = extractvalue { ptr, i32 } %400, 0
  store ptr %401, ptr %14, align 8
  %402 = extractvalue { ptr, i32 } %400, 1
  store i32 %402, ptr %15, align 4
  br label %407

403:                                              ; preds = %194, %193
  %404 = landingpad { ptr, i32 }
          cleanup
  %405 = extractvalue { ptr, i32 } %404, 0
  store ptr %405, ptr %14, align 8
  %406 = extractvalue { ptr, i32 } %404, 1
  store i32 %406, ptr %15, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %46) #7
  br label %407

407:                                              ; preds = %403, %399
  call void @llvm.lifetime.end.p0(i64 16, ptr %47) #7
  br label %408

408:                                              ; preds = %407, %395
  call void @llvm.lifetime.end.p0(i64 32, ptr %46) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %41) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %44) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %42) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %41) #7
  br label %553

409:                                              ; preds = %204
  %410 = landingpad { ptr, i32 }
          cleanup
  %411 = extractvalue { ptr, i32 } %410, 0
  store ptr %411, ptr %14, align 8
  %412 = extractvalue { ptr, i32 } %410, 1
  store i32 %412, ptr %15, align 4
  br label %422

413:                                              ; preds = %209, %208
  %414 = landingpad { ptr, i32 }
          cleanup
  %415 = extractvalue { ptr, i32 } %414, 0
  store ptr %415, ptr %14, align 8
  %416 = extractvalue { ptr, i32 } %414, 1
  store i32 %416, ptr %15, align 4
  br label %421

417:                                              ; preds = %211, %210
  %418 = landingpad { ptr, i32 }
          cleanup
  %419 = extractvalue { ptr, i32 } %418, 0
  store ptr %419, ptr %14, align 8
  %420 = extractvalue { ptr, i32 } %418, 1
  store i32 %420, ptr %15, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %57) #7
  br label %421

421:                                              ; preds = %417, %413
  call void @llvm.lifetime.end.p0(i64 16, ptr %58) #7
  br label %422

422:                                              ; preds = %421, %409
  call void @llvm.lifetime.end.p0(i64 32, ptr %57) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %52) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %56) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %55) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %53) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %52) #7
  br label %552

423:                                              ; preds = %217
  %424 = landingpad { ptr, i32 }
          cleanup
  %425 = extractvalue { ptr, i32 } %424, 0
  store ptr %425, ptr %14, align 8
  %426 = extractvalue { ptr, i32 } %424, 1
  store i32 %426, ptr %15, align 4
  br label %436

427:                                              ; preds = %222, %221
  %428 = landingpad { ptr, i32 }
          cleanup
  %429 = extractvalue { ptr, i32 } %428, 0
  store ptr %429, ptr %14, align 8
  %430 = extractvalue { ptr, i32 } %428, 1
  store i32 %430, ptr %15, align 4
  br label %435

431:                                              ; preds = %224, %223
  %432 = landingpad { ptr, i32 }
          cleanup
  %433 = extractvalue { ptr, i32 } %432, 0
  store ptr %433, ptr %14, align 8
  %434 = extractvalue { ptr, i32 } %432, 1
  store i32 %434, ptr %15, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %67) #7
  br label %435

435:                                              ; preds = %431, %427
  call void @llvm.lifetime.end.p0(i64 16, ptr %68) #7
  br label %436

436:                                              ; preds = %435, %423
  call void @llvm.lifetime.end.p0(i64 32, ptr %67) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %62) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %66) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %65) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %64) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %63) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %62) #7
  br label %552

437:                                              ; preds = %230
  %438 = landingpad { ptr, i32 }
          cleanup
  %439 = extractvalue { ptr, i32 } %438, 0
  store ptr %439, ptr %14, align 8
  %440 = extractvalue { ptr, i32 } %438, 1
  store i32 %440, ptr %15, align 4
  br label %450

441:                                              ; preds = %235, %234
  %442 = landingpad { ptr, i32 }
          cleanup
  %443 = extractvalue { ptr, i32 } %442, 0
  store ptr %443, ptr %14, align 8
  %444 = extractvalue { ptr, i32 } %442, 1
  store i32 %444, ptr %15, align 4
  br label %449

445:                                              ; preds = %237, %236
  %446 = landingpad { ptr, i32 }
          cleanup
  %447 = extractvalue { ptr, i32 } %446, 0
  store ptr %447, ptr %14, align 8
  %448 = extractvalue { ptr, i32 } %446, 1
  store i32 %448, ptr %15, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %77) #7
  br label %449

449:                                              ; preds = %445, %441
  call void @llvm.lifetime.end.p0(i64 16, ptr %78) #7
  br label %450

450:                                              ; preds = %449, %437
  call void @llvm.lifetime.end.p0(i64 32, ptr %77) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %72) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %76) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %75) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %74) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %73) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %72) #7
  br label %552

451:                                              ; preds = %247
  %452 = landingpad { ptr, i32 }
          cleanup
  %453 = extractvalue { ptr, i32 } %452, 0
  store ptr %453, ptr %14, align 8
  %454 = extractvalue { ptr, i32 } %452, 1
  store i32 %454, ptr %15, align 4
  br label %464

455:                                              ; preds = %253, %252
  %456 = landingpad { ptr, i32 }
          cleanup
  %457 = extractvalue { ptr, i32 } %456, 0
  store ptr %457, ptr %14, align 8
  %458 = extractvalue { ptr, i32 } %456, 1
  store i32 %458, ptr %15, align 4
  br label %463

459:                                              ; preds = %255, %254
  %460 = landingpad { ptr, i32 }
          cleanup
  %461 = extractvalue { ptr, i32 } %460, 0
  store ptr %461, ptr %14, align 8
  %462 = extractvalue { ptr, i32 } %460, 1
  store i32 %462, ptr %15, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %87) #7
  br label %463

463:                                              ; preds = %459, %455
  call void @llvm.lifetime.end.p0(i64 16, ptr %88) #7
  br label %464

464:                                              ; preds = %463, %451
  call void @llvm.lifetime.end.p0(i64 32, ptr %87) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %83) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %86) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %85) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %84) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %83) #7
  br label %551

465:                                              ; preds = %261
  %466 = landingpad { ptr, i32 }
          cleanup
  %467 = extractvalue { ptr, i32 } %466, 0
  store ptr %467, ptr %14, align 8
  %468 = extractvalue { ptr, i32 } %466, 1
  store i32 %468, ptr %15, align 4
  br label %478

469:                                              ; preds = %267, %266
  %470 = landingpad { ptr, i32 }
          cleanup
  %471 = extractvalue { ptr, i32 } %470, 0
  store ptr %471, ptr %14, align 8
  %472 = extractvalue { ptr, i32 } %470, 1
  store i32 %472, ptr %15, align 4
  br label %477

473:                                              ; preds = %269, %268
  %474 = landingpad { ptr, i32 }
          cleanup
  %475 = extractvalue { ptr, i32 } %474, 0
  store ptr %475, ptr %14, align 8
  %476 = extractvalue { ptr, i32 } %474, 1
  store i32 %476, ptr %15, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %96) #7
  br label %477

477:                                              ; preds = %473, %469
  call void @llvm.lifetime.end.p0(i64 16, ptr %97) #7
  br label %478

478:                                              ; preds = %477, %465
  call void @llvm.lifetime.end.p0(i64 32, ptr %96) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %92) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %95) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %94) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %93) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %92) #7
  br label %551

479:                                              ; preds = %279
  %480 = landingpad { ptr, i32 }
          cleanup
  %481 = extractvalue { ptr, i32 } %480, 0
  store ptr %481, ptr %14, align 8
  %482 = extractvalue { ptr, i32 } %480, 1
  store i32 %482, ptr %15, align 4
  br label %492

483:                                              ; preds = %285, %284
  %484 = landingpad { ptr, i32 }
          cleanup
  %485 = extractvalue { ptr, i32 } %484, 0
  store ptr %485, ptr %14, align 8
  %486 = extractvalue { ptr, i32 } %484, 1
  store i32 %486, ptr %15, align 4
  br label %491

487:                                              ; preds = %287, %286
  %488 = landingpad { ptr, i32 }
          cleanup
  %489 = extractvalue { ptr, i32 } %488, 0
  store ptr %489, ptr %14, align 8
  %490 = extractvalue { ptr, i32 } %488, 1
  store i32 %490, ptr %15, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %106) #7
  br label %491

491:                                              ; preds = %487, %483
  call void @llvm.lifetime.end.p0(i64 16, ptr %107) #7
  br label %492

492:                                              ; preds = %491, %479
  call void @llvm.lifetime.end.p0(i64 32, ptr %106) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %102) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %105) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %104) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %103) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %102) #7
  br label %550

493:                                              ; preds = %293
  %494 = landingpad { ptr, i32 }
          cleanup
  %495 = extractvalue { ptr, i32 } %494, 0
  store ptr %495, ptr %14, align 8
  %496 = extractvalue { ptr, i32 } %494, 1
  store i32 %496, ptr %15, align 4
  br label %506

497:                                              ; preds = %299, %298
  %498 = landingpad { ptr, i32 }
          cleanup
  %499 = extractvalue { ptr, i32 } %498, 0
  store ptr %499, ptr %14, align 8
  %500 = extractvalue { ptr, i32 } %498, 1
  store i32 %500, ptr %15, align 4
  br label %505

501:                                              ; preds = %301, %300
  %502 = landingpad { ptr, i32 }
          cleanup
  %503 = extractvalue { ptr, i32 } %502, 0
  store ptr %503, ptr %14, align 8
  %504 = extractvalue { ptr, i32 } %502, 1
  store i32 %504, ptr %15, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %115) #7
  br label %505

505:                                              ; preds = %501, %497
  call void @llvm.lifetime.end.p0(i64 16, ptr %116) #7
  br label %506

506:                                              ; preds = %505, %493
  call void @llvm.lifetime.end.p0(i64 32, ptr %115) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %111) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %114) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %113) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %112) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %111) #7
  br label %550

507:                                              ; preds = %311
  %508 = landingpad { ptr, i32 }
          cleanup
  %509 = extractvalue { ptr, i32 } %508, 0
  store ptr %509, ptr %14, align 8
  %510 = extractvalue { ptr, i32 } %508, 1
  store i32 %510, ptr %15, align 4
  br label %520

511:                                              ; preds = %317, %316
  %512 = landingpad { ptr, i32 }
          cleanup
  %513 = extractvalue { ptr, i32 } %512, 0
  store ptr %513, ptr %14, align 8
  %514 = extractvalue { ptr, i32 } %512, 1
  store i32 %514, ptr %15, align 4
  br label %519

515:                                              ; preds = %319, %318
  %516 = landingpad { ptr, i32 }
          cleanup
  %517 = extractvalue { ptr, i32 } %516, 0
  store ptr %517, ptr %14, align 8
  %518 = extractvalue { ptr, i32 } %516, 1
  store i32 %518, ptr %15, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %125) #7
  br label %519

519:                                              ; preds = %515, %511
  call void @llvm.lifetime.end.p0(i64 16, ptr %126) #7
  br label %520

520:                                              ; preds = %519, %507
  call void @llvm.lifetime.end.p0(i64 32, ptr %125) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %121) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %124) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %123) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %122) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %121) #7
  br label %549

521:                                              ; preds = %325
  %522 = landingpad { ptr, i32 }
          cleanup
  %523 = extractvalue { ptr, i32 } %522, 0
  store ptr %523, ptr %14, align 8
  %524 = extractvalue { ptr, i32 } %522, 1
  store i32 %524, ptr %15, align 4
  br label %534

525:                                              ; preds = %331, %330
  %526 = landingpad { ptr, i32 }
          cleanup
  %527 = extractvalue { ptr, i32 } %526, 0
  store ptr %527, ptr %14, align 8
  %528 = extractvalue { ptr, i32 } %526, 1
  store i32 %528, ptr %15, align 4
  br label %533

529:                                              ; preds = %333, %332
  %530 = landingpad { ptr, i32 }
          cleanup
  %531 = extractvalue { ptr, i32 } %530, 0
  store ptr %531, ptr %14, align 8
  %532 = extractvalue { ptr, i32 } %530, 1
  store i32 %532, ptr %15, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %134) #7
  br label %533

533:                                              ; preds = %529, %525
  call void @llvm.lifetime.end.p0(i64 16, ptr %135) #7
  br label %534

534:                                              ; preds = %533, %521
  call void @llvm.lifetime.end.p0(i64 32, ptr %134) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %130) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %133) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %132) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %131) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %130) #7
  br label %549

535:                                              ; preds = %339
  %536 = landingpad { ptr, i32 }
          cleanup
  %537 = extractvalue { ptr, i32 } %536, 0
  store ptr %537, ptr %14, align 8
  %538 = extractvalue { ptr, i32 } %536, 1
  store i32 %538, ptr %15, align 4
  br label %548

539:                                              ; preds = %345, %344
  %540 = landingpad { ptr, i32 }
          cleanup
  %541 = extractvalue { ptr, i32 } %540, 0
  store ptr %541, ptr %14, align 8
  %542 = extractvalue { ptr, i32 } %540, 1
  store i32 %542, ptr %15, align 4
  br label %547

543:                                              ; preds = %347, %346
  %544 = landingpad { ptr, i32 }
          cleanup
  %545 = extractvalue { ptr, i32 } %544, 0
  store ptr %545, ptr %14, align 8
  %546 = extractvalue { ptr, i32 } %544, 1
  store i32 %546, ptr %15, align 4
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %143) #7
  br label %547

547:                                              ; preds = %543, %539
  call void @llvm.lifetime.end.p0(i64 16, ptr %144) #7
  br label %548

548:                                              ; preds = %547, %535
  call void @llvm.lifetime.end.p0(i64 32, ptr %143) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %139) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr %142) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %141) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %140) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %139) #7
  br label %549

549:                                              ; preds = %548, %534, %520
  call void @llvm.lifetime.end.p0(i64 12, ptr %118) #7
  br label %550

550:                                              ; preds = %549, %506, %492
  call void @llvm.lifetime.end.p0(i64 8, ptr %99) #7
  br label %551

551:                                              ; preds = %550, %478, %464
  call void @llvm.lifetime.end.p0(i64 8, ptr %80) #7
  br label %552

552:                                              ; preds = %551, %450, %436, %422
  call void @llvm.lifetime.end.p0(i64 12, ptr %49) #7
  br label %553

553:                                              ; preds = %552, %408, %394
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #7
  br label %554

554:                                              ; preds = %553, %380, %366
  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 %555

555:                                              ; preds = %554
  %556 = load ptr, ptr %14, align 8
  %557 = load i32, ptr %15, align 4
  %558 = insertvalue { ptr, i32 } poison, ptr %556, 0
  %559 = insertvalue { ptr, i32 } %558, i32 %557, 1
  resume { ptr, i32 } %559
}

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

; Function Attrs: mustprogress uwtable
declare dso_local <2 x float> @_ZNK6moteus6Cordic7radiansEf(ptr noundef nonnull align 1 dereferenceable(1), float noundef) #1 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 #2 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 #2 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() #2 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 uwtable
declare dso_local void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIdEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::binary_expr.1") 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_exprIRKfEEdNS1_2op2EQIfdvEEE8evaluateEb(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 @_ZN6moteus14ClarkTransformC2Efff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef, float noundef) unnamed_addr #2 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 #2 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 #2 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 #2 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 #2 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 = { 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 #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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, !10, i64 0}
!10 = !{!"float", !7, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}
!13 = !{!14, !14, i64 0}
!14 = !{!"double", !7, i64 0}
!15 = distinct !{!15, !12}
!16 = distinct !{!16, !12}
!17 = distinct !{!17, !12}
!18 = !{!19, !10, i64 0}
!19 = !{!"_ZTSN6moteus14ClarkTransformE", !10, i64 0, !10, i64 4}
!20 = !{!19, !10, i64 4}
!21 = distinct !{!21, !12}
!22 = distinct !{!22, !12}
!23 = distinct !{!23, !12}
!24 = distinct !{!24, !12}
!25 = distinct !{!25, !12}
!26 = !{!27, !10, i64 0}
!27 = !{!"_ZTSN6moteus13ParkTransformE", !10, i64 0, !10, i64 4}
!28 = !{!27, !10, i64 4}
!29 = distinct !{!29, !12}
!30 = distinct !{!30, !12}
!31 = distinct !{!31, !12}
!32 = distinct !{!32, !12}
!33 = distinct !{!33, !12}


; 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.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_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::test_tools::assertion::binary_expr" = type <{ %"class.boost::test_tools::assertion::value_expr", float, [4 x i8] }>
%"class.boost::test_tools::assertion::value_expr" = type { ptr }
%"class.boost::test_tools::assertion::seed" = type { i8 }
%"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.1" = type { %"class.boost::test_tools::assertion::value_expr", double }
%"struct.moteus::ClarkTransform" = type { float, float }
%"struct.moteus::InverseClarkTransform" = type { float, float, float }
%"struct.moteus::ParkTransform" = type { float, float }
%"class.boost::test_tools::assertion::binary_expr.3" = type { %"class.boost::test_tools::assertion::value_expr", ptr }
%"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.4 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [12 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [23 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [26 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [26 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

; 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 uwtable
define dso_local void @_ZN8FocTest111test_methodEv(ptr nocapture noundef nonnull readnone align 1 dereferenceable(1) %0) local_unnamed_addr #1 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", align 8
  %9 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %10 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %11 = alloca float, align 4
  %12 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %13 = alloca %"class.boost::unit_test::basic_cstring", 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::test_tools::assertion_result", align 8
  %18 = alloca %"class.boost::test_tools::assertion::binary_expr.1", align 8
  %19 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %20 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %21 = alloca double, align 8
  %22 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %23 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %24 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %25 = alloca %"struct.moteus::ClarkTransform", align 4
  %26 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %27 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %28 = alloca %"class.boost::test_tools::assertion_result", align 8
  %29 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %30 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %31 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %32 = alloca float, align 4
  %33 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %34 = alloca %"class.boost::unit_test::basic_cstring", 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::test_tools::assertion_result", align 8
  %39 = alloca %"class.boost::test_tools::assertion::binary_expr.1", align 8
  %40 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %41 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %42 = alloca double, align 8
  %43 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %44 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %45 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %46 = alloca %"struct.moteus::InverseClarkTransform", align 4
  %47 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %48 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %49 = alloca %"class.boost::test_tools::assertion_result", align 8
  %50 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %51 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %52 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %53 = alloca float, align 4
  %54 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %55 = alloca %"class.boost::unit_test::basic_cstring", 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::test_tools::assertion_result", align 8
  %60 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %61 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %62 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %63 = alloca float, align 4
  %64 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %65 = alloca %"class.boost::unit_test::basic_cstring", 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::test_tools::assertion_result", align 8
  %70 = alloca %"class.boost::test_tools::assertion::binary_expr", align 8
  %71 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %72 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %73 = alloca float, align 4
  %74 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %75 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %76 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %77 = alloca %"struct.moteus::ParkTransform", align 4
  %78 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %79 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %80 = alloca %"class.boost::test_tools::assertion_result", align 8
  %81 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %82 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %83 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %84 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %85 = alloca %"class.boost::unit_test::basic_cstring", 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::test_tools::assertion_result", align 8
  %90 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %91 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %92 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %93 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %94 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %95 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %96 = alloca %"struct.moteus::InverseParkTransform", align 4
  %97 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %98 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %99 = alloca %"class.boost::test_tools::assertion_result", align 8
  %100 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %101 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %102 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %103 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %104 = alloca %"class.boost::unit_test::basic_cstring", 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::test_tools::assertion_result", align 8
  %109 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %110 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %111 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %112 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %113 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %114 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %115 = alloca %"struct.moteus::InverseDqTransform", align 4
  %116 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %117 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %118 = alloca %"class.boost::test_tools::assertion_result", align 8
  %119 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %120 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %121 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %122 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %123 = alloca %"class.boost::unit_test::basic_cstring", 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::test_tools::assertion_result", align 8
  %128 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %129 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %130 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %131 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %132 = alloca %"class.boost::unit_test::basic_cstring", 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::test_tools::assertion_result", align 8
  %137 = alloca %"class.boost::test_tools::assertion::binary_expr.3", align 8
  %138 = alloca %"class.boost::test_tools::assertion::value_expr", align 8
  %139 = alloca %"class.boost::test_tools::assertion::seed", align 1
  %140 = alloca %"class.boost::unit_test::lazy_ostream_impl", align 8
  %141 = alloca %"class.boost::unit_test::basic_cstring", align 8
  %142 = 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
  %143 = call <2 x float> @_ZNK6moteus6Cordic7radiansEf(ptr noundef nonnull align 1 dereferenceable(1) %2, float noundef 0.000000e+00)
  store <2 x float> %143, 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 %144

144:                                              ; preds = %149, %1
  %145 = 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) %145, ptr noundef nonnull %5, i64 noundef 28, 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 8, ptr nonnull %9) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %10) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %9, ptr noundef nonnull align 1 dereferenceable(1) %10, ptr noundef nonnull align 4 dereferenceable(4) %4)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %11) #7
  store float 0x3FF5555560000000, ptr %11, align 4, !tbaa !9
  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 %8, ptr noundef nonnull align 1 dereferenceable(1) %9, ptr noundef nonnull align 4 dereferenceable(4) %11)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(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)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %12) #7
  %146 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %13, ptr noundef nonnull @.str.4, i64 noundef 21)
  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 %12, ptr noundef nonnull align 8 dereferenceable(9) %146, ptr noundef nonnull align 8 dereferenceable(16) %13)
          to label %147 unwind label %264

147:                                              ; preds = %144
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %14, ptr noundef nonnull @.str.3, i64 noundef 66)
  %148 = 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) %12, ptr noundef nonnull %14, i64 noundef 28, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %149 unwind label %266

149:                                              ; preds = %147
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %12) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #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 8, 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
  %150 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %150, label %144, label %.preheader68, !llvm.loop !11

.preheader68:                                     ; preds = %149
  %151 = getelementptr inbounds i8, ptr %4, i64 4
  br label %152

152:                                              ; preds = %.preheader68, %157
  %153 = 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) %15, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %16)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %153, ptr noundef nonnull %15, i64 noundef 29, ptr noundef nonnull %16)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %17) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %20) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %19, ptr noundef nonnull align 1 dereferenceable(1) %20, ptr noundef nonnull align 4 dereferenceable(4) %151)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %21) #7
  store double 0.000000e+00, ptr %21, align 8, !tbaa !13
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIdEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr.1") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %19, ptr noundef nonnull align 8 dereferenceable(8) %21)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEdNS1_2op2EQIfdvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %17, ptr noundef nonnull align 8 dereferenceable(16) %18, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %22) #7
  %154 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %23) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %23, ptr noundef nonnull @.str.5, i64 noundef 11)
  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 %22, ptr noundef nonnull align 8 dereferenceable(9) %154, ptr noundef nonnull align 8 dereferenceable(16) %23)
          to label %155 unwind label %269

155:                                              ; preds = %152
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %24, ptr noundef nonnull @.str.3, i64 noundef 66)
  %156 = 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) %17, ptr noundef nonnull align 8 dereferenceable(9) %22, ptr noundef nonnull %24, i64 noundef 29, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %157 unwind label %271

157:                                              ; preds = %155
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %23) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %22) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %17) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %20) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %17) #7
  %158 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %158, label %152, label %159, !llvm.loop !15

159:                                              ; preds = %157
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #7
  call void @_ZN6moteus14ClarkTransformC2Efff(ptr noundef nonnull align 4 dereferenceable(8) %25, float noundef 2.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %160

160:                                              ; preds = %165, %159
  %161 = 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) %26, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %27)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %161, ptr noundef nonnull %26, i64 noundef 32, ptr noundef nonnull %27)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %28) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %29) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %30) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %31) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %30, ptr noundef nonnull align 1 dereferenceable(1) %31, ptr noundef nonnull align 4 dereferenceable(4) %25)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %32) #7
  store float 0x3FF5555560000000, ptr %32, align 4, !tbaa !9
  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 %29, ptr noundef nonnull align 1 dereferenceable(1) %30, ptr noundef nonnull align 4 dereferenceable(4) %32)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %28, ptr noundef nonnull align 8 dereferenceable(12) %29, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %33) #7
  %162 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %34) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %34, ptr noundef nonnull @.str.6, i64 noundef 21)
  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 %33, ptr noundef nonnull align 8 dereferenceable(9) %162, ptr noundef nonnull align 8 dereferenceable(16) %34)
          to label %163 unwind label %274

163:                                              ; preds = %160
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %35, ptr noundef nonnull @.str.3, i64 noundef 66)
  %164 = 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) %28, ptr noundef nonnull align 8 dereferenceable(9) %33, ptr noundef nonnull %35, i64 noundef 32, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %165 unwind label %276

165:                                              ; preds = %163
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %33) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %34) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %33) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %28) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %32) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %31) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %30) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %29) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %28) #7
  %166 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %166, label %160, label %.preheader67, !llvm.loop !16

.preheader67:                                     ; preds = %165
  %167 = getelementptr inbounds i8, ptr %25, i64 4
  br label %168

168:                                              ; preds = %.preheader67, %173
  %169 = 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) %36, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %37)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %169, ptr noundef nonnull %36, i64 noundef 33, ptr noundef nonnull %37)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %38) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %39) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %40) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %41) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %40, ptr noundef nonnull align 1 dereferenceable(1) %41, ptr noundef nonnull align 4 dereferenceable(4) %167)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %42) #7
  store double 0.000000e+00, ptr %42, align 8, !tbaa !13
  call void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIdEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::binary_expr.1") align 8 %39, ptr noundef nonnull align 1 dereferenceable(1) %40, ptr noundef nonnull align 8 dereferenceable(8) %42)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEdNS1_2op2EQIfdvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %38, ptr noundef nonnull align 8 dereferenceable(16) %39, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %43) #7
  %170 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %44) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %44, ptr noundef nonnull @.str.7, i64 noundef 11)
  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 %43, ptr noundef nonnull align 8 dereferenceable(9) %170, ptr noundef nonnull align 8 dereferenceable(16) %44)
          to label %171 unwind label %279

171:                                              ; preds = %168
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %45, ptr noundef nonnull @.str.3, i64 noundef 66)
  %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) %38, ptr noundef nonnull align 8 dereferenceable(9) %43, ptr noundef nonnull %45, i64 noundef 33, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %173 unwind label %281

173:                                              ; preds = %171
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %43) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %44) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %43) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %38) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %42) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %41) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %40) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %39) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %38) #7
  %174 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %174, label %168, label %175, !llvm.loop !17

175:                                              ; preds = %173
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %46) #7
  %176 = load float, ptr %25, align 4, !tbaa !18
  %177 = load float, ptr %167, align 4, !tbaa !20
  call void @_ZN6moteus21InverseClarkTransformC2Eff(ptr noundef nonnull align 4 dereferenceable(12) %46, float noundef %176, float noundef %177)
  br label %178

178:                                              ; preds = %183, %175
  %179 = 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) %47, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %48)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %179, ptr noundef nonnull %47, i64 noundef 36, ptr noundef nonnull %48)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %49) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %50) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %51) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %52) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %51, ptr noundef nonnull align 1 dereferenceable(1) %52, ptr noundef nonnull align 4 dereferenceable(4) %46)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %53) #7
  store float 0x3FF5555560000000, ptr %53, align 4, !tbaa !9
  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 %50, ptr noundef nonnull align 1 dereferenceable(1) %51, ptr noundef nonnull align 4 dereferenceable(4) %53)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %49, ptr noundef nonnull align 8 dereferenceable(12) %50, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %54) #7
  %180 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %55) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %55, ptr noundef nonnull @.str.8, 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 %54, ptr noundef nonnull align 8 dereferenceable(9) %180, ptr noundef nonnull align 8 dereferenceable(16) %55)
          to label %181 unwind label %284

181:                                              ; preds = %178
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %56, ptr noundef nonnull @.str.3, i64 noundef 66)
  %182 = 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) %49, ptr noundef nonnull align 8 dereferenceable(9) %54, ptr noundef nonnull %56, i64 noundef 36, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %183 unwind label %286

183:                                              ; preds = %181
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %54) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %55) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %54) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %49) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %53) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %52) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %51) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %50) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %49) #7
  %184 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %184, label %178, label %.preheader66, !llvm.loop !21

.preheader66:                                     ; preds = %183
  %185 = getelementptr inbounds i8, ptr %46, i64 4
  br label %186

186:                                              ; preds = %.preheader66, %191
  %187 = 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) %57, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %58)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %187, ptr noundef nonnull %57, i64 noundef 37, ptr noundef nonnull %58)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %59) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %60) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %61) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %62) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %61, ptr noundef nonnull align 1 dereferenceable(1) %62, ptr noundef nonnull align 4 dereferenceable(4) %185)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %63) #7
  store float 0xBFE5555560000000, ptr %63, align 4, !tbaa !9
  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 %60, ptr noundef nonnull align 1 dereferenceable(1) %61, ptr noundef nonnull align 4 dereferenceable(4) %63)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %59, ptr noundef nonnull align 8 dereferenceable(12) %60, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %64) #7
  %188 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %65) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %65, ptr noundef nonnull @.str.9, i64 noundef 25)
  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 %64, ptr noundef nonnull align 8 dereferenceable(9) %188, ptr noundef nonnull align 8 dereferenceable(16) %65)
          to label %189 unwind label %289

189:                                              ; preds = %186
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %66, ptr noundef nonnull @.str.3, i64 noundef 66)
  %190 = 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) %59, ptr noundef nonnull align 8 dereferenceable(9) %64, ptr noundef nonnull %66, i64 noundef 37, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %191 unwind label %291

191:                                              ; preds = %189
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %64) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %65) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %64) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %59) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %63) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %62) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %61) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %60) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %59) #7
  %192 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %192, label %186, label %.preheader65, !llvm.loop !22

.preheader65:                                     ; preds = %191
  %193 = getelementptr inbounds i8, ptr %46, i64 8
  br label %194

194:                                              ; preds = %.preheader65, %199
  %195 = 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) %67, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %68)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %195, ptr noundef nonnull %67, i64 noundef 38, ptr noundef nonnull %68)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %69) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %70) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %71) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %72) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %71, ptr noundef nonnull align 1 dereferenceable(1) %72, ptr noundef nonnull align 4 dereferenceable(4) %193)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %73) #7
  store float 0xBFE5555560000000, ptr %73, align 4, !tbaa !9
  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 %70, ptr noundef nonnull align 1 dereferenceable(1) %71, ptr noundef nonnull align 4 dereferenceable(4) %73)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEEfNS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %69, ptr noundef nonnull align 8 dereferenceable(12) %70, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %74) #7
  %196 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %75) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %75, ptr noundef nonnull @.str.10, i64 noundef 25)
  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 %74, ptr noundef nonnull align 8 dereferenceable(9) %196, ptr noundef nonnull align 8 dereferenceable(16) %75)
          to label %197 unwind label %294

197:                                              ; preds = %194
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %76, ptr noundef nonnull @.str.3, i64 noundef 66)
  %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) %69, ptr noundef nonnull align 8 dereferenceable(9) %74, ptr noundef nonnull %76, i64 noundef 38, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %199 unwind label %296

199:                                              ; preds = %197
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %74) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %75) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %74) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %69) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %73) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %72) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %71) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %70) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %69) #7
  %200 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %200, label %194, label %201, !llvm.loop !23

201:                                              ; preds = %199
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %77) #7
  %202 = load float, ptr %25, align 4, !tbaa !18
  %203 = load float, ptr %167, align 4, !tbaa !20
  call void @_ZN6moteus13ParkTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(8) %77, ptr noundef nonnull align 4 dereferenceable(8) %3, float noundef %202, float noundef %203)
  br label %204

204:                                              ; preds = %209, %201
  %205 = 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) %78, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %79)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %205, ptr noundef nonnull %78, i64 noundef 41, ptr noundef nonnull %79)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %80) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %81) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %82) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %83) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %82, ptr noundef nonnull align 1 dereferenceable(1) %83, ptr noundef nonnull align 4 dereferenceable(4) %77)
  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 %81, ptr noundef nonnull align 1 dereferenceable(1) %82, 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 %80, ptr noundef nonnull align 8 dereferenceable(16) %81, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %84) #7
  %206 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %85) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %85, 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 %84, ptr noundef nonnull align 8 dereferenceable(9) %206, ptr noundef nonnull align 8 dereferenceable(16) %85)
          to label %207 unwind label %299

207:                                              ; preds = %204
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %86, ptr noundef nonnull @.str.3, i64 noundef 66)
  %208 = 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) %80, ptr noundef nonnull align 8 dereferenceable(9) %84, ptr noundef nonnull %86, i64 noundef 41, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %209 unwind label %301

209:                                              ; preds = %207
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %84) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %85) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %84) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %80) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %83) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %82) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %81) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %80) #7
  %210 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %210, label %204, label %.preheader64, !llvm.loop !24

.preheader64:                                     ; preds = %209
  %211 = getelementptr inbounds i8, ptr %77, i64 4
  br label %212

212:                                              ; preds = %.preheader64, %217
  %213 = 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) %87, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %88)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %213, ptr noundef nonnull %87, i64 noundef 42, ptr noundef nonnull %88)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %89) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %90) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %91) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %92) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %91, ptr noundef nonnull align 1 dereferenceable(1) %92, ptr noundef nonnull align 4 dereferenceable(4) %211)
  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 %90, ptr noundef nonnull align 1 dereferenceable(1) %91, ptr noundef nonnull align 4 dereferenceable(4) %151)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %89, ptr noundef nonnull align 8 dereferenceable(16) %90, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %93) #7
  %214 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %94) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %94, 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 %93, ptr noundef nonnull align 8 dereferenceable(9) %214, ptr noundef nonnull align 8 dereferenceable(16) %94)
          to label %215 unwind label %304

215:                                              ; preds = %212
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %95, ptr noundef nonnull @.str.3, i64 noundef 66)
  %216 = 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) %89, ptr noundef nonnull align 8 dereferenceable(9) %93, ptr noundef nonnull %95, i64 noundef 42, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %217 unwind label %306

217:                                              ; preds = %215
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %93) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %94) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %93) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %89) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %92) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %91) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %90) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %89) #7
  %218 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %218, label %212, label %219, !llvm.loop !25

219:                                              ; preds = %217
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %96) #7
  %220 = load float, ptr %77, align 4, !tbaa !26
  %221 = load float, ptr %211, align 4, !tbaa !28
  call void @_ZN6moteus20InverseParkTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(8) %96, ptr noundef nonnull align 4 dereferenceable(8) %3, float noundef %220, float noundef %221)
  br label %222

222:                                              ; preds = %227, %219
  %223 = 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) %97, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %98)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %223, ptr noundef nonnull %97, i64 noundef 45, ptr noundef nonnull %98)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %99) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %100) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %101) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %102) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %101, ptr noundef nonnull align 1 dereferenceable(1) %102, ptr noundef nonnull align 4 dereferenceable(4) %96)
  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 %100, ptr noundef nonnull align 1 dereferenceable(1) %101, ptr noundef nonnull align 4 dereferenceable(4) %25)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %99, ptr noundef nonnull align 8 dereferenceable(16) %100, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %103) #7
  %224 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %104) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %104, 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 %103, ptr noundef nonnull align 8 dereferenceable(9) %224, ptr noundef nonnull align 8 dereferenceable(16) %104)
          to label %225 unwind label %309

225:                                              ; preds = %222
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %105, ptr noundef nonnull @.str.3, i64 noundef 66)
  %226 = 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) %99, ptr noundef nonnull align 8 dereferenceable(9) %103, ptr noundef nonnull %105, i64 noundef 45, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %227 unwind label %311

227:                                              ; preds = %225
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %103) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %104) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %103) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %99) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %102) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %101) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %100) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %99) #7
  %228 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %228, label %222, label %.preheader63, !llvm.loop !29

.preheader63:                                     ; preds = %227
  %229 = getelementptr inbounds i8, ptr %96, i64 4
  br label %230

230:                                              ; preds = %.preheader63, %235
  %231 = 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) %106, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %107)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %231, ptr noundef nonnull %106, i64 noundef 46, ptr noundef nonnull %107)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %108) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %109) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %110) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %111) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %110, ptr noundef nonnull align 1 dereferenceable(1) %111, ptr noundef nonnull align 4 dereferenceable(4) %229)
  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 %109, ptr noundef nonnull align 1 dereferenceable(1) %110, ptr noundef nonnull align 4 dereferenceable(4) %167)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %108, ptr noundef nonnull align 8 dereferenceable(16) %109, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %112) #7
  %232 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %113) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %113, 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 %112, ptr noundef nonnull align 8 dereferenceable(9) %232, ptr noundef nonnull align 8 dereferenceable(16) %113)
          to label %233 unwind label %314

233:                                              ; preds = %230
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %114, ptr noundef nonnull @.str.3, i64 noundef 66)
  %234 = 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) %108, ptr noundef nonnull align 8 dereferenceable(9) %112, ptr noundef nonnull %114, i64 noundef 46, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %235 unwind label %316

235:                                              ; preds = %233
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %112) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %113) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %112) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %108) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %111) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %110) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %109) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %108) #7
  %236 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %236, label %230, label %237, !llvm.loop !30

237:                                              ; preds = %235
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %115) #7
  %238 = load float, ptr %77, align 4, !tbaa !26
  %239 = load float, ptr %211, align 4, !tbaa !28
  call void @_ZN6moteus18InverseDqTransformC2ERKNS_6SinCosEff(ptr noundef nonnull align 4 dereferenceable(12) %115, ptr noundef nonnull align 4 dereferenceable(8) %3, float noundef %238, float noundef %239)
  br label %240

240:                                              ; preds = %245, %237
  %241 = 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) %116, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %117)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %241, ptr noundef nonnull %116, i64 noundef 49, ptr noundef nonnull %117)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %118) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %119) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %120) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %121) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %120, ptr noundef nonnull align 1 dereferenceable(1) %121, ptr noundef nonnull align 4 dereferenceable(4) %115)
  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 %119, ptr noundef nonnull align 1 dereferenceable(1) %120, ptr noundef nonnull align 4 dereferenceable(4) %46)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %118, ptr noundef nonnull align 8 dereferenceable(16) %119, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %122) #7
  %242 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %123) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %123, 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 %122, ptr noundef nonnull align 8 dereferenceable(9) %242, ptr noundef nonnull align 8 dereferenceable(16) %123)
          to label %243 unwind label %319

243:                                              ; preds = %240
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %124, ptr noundef nonnull @.str.3, i64 noundef 66)
  %244 = 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) %118, ptr noundef nonnull align 8 dereferenceable(9) %122, ptr noundef nonnull %124, i64 noundef 49, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %245 unwind label %321

245:                                              ; preds = %243
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %122) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %123) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %122) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %118) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %121) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %120) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %119) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %118) #7
  %246 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %246, label %240, label %.preheader62, !llvm.loop !31

.preheader62:                                     ; preds = %245
  %247 = getelementptr inbounds i8, ptr %115, i64 4
  br label %248

248:                                              ; preds = %.preheader62, %253
  %249 = 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) %125, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %126)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %249, ptr noundef nonnull %125, i64 noundef 50, ptr noundef nonnull %126)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %127) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %128) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %129) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %130) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %129, ptr noundef nonnull align 1 dereferenceable(1) %130, ptr noundef nonnull align 4 dereferenceable(4) %247)
  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 %128, ptr noundef nonnull align 1 dereferenceable(1) %129, ptr noundef nonnull align 4 dereferenceable(4) %185)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %127, ptr noundef nonnull align 8 dereferenceable(16) %128, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %131) #7
  %250 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %132) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %132, 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 %131, ptr noundef nonnull align 8 dereferenceable(9) %250, ptr noundef nonnull align 8 dereferenceable(16) %132)
          to label %251 unwind label %324

251:                                              ; preds = %248
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %133, ptr noundef nonnull @.str.3, i64 noundef 66)
  %252 = 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) %127, ptr noundef nonnull align 8 dereferenceable(9) %131, ptr noundef nonnull %133, i64 noundef 50, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %253 unwind label %326

253:                                              ; preds = %251
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %131) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %132) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %131) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %127) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %130) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %129) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %128) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %127) #7
  %254 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %254, label %248, label %.preheader, !llvm.loop !32

.preheader:                                       ; preds = %253
  %255 = getelementptr inbounds i8, ptr %115, i64 8
  br label %256

256:                                              ; preds = %.preheader, %261
  %257 = 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) %134, ptr noundef nonnull @.str.3, i64 noundef 66)
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %135)
  call void @_ZN5boost9unit_test15unit_test_log_t14set_checkpointENS0_13basic_cstringIKcEEmS4_(ptr noundef nonnull align 8 dereferenceable(8) %257, ptr noundef nonnull %134, i64 noundef 51, ptr noundef nonnull %135)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %136) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %137) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %138) #7
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %139) #7
  call void @_ZNK5boost10test_tools9assertion4seedpmIRKfEENS1_10value_exprIT_EEOS7_(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion::value_expr") align 8 %138, ptr noundef nonnull align 1 dereferenceable(1) %139, ptr noundef nonnull align 4 dereferenceable(4) %255)
  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 %137, ptr noundef nonnull align 1 dereferenceable(1) %138, ptr noundef nonnull align 4 dereferenceable(4) %193)
  call void @_ZNK5boost10test_tools9assertion11binary_exprINS1_10value_exprIRKfEES5_NS1_2op2EQIffvEEE8evaluateEb(ptr dead_on_unwind nonnull writable sret(%"class.boost::test_tools::assertion_result") align 8 %136, ptr noundef nonnull align 8 dereferenceable(16) %137, i1 noundef zeroext false)
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %140) #7
  %258 = call noundef nonnull align 8 dereferenceable(9) ptr @_ZN5boost9unit_test12lazy_ostream8instanceEv()
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %141) #7
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %141, 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 %140, ptr noundef nonnull align 8 dereferenceable(9) %258, ptr noundef nonnull align 8 dereferenceable(16) %141)
          to label %259 unwind label %329

259:                                              ; preds = %256
  call void @_ZN5boost9unit_test13basic_cstringIKcEC2ImEEPS2_T_(ptr noundef nonnull align 8 dereferenceable(16) %142, ptr noundef nonnull @.str.3, i64 noundef 66)
  %260 = 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) %136, ptr noundef nonnull align 8 dereferenceable(9) %140, ptr noundef nonnull %142, i64 noundef 51, i32 noundef 1, i32 noundef 14, i64 noundef 0)
          to label %261 unwind label %331

261:                                              ; preds = %259
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %140) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %141) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %140) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %136) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %139) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %138) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %137) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %136) #7
  %262 = call noundef zeroext i1 @_ZN5boost10test_tools9tt_detail10dummy_condEv()
  br i1 %262, label %256, label %263, !llvm.loop !33

263:                                              ; preds = %261
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %115) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %96) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %77) #7
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %46) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #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

264:                                              ; preds = %144
  %265 = landingpad { ptr, i32 }
          cleanup
  br label %268

266:                                              ; preds = %147
  %267 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #7
  br label %268

268:                                              ; preds = %266, %264
  %.pn = phi { ptr, i32 } [ %267, %266 ], [ %265, %264 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %12) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #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 8, 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 %339

269:                                              ; preds = %152
  %270 = landingpad { ptr, i32 }
          cleanup
  br label %273

271:                                              ; preds = %155
  %272 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %22) #7
  br label %273

273:                                              ; preds = %271, %269
  %.pn30 = phi { ptr, i32 } [ %272, %271 ], [ %270, %269 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %23) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %22) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %17) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %20) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %17) #7
  br label %339

274:                                              ; preds = %160
  %275 = landingpad { ptr, i32 }
          cleanup
  br label %278

276:                                              ; preds = %163
  %277 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %33) #7
  br label %278

278:                                              ; preds = %276, %274
  %.pn32 = phi { ptr, i32 } [ %277, %276 ], [ %275, %274 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %34) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %33) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %28) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %32) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %31) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %30) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %29) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %28) #7
  br label %338

279:                                              ; preds = %168
  %280 = landingpad { ptr, i32 }
          cleanup
  br label %283

281:                                              ; preds = %171
  %282 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %43) #7
  br label %283

283:                                              ; preds = %281, %279
  %.pn34 = phi { ptr, i32 } [ %282, %281 ], [ %280, %279 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %44) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %43) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %38) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %42) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %41) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %40) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %39) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %38) #7
  br label %338

284:                                              ; preds = %178
  %285 = landingpad { ptr, i32 }
          cleanup
  br label %288

286:                                              ; preds = %181
  %287 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %54) #7
  br label %288

288:                                              ; preds = %286, %284
  %.pn36 = phi { ptr, i32 } [ %287, %286 ], [ %285, %284 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %55) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %54) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %49) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %53) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %52) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %51) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %50) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %49) #7
  br label %337

289:                                              ; preds = %186
  %290 = landingpad { ptr, i32 }
          cleanup
  br label %293

291:                                              ; preds = %189
  %292 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %64) #7
  br label %293

293:                                              ; preds = %291, %289
  %.pn38 = phi { ptr, i32 } [ %292, %291 ], [ %290, %289 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %65) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %64) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %59) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %63) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %62) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %61) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %60) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %59) #7
  br label %337

294:                                              ; preds = %194
  %295 = landingpad { ptr, i32 }
          cleanup
  br label %298

296:                                              ; preds = %197
  %297 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %74) #7
  br label %298

298:                                              ; preds = %296, %294
  %.pn40 = phi { ptr, i32 } [ %297, %296 ], [ %295, %294 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %75) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %74) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %69) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %73) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %72) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %71) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %70) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %69) #7
  br label %337

299:                                              ; preds = %204
  %300 = landingpad { ptr, i32 }
          cleanup
  br label %303

301:                                              ; preds = %207
  %302 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %84) #7
  br label %303

303:                                              ; preds = %301, %299
  %.pn42 = phi { ptr, i32 } [ %302, %301 ], [ %300, %299 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %85) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %84) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %80) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %83) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %82) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %81) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %80) #7
  br label %336

304:                                              ; preds = %212
  %305 = landingpad { ptr, i32 }
          cleanup
  br label %308

306:                                              ; preds = %215
  %307 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %93) #7
  br label %308

308:                                              ; preds = %306, %304
  %.pn44 = phi { ptr, i32 } [ %307, %306 ], [ %305, %304 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %94) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %93) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %89) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %92) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %91) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %90) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %89) #7
  br label %336

309:                                              ; preds = %222
  %310 = landingpad { ptr, i32 }
          cleanup
  br label %313

311:                                              ; preds = %225
  %312 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %103) #7
  br label %313

313:                                              ; preds = %311, %309
  %.pn46 = phi { ptr, i32 } [ %312, %311 ], [ %310, %309 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %104) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %103) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %99) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %102) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %101) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %100) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %99) #7
  br label %335

314:                                              ; preds = %230
  %315 = landingpad { ptr, i32 }
          cleanup
  br label %318

316:                                              ; preds = %233
  %317 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %112) #7
  br label %318

318:                                              ; preds = %316, %314
  %.pn48 = phi { ptr, i32 } [ %317, %316 ], [ %315, %314 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %113) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %112) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %108) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %111) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %110) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %109) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %108) #7
  br label %335

319:                                              ; preds = %240
  %320 = landingpad { ptr, i32 }
          cleanup
  br label %323

321:                                              ; preds = %243
  %322 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %122) #7
  br label %323

323:                                              ; preds = %321, %319
  %.pn50 = phi { ptr, i32 } [ %322, %321 ], [ %320, %319 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %123) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %122) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %118) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %121) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %120) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %119) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %118) #7
  br label %334

324:                                              ; preds = %248
  %325 = landingpad { ptr, i32 }
          cleanup
  br label %328

326:                                              ; preds = %251
  %327 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %131) #7
  br label %328

328:                                              ; preds = %326, %324
  %.pn52 = phi { ptr, i32 } [ %327, %326 ], [ %325, %324 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %132) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %131) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %127) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %130) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %129) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %128) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %127) #7
  br label %334

329:                                              ; preds = %256
  %330 = landingpad { ptr, i32 }
          cleanup
  br label %333

331:                                              ; preds = %259
  %332 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5boost9unit_test12lazy_ostreamD2Ev(ptr noundef nonnull align 8 dereferenceable(32) %140) #7
  br label %333

333:                                              ; preds = %331, %329
  %.pn54 = phi { ptr, i32 } [ %332, %331 ], [ %330, %329 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %141) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %140) #7
  call void @_ZN5boost10test_tools16assertion_resultD2Ev(ptr noundef nonnull align 8 dereferenceable(24) %136) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %139) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %138) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %137) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %136) #7
  br label %334

334:                                              ; preds = %333, %328, %323
  %.pn54.pn = phi { ptr, i32 } [ %.pn54, %333 ], [ %.pn52, %328 ], [ %.pn50, %323 ]
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %115) #7
  br label %335

335:                                              ; preds = %334, %318, %313
  %.pn54.pn.pn = phi { ptr, i32 } [ %.pn54.pn, %334 ], [ %.pn48, %318 ], [ %.pn46, %313 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %96) #7
  br label %336

336:                                              ; preds = %335, %308, %303
  %.pn54.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn, %335 ], [ %.pn44, %308 ], [ %.pn42, %303 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %77) #7
  br label %337

337:                                              ; preds = %336, %298, %293, %288
  %.pn54.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn.pn, %336 ], [ %.pn40, %298 ], [ %.pn38, %293 ], [ %.pn36, %288 ]
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %46) #7
  br label %338

338:                                              ; preds = %337, %283, %278
  %.pn54.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn.pn.pn, %337 ], [ %.pn34, %283 ], [ %.pn32, %278 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #7
  br label %339

339:                                              ; preds = %338, %273, %268
  %.pn54.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn.pn.pn.pn, %338 ], [ %.pn30, %273 ], [ %.pn, %268 ]
  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 nounwind uwtable
declare dso_local void @_ZN6moteus6CordicC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 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 #1 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 #2 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 #2 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 #2 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 uwtable
declare dso_local void @_ZN5boost10test_tools9assertion15expression_baseINS1_10value_exprIRKfEEfEeqIdEENS1_11binary_exprIS6_T_NS1_2op2EQIfNS7_4RhsTISA_E4typeEvEEEEOSA_(ptr dead_on_unwind noalias writable sret(%"class.boost::test_tools::assertion::binary_expr.1") 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_exprIRKfEEdNS1_2op2EQIfdvEEE8evaluateEb(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 @_ZN6moteus14ClarkTransformC2Efff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef, float noundef) unnamed_addr #2 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 #2 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 #2 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 #2 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 #2 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 = { 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 #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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, !10, i64 0}
!10 = !{!"float", !7, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}
!13 = !{!14, !14, i64 0}
!14 = !{!"double", !7, i64 0}
!15 = distinct !{!15, !12}
!16 = distinct !{!16, !12}
!17 = distinct !{!17, !12}
!18 = !{!19, !10, i64 0}
!19 = !{!"_ZTSN6moteus14ClarkTransformE", !10, i64 0, !10, i64 4}
!20 = !{!19, !10, i64 4}
!21 = distinct !{!21, !12}
!22 = distinct !{!22, !12}
!23 = distinct !{!23, !12}
!24 = distinct !{!24, !12}
!25 = distinct !{!25, !12}
!26 = !{!27, !10, i64 0}
!27 = !{!"_ZTSN6moteus13ParkTransformE", !10, i64 0, !10, i64 4}
!28 = !{!27, !10, i64 4}
!29 = distinct !{!29, !12}
!30 = distinct !{!30, !12}
!31 = distinct !{!31, !12}
!32 = distinct !{!32, !12}
!33 = distinct !{!33, !12}


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