; LLVM IR from NKU-MobFly-Robotics/local-planning-benchmark :: move_base_benchmark/doc/metrics.ll (Z25ComputeVelocitySmoothnessRKSt6vectorI4DataSaIS0_EE)

; 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"

%struct.Data = type { double, double, double, double, double, double, double, double }

@.str.1 = external hidden unnamed_addr constant [114 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [20 x i8], align 1
@__PRETTY_FUNCTION__._Z25ComputeVelocitySmoothnessRKSt6vectorI4DataSaIS0_EE = external hidden unnamed_addr constant [60 x i8], align 1

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #0

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI4DataSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt6vectorI4DataSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nounwind uwtable
define dso_local noundef double @_Z25ComputeVelocitySmoothnessRKSt6vectorI4DataSaIS0_EE(ptr noundef nonnull align 8 dereferenceable(24) %0) #2 {
  %2 = alloca ptr, align 8
  %3 = alloca double, align 8
  %4 = alloca i64, align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  %5 = load ptr, ptr %2, align 8, !tbaa !5
  %6 = call noundef i64 @_ZNKSt6vectorI4DataSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #4
  %7 = icmp ugt i64 %6, 1
  br i1 %7, label %8, label %9

8:                                                ; preds = %1
  br label %11

9:                                                ; preds = %1
  call void @__assert_fail(ptr noundef @.str.2, ptr noundef @.str.1, i32 noundef 66, ptr noundef @__PRETTY_FUNCTION__._Z25ComputeVelocitySmoothnessRKSt6vectorI4DataSaIS0_EE) #5
  unreachable

10:                                               ; No predecessors!
  br label %11

11:                                               ; preds = %10, %8
  call void @llvm.lifetime.start.p0(i64 8, ptr %3) #4
  store double 0.000000e+00, ptr %3, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %4) #4
  store i64 0, ptr %4, align 8, !tbaa !11
  br label %12

12:                                               ; preds = %48, %11
  %13 = load i64, ptr %4, align 8, !tbaa !11
  %14 = load ptr, ptr %2, align 8, !tbaa !5
  %15 = call noundef i64 @_ZNKSt6vectorI4DataSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %14) #4
  %16 = sub i64 %15, 1
  %17 = icmp ult i64 %13, %16
  br i1 %17, label %19, label %18

18:                                               ; preds = %12
  call void @llvm.lifetime.end.p0(i64 8, ptr %4) #4
  br label %51

19:                                               ; preds = %12
  %20 = load ptr, ptr %2, align 8, !tbaa !5
  %21 = load i64, ptr %4, align 8, !tbaa !11
  %22 = add i64 %21, 1
  %23 = call noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt6vectorI4DataSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %22) #4
  %24 = getelementptr inbounds %struct.Data, ptr %23, i32 0, i32 4
  %25 = load double, ptr %24, align 8, !tbaa !13
  %26 = load ptr, ptr %2, align 8, !tbaa !5
  %27 = load i64, ptr %4, align 8, !tbaa !11
  %28 = call noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt6vectorI4DataSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %26, i64 noundef %27) #4
  %29 = getelementptr inbounds %struct.Data, ptr %28, i32 0, i32 4
  %30 = load double, ptr %29, align 8, !tbaa !13
  %31 = fsub double %25, %30
  %32 = call double @llvm.fabs.f64(double %31)
  %33 = load ptr, ptr %2, align 8, !tbaa !5
  %34 = load i64, ptr %4, align 8, !tbaa !11
  %35 = add i64 %34, 1
  %36 = call noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt6vectorI4DataSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %33, i64 noundef %35) #4
  %37 = getelementptr inbounds %struct.Data, ptr %36, i32 0, i32 0
  %38 = load double, ptr %37, align 8, !tbaa !15
  %39 = load ptr, ptr %2, align 8, !tbaa !5
  %40 = load i64, ptr %4, align 8, !tbaa !11
  %41 = call noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt6vectorI4DataSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %39, i64 noundef %40) #4
  %42 = getelementptr inbounds %struct.Data, ptr %41, i32 0, i32 0
  %43 = load double, ptr %42, align 8, !tbaa !15
  %44 = fsub double %38, %43
  %45 = fdiv double %32, %44
  %46 = load double, ptr %3, align 8, !tbaa !9
  %47 = fadd double %46, %45
  store double %47, ptr %3, align 8, !tbaa !9
  br label %48

48:                                               ; preds = %19
  %49 = load i64, ptr %4, align 8, !tbaa !11
  %50 = add i64 %49, 1
  store i64 %50, ptr %4, align 8, !tbaa !11
  br label %12, !llvm.loop !16

51:                                               ; preds = %18
  %52 = load ptr, ptr %2, align 8, !tbaa !5
  %53 = call noundef i64 @_ZNKSt6vectorI4DataSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %52) #4
  %54 = sub i64 %53, 1
  %55 = uitofp i64 %54 to double
  %56 = load double, ptr %3, align 8, !tbaa !9
  %57 = fdiv double %56, %55
  store double %57, ptr %3, align 8, !tbaa !9
  %58 = load double, ptr %3, align 8, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 8, ptr %3) #4
  ret double %58
}

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

attributes #0 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #4 = { nounwind }
attributes #5 = { noreturn 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 = !{!"double", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"long", !7, i64 0}
!13 = !{!14, !10, i64 32}
!14 = !{!"_ZTS4Data", !10, i64 0, !10, i64 8, !10, i64 16, !10, i64 24, !10, i64 32, !10, i64 40, !10, i64 48, !10, i64 56}
!15 = !{!14, !10, i64 0}
!16 = distinct !{!16, !17}
!17 = !{!"llvm.loop.mustprogress"}


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

@.str.1 = external hidden unnamed_addr constant [114 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [20 x i8], align 1
@__PRETTY_FUNCTION__._Z25ComputeVelocitySmoothnessRKSt6vectorI4DataSaIS0_EE = external hidden unnamed_addr constant [60 x i8], align 1

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI4DataSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt6vectorI4DataSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
define dso_local noundef double @_Z25ComputeVelocitySmoothnessRKSt6vectorI4DataSaIS0_EE(ptr noundef nonnull align 8 dereferenceable(24) %0) local_unnamed_addr #1 {
  %2 = tail call noundef i64 @_ZNKSt6vectorI4DataSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #3
  %3 = icmp ugt i64 %2, 1
  br i1 %3, label %.preheader, label %5

.preheader:                                       ; preds = %1
  %4 = tail call noundef i64 @_ZNKSt6vectorI4DataSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #3
  %.not = icmp eq i64 %4, 1
  br i1 %.not, label %._crit_edge, label %.lr.ph

5:                                                ; preds = %1
  tail call void @__assert_fail(ptr noundef nonnull @.str.2, ptr noundef nonnull @.str.1, i32 noundef 66, ptr noundef nonnull @__PRETTY_FUNCTION__._Z25ComputeVelocitySmoothnessRKSt6vectorI4DataSaIS0_EE) #4
  unreachable

._crit_edge:                                      ; preds = %.lr.ph, %.preheader
  %.015.lcssa = phi double [ 0.000000e+00, %.preheader ], [ %25, %.lr.ph ]
  %6 = tail call noundef i64 @_ZNKSt6vectorI4DataSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #3
  %7 = add i64 %6, -1
  %8 = uitofp i64 %7 to double
  %9 = fdiv double %.015.lcssa, %8
  ret double %9

.lr.ph:                                           ; preds = %.preheader, %.lr.ph
  %.017 = phi i64 [ %10, %.lr.ph ], [ 0, %.preheader ]
  %.01516 = phi double [ %25, %.lr.ph ], [ 0.000000e+00, %.preheader ]
  %10 = add nuw i64 %.017, 1
  %11 = tail call noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt6vectorI4DataSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %10) #3
  %12 = getelementptr inbounds i8, ptr %11, i64 32
  %13 = load double, ptr %12, align 8, !tbaa !5
  %14 = tail call noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt6vectorI4DataSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %.017) #3
  %15 = getelementptr inbounds i8, ptr %14, i64 32
  %16 = load double, ptr %15, align 8, !tbaa !5
  %17 = fsub double %13, %16
  %18 = tail call double @llvm.fabs.f64(double %17)
  %19 = tail call noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt6vectorI4DataSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %10) #3
  %20 = load double, ptr %19, align 8, !tbaa !10
  %21 = tail call noundef nonnull align 8 dereferenceable(64) ptr @_ZNKSt6vectorI4DataSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %.017) #3
  %22 = load double, ptr %21, align 8, !tbaa !10
  %23 = fsub double %20, %22
  %24 = fdiv double %18, %23
  %25 = fadd double %.01516, %24
  %26 = tail call noundef i64 @_ZNKSt6vectorI4DataSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #3
  %27 = add i64 %26, -1
  %28 = icmp ult i64 %10, %27
  br i1 %28, label %.lr.ph, label %._crit_edge, !llvm.loop !11
}

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fabs.f64(double) #2

attributes #0 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { nounwind }
attributes #4 = { noreturn 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, !7, i64 32}
!6 = !{!"_ZTS4Data", !7, i64 0, !7, i64 8, !7, i64 16, !7, i64 24, !7, i64 32, !7, i64 40, !7, i64 48, !7, i64 56}
!7 = !{!"double", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!6, !7, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,SROAPass,SimplifyCFGPass,TailCallElimPass