; LLVM IR from maliput/maliput :: src/maliput/math/quaternion.ll (ZN7maliput4math10QuaternionC2ERKNS0_6MatrixILm3EEE)

; 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.maliput::math::Quaternion" = type { double, double, double, double }

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7maliput4math10QuaternionC2ERKNS0_6MatrixILm3EEE(ptr noundef nonnull align 8 dereferenceable(32) %0, ptr noundef nonnull align 8 dereferenceable(72) %1) unnamed_addr #1 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca double, align 8
  %6 = alloca double, align 8
  %7 = alloca double, align 8
  %8 = alloca double, align 8
  %9 = alloca double, align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %10 = load ptr, ptr %3, align 8
  %11 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 0
  store double 0.000000e+00, ptr %11, align 8, !tbaa !9
  %12 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 1
  store double 0.000000e+00, ptr %12, align 8, !tbaa !12
  %13 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 2
  store double 0.000000e+00, ptr %13, align 8, !tbaa !13
  %14 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 3
  store double 0.000000e+00, ptr %14, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #4
  %15 = load ptr, ptr %4, align 8, !tbaa !5
  %16 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %15, i64 noundef 0)
  %17 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %16, i64 noundef 0)
  %18 = load ptr, ptr %4, align 8, !tbaa !5
  %19 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %18, i64 noundef 1)
  %20 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %19, i64 noundef 1)
  %21 = fadd double %17, %20
  %22 = load ptr, ptr %4, align 8, !tbaa !5
  %23 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %22, i64 noundef 2)
  %24 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %23, i64 noundef 2)
  %25 = fadd double %21, %24
  store double %25, ptr %5, align 8, !tbaa !15
  %26 = load double, ptr %5, align 8, !tbaa !15
  %27 = fcmp ogt double %26, 1.000000e-15
  br i1 %27, label %28, label %68

28:                                               ; preds = %2
  %29 = load double, ptr %5, align 8, !tbaa !15
  %30 = fadd double 1.000000e+00, %29
  %31 = call double @sqrt(double noundef %30) #4
  %32 = fdiv double %31, 2.000000e+00
  %33 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 0
  store double %32, ptr %33, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #4
  %34 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 0
  %35 = load double, ptr %34, align 8, !tbaa !9
  %36 = fmul double 4.000000e+00, %35
  %37 = fdiv double 1.000000e+00, %36
  store double %37, ptr %6, align 8, !tbaa !15
  %38 = load ptr, ptr %4, align 8, !tbaa !5
  %39 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %38, i64 noundef 2)
  %40 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %39, i64 noundef 1)
  %41 = load ptr, ptr %4, align 8, !tbaa !5
  %42 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %41, i64 noundef 1)
  %43 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %42, i64 noundef 2)
  %44 = fsub double %40, %43
  %45 = load double, ptr %6, align 8, !tbaa !15
  %46 = fmul double %44, %45
  %47 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 1
  store double %46, ptr %47, align 8, !tbaa !12
  %48 = load ptr, ptr %4, align 8, !tbaa !5
  %49 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %48, i64 noundef 0)
  %50 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %49, i64 noundef 2)
  %51 = load ptr, ptr %4, align 8, !tbaa !5
  %52 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %51, i64 noundef 2)
  %53 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %52, i64 noundef 0)
  %54 = fsub double %50, %53
  %55 = load double, ptr %6, align 8, !tbaa !15
  %56 = fmul double %54, %55
  %57 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 2
  store double %56, ptr %57, align 8, !tbaa !13
  %58 = load ptr, ptr %4, align 8, !tbaa !5
  %59 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %58, i64 noundef 1)
  %60 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %59, i64 noundef 0)
  %61 = load ptr, ptr %4, align 8, !tbaa !5
  %62 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %61, i64 noundef 0)
  %63 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %62, i64 noundef 1)
  %64 = fsub double %60, %63
  %65 = load double, ptr %6, align 8, !tbaa !15
  %66 = fmul double %64, %65
  %67 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 3
  store double %66, ptr %67, align 8, !tbaa !14
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #4
  br label %244

68:                                               ; preds = %2
  %69 = load ptr, ptr %4, align 8, !tbaa !5
  %70 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %69, i64 noundef 0)
  %71 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %70, i64 noundef 0)
  %72 = load ptr, ptr %4, align 8, !tbaa !5
  %73 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %72, i64 noundef 1)
  %74 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %73, i64 noundef 1)
  %75 = fcmp ogt double %71, %74
  br i1 %75, label %76, label %134

76:                                               ; preds = %68
  %77 = load ptr, ptr %4, align 8, !tbaa !5
  %78 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %77, i64 noundef 0)
  %79 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %78, i64 noundef 0)
  %80 = load ptr, ptr %4, align 8, !tbaa !5
  %81 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %80, i64 noundef 2)
  %82 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %81, i64 noundef 2)
  %83 = fcmp ogt double %79, %82
  br i1 %83, label %84, label %134

84:                                               ; preds = %76
  %85 = load ptr, ptr %4, align 8, !tbaa !5
  %86 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %85, i64 noundef 0)
  %87 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %86, i64 noundef 0)
  %88 = fadd double 1.000000e+00, %87
  %89 = load ptr, ptr %4, align 8, !tbaa !5
  %90 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %89, i64 noundef 1)
  %91 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %90, i64 noundef 1)
  %92 = fsub double %88, %91
  %93 = load ptr, ptr %4, align 8, !tbaa !5
  %94 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %93, i64 noundef 2)
  %95 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %94, i64 noundef 2)
  %96 = fsub double %92, %95
  %97 = call double @sqrt(double noundef %96) #4
  %98 = fdiv double %97, 2.000000e+00
  %99 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 1
  store double %98, ptr %99, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #4
  %100 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 1
  %101 = load double, ptr %100, align 8, !tbaa !12
  %102 = fmul double 4.000000e+00, %101
  %103 = fdiv double 1.000000e+00, %102
  store double %103, ptr %7, align 8, !tbaa !15
  %104 = load ptr, ptr %4, align 8, !tbaa !5
  %105 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %104, i64 noundef 2)
  %106 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %105, i64 noundef 1)
  %107 = load ptr, ptr %4, align 8, !tbaa !5
  %108 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %107, i64 noundef 1)
  %109 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %108, i64 noundef 2)
  %110 = fsub double %106, %109
  %111 = load double, ptr %7, align 8, !tbaa !15
  %112 = fmul double %110, %111
  %113 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 0
  store double %112, ptr %113, align 8, !tbaa !9
  %114 = load ptr, ptr %4, align 8, !tbaa !5
  %115 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %114, i64 noundef 1)
  %116 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %115, i64 noundef 0)
  %117 = load ptr, ptr %4, align 8, !tbaa !5
  %118 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %117, i64 noundef 0)
  %119 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %118, i64 noundef 1)
  %120 = fadd double %116, %119
  %121 = load double, ptr %7, align 8, !tbaa !15
  %122 = fmul double %120, %121
  %123 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 2
  store double %122, ptr %123, align 8, !tbaa !13
  %124 = load ptr, ptr %4, align 8, !tbaa !5
  %125 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %124, i64 noundef 0)
  %126 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %125, i64 noundef 2)
  %127 = load ptr, ptr %4, align 8, !tbaa !5
  %128 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %127, i64 noundef 2)
  %129 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %128, i64 noundef 0)
  %130 = fadd double %126, %129
  %131 = load double, ptr %7, align 8, !tbaa !15
  %132 = fmul double %130, %131
  %133 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 3
  store double %132, ptr %133, align 8, !tbaa !14
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #4
  br label %243

134:                                              ; preds = %76, %68
  %135 = load ptr, ptr %4, align 8, !tbaa !5
  %136 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %135, i64 noundef 1)
  %137 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %136, i64 noundef 1)
  %138 = load ptr, ptr %4, align 8, !tbaa !5
  %139 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %138, i64 noundef 2)
  %140 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %139, i64 noundef 2)
  %141 = fcmp ogt double %137, %140
  br i1 %141, label %142, label %192

142:                                              ; preds = %134
  %143 = load ptr, ptr %4, align 8, !tbaa !5
  %144 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %143, i64 noundef 0)
  %145 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %144, i64 noundef 0)
  %146 = fsub double 1.000000e+00, %145
  %147 = load ptr, ptr %4, align 8, !tbaa !5
  %148 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %147, i64 noundef 1)
  %149 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %148, i64 noundef 1)
  %150 = fadd double %146, %149
  %151 = load ptr, ptr %4, align 8, !tbaa !5
  %152 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %151, i64 noundef 2)
  %153 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %152, i64 noundef 2)
  %154 = fsub double %150, %153
  %155 = call double @sqrt(double noundef %154) #4
  %156 = fdiv double %155, 2.000000e+00
  %157 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 2
  store double %156, ptr %157, align 8, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #4
  %158 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 2
  %159 = load double, ptr %158, align 8, !tbaa !13
  %160 = fmul double 4.000000e+00, %159
  %161 = fdiv double 1.000000e+00, %160
  store double %161, ptr %8, align 8, !tbaa !15
  %162 = load ptr, ptr %4, align 8, !tbaa !5
  %163 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %162, i64 noundef 0)
  %164 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %163, i64 noundef 2)
  %165 = load ptr, ptr %4, align 8, !tbaa !5
  %166 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %165, i64 noundef 2)
  %167 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %166, i64 noundef 0)
  %168 = fsub double %164, %167
  %169 = load double, ptr %8, align 8, !tbaa !15
  %170 = fmul double %168, %169
  %171 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 0
  store double %170, ptr %171, align 8, !tbaa !9
  %172 = load ptr, ptr %4, align 8, !tbaa !5
  %173 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %172, i64 noundef 0)
  %174 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %173, i64 noundef 1)
  %175 = load ptr, ptr %4, align 8, !tbaa !5
  %176 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %175, i64 noundef 1)
  %177 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %176, i64 noundef 0)
  %178 = fadd double %174, %177
  %179 = load double, ptr %8, align 8, !tbaa !15
  %180 = fmul double %178, %179
  %181 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 1
  store double %180, ptr %181, align 8, !tbaa !12
  %182 = load ptr, ptr %4, align 8, !tbaa !5
  %183 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %182, i64 noundef 1)
  %184 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %183, i64 noundef 2)
  %185 = load ptr, ptr %4, align 8, !tbaa !5
  %186 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %185, i64 noundef 2)
  %187 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %186, i64 noundef 1)
  %188 = fadd double %184, %187
  %189 = load double, ptr %8, align 8, !tbaa !15
  %190 = fmul double %188, %189
  %191 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 3
  store double %190, ptr %191, align 8, !tbaa !14
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #4
  br label %242

192:                                              ; preds = %134
  %193 = load ptr, ptr %4, align 8, !tbaa !5
  %194 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %193, i64 noundef 0)
  %195 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %194, i64 noundef 0)
  %196 = fsub double 1.000000e+00, %195
  %197 = load ptr, ptr %4, align 8, !tbaa !5
  %198 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %197, i64 noundef 1)
  %199 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %198, i64 noundef 1)
  %200 = fsub double %196, %199
  %201 = load ptr, ptr %4, align 8, !tbaa !5
  %202 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %201, i64 noundef 2)
  %203 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %202, i64 noundef 2)
  %204 = fadd double %200, %203
  %205 = call double @sqrt(double noundef %204) #4
  %206 = fdiv double %205, 2.000000e+00
  %207 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 3
  store double %206, ptr %207, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #4
  %208 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 3
  %209 = load double, ptr %208, align 8, !tbaa !14
  %210 = fmul double 4.000000e+00, %209
  %211 = fdiv double 1.000000e+00, %210
  store double %211, ptr %9, align 8, !tbaa !15
  %212 = load ptr, ptr %4, align 8, !tbaa !5
  %213 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %212, i64 noundef 1)
  %214 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %213, i64 noundef 0)
  %215 = load ptr, ptr %4, align 8, !tbaa !5
  %216 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %215, i64 noundef 0)
  %217 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %216, i64 noundef 1)
  %218 = fsub double %214, %217
  %219 = load double, ptr %9, align 8, !tbaa !15
  %220 = fmul double %218, %219
  %221 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 0
  store double %220, ptr %221, align 8, !tbaa !9
  %222 = load ptr, ptr %4, align 8, !tbaa !5
  %223 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %222, i64 noundef 0)
  %224 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %223, i64 noundef 2)
  %225 = load ptr, ptr %4, align 8, !tbaa !5
  %226 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %225, i64 noundef 2)
  %227 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %226, i64 noundef 0)
  %228 = fadd double %224, %227
  %229 = load double, ptr %9, align 8, !tbaa !15
  %230 = fmul double %228, %229
  %231 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 1
  store double %230, ptr %231, align 8, !tbaa !12
  %232 = load ptr, ptr %4, align 8, !tbaa !5
  %233 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %232, i64 noundef 1)
  %234 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %233, i64 noundef 2)
  %235 = load ptr, ptr %4, align 8, !tbaa !5
  %236 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %235, i64 noundef 2)
  %237 = call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %236, i64 noundef 1)
  %238 = fadd double %234, %237
  %239 = load double, ptr %9, align 8, !tbaa !15
  %240 = fmul double %238, %239
  %241 = getelementptr inbounds %"class.maliput::math::Quaternion", ptr %10, i32 0, i32 2
  store double %240, ptr %241, align 8, !tbaa !13
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #4
  br label %242

242:                                              ; preds = %192, %142
  br label %243

243:                                              ; preds = %242, %84
  br label %244

244:                                              ; preds = %243, %28
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #4
  ret void
}

declare noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72), i64 noundef) #2

declare noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #2

; Function Attrs: nounwind
declare double @sqrt(double noundef) #3

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !11, i64 0}
!10 = !{!"_ZTSN7maliput4math10QuaternionE", !11, i64 0, !11, i64 8, !11, i64 16, !11, i64 24}
!11 = !{!"double", !7, i64 0}
!12 = !{!10, !11, i64 8}
!13 = !{!10, !11, i64 16}
!14 = !{!10, !11, i64 24}
!15 = !{!11, !11, i64 0}


; 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"

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7maliput4math10QuaternionC2ERKNS0_6MatrixILm3EEE(ptr nocapture noundef nonnull writeonly align 8 dereferenceable(32) %0, ptr noundef nonnull align 8 dereferenceable(72) %1) unnamed_addr #0 align 2 {
  %3 = getelementptr inbounds i8, ptr %0, i64 8
  %4 = getelementptr inbounds i8, ptr %0, i64 16
  %5 = getelementptr inbounds i8, ptr %0, i64 24
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(32) %0, i8 0, i64 32, i1 false)
  %6 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 0)
  %7 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %6, i64 noundef 0)
  %8 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 1)
  %9 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %8, i64 noundef 1)
  %10 = fadd double %7, %9
  %11 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 2)
  %12 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %11, i64 noundef 2)
  %13 = fadd double %10, %12
  %14 = fcmp ogt double %13, 1.000000e-15
  br i1 %14, label %15, label %39

15:                                               ; preds = %2
  %16 = fadd double %13, 1.000000e+00
  %17 = tail call double @sqrt(double noundef %16) #4
  %18 = fmul double %17, 5.000000e-01
  store double %18, ptr %0, align 8, !tbaa !5
  %19 = fmul double %18, 4.000000e+00
  %20 = fdiv double 1.000000e+00, %19
  %21 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 2)
  %22 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %21, i64 noundef 1)
  %23 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 1)
  %24 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %23, i64 noundef 2)
  %25 = fsub double %22, %24
  %26 = fmul double %20, %25
  store double %26, ptr %3, align 8, !tbaa !10
  %27 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 0)
  %28 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %27, i64 noundef 2)
  %29 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 2)
  %30 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %29, i64 noundef 0)
  %31 = fsub double %28, %30
  %32 = fmul double %20, %31
  store double %32, ptr %4, align 8, !tbaa !11
  %33 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 1)
  %34 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %33, i64 noundef 0)
  %35 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 0)
  %36 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %35, i64 noundef 1)
  %37 = fsub double %34, %36
  %38 = fmul double %20, %37
  store double %38, ptr %5, align 8, !tbaa !12
  br label %146

39:                                               ; preds = %2
  %40 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 0)
  %41 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %40, i64 noundef 0)
  %42 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 1)
  %43 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %42, i64 noundef 1)
  %44 = fcmp ogt double %41, %43
  br i1 %44, label %45, label %83

45:                                               ; preds = %39
  %46 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 0)
  %47 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef 0)
  %48 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 2)
  %49 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %48, i64 noundef 2)
  %50 = fcmp ogt double %47, %49
  br i1 %50, label %51, label %83

51:                                               ; preds = %45
  %52 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 0)
  %53 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %52, i64 noundef 0)
  %54 = fadd double %53, 1.000000e+00
  %55 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 1)
  %56 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %55, i64 noundef 1)
  %57 = fsub double %54, %56
  %58 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 2)
  %59 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %58, i64 noundef 2)
  %60 = fsub double %57, %59
  %61 = tail call double @sqrt(double noundef %60) #4
  %62 = fmul double %61, 5.000000e-01
  store double %62, ptr %3, align 8, !tbaa !10
  %63 = fmul double %62, 4.000000e+00
  %64 = fdiv double 1.000000e+00, %63
  %65 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 2)
  %66 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %65, i64 noundef 1)
  %67 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 1)
  %68 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %67, i64 noundef 2)
  %69 = fsub double %66, %68
  %70 = fmul double %64, %69
  store double %70, ptr %0, align 8, !tbaa !5
  %71 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 1)
  %72 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %71, i64 noundef 0)
  %73 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 0)
  %74 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %73, i64 noundef 1)
  %75 = fadd double %72, %74
  %76 = fmul double %64, %75
  store double %76, ptr %4, align 8, !tbaa !11
  %77 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 0)
  %78 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %77, i64 noundef 2)
  %79 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 2)
  %80 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %79, i64 noundef 0)
  %81 = fadd double %78, %80
  %82 = fmul double %64, %81
  store double %82, ptr %5, align 8, !tbaa !12
  br label %146

83:                                               ; preds = %45, %39
  %84 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 1)
  %85 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %84, i64 noundef 1)
  %86 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 2)
  %87 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %86, i64 noundef 2)
  %88 = fcmp ogt double %85, %87
  %89 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 0)
  %90 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %89, i64 noundef 0)
  %91 = fsub double 1.000000e+00, %90
  %92 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 1)
  %93 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %92, i64 noundef 1)
  %94 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 2)
  %95 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %94, i64 noundef 2)
  br i1 %88, label %96, label %121

96:                                               ; preds = %83
  %97 = fadd double %91, %93
  %98 = fsub double %97, %95
  %99 = tail call double @sqrt(double noundef %98) #4
  %100 = fmul double %99, 5.000000e-01
  store double %100, ptr %4, align 8, !tbaa !11
  %101 = fmul double %100, 4.000000e+00
  %102 = fdiv double 1.000000e+00, %101
  %103 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 0)
  %104 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %103, i64 noundef 2)
  %105 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 2)
  %106 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %105, i64 noundef 0)
  %107 = fsub double %104, %106
  %108 = fmul double %102, %107
  store double %108, ptr %0, align 8, !tbaa !5
  %109 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 0)
  %110 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %109, i64 noundef 1)
  %111 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 1)
  %112 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %111, i64 noundef 0)
  %113 = fadd double %110, %112
  %114 = fmul double %102, %113
  store double %114, ptr %3, align 8, !tbaa !10
  %115 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 1)
  %116 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %115, i64 noundef 2)
  %117 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 2)
  %118 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %117, i64 noundef 1)
  %119 = fadd double %116, %118
  %120 = fmul double %102, %119
  store double %120, ptr %5, align 8, !tbaa !12
  br label %146

121:                                              ; preds = %83
  %122 = fsub double %91, %93
  %123 = fadd double %122, %95
  %124 = tail call double @sqrt(double noundef %123) #4
  %125 = fmul double %124, 5.000000e-01
  store double %125, ptr %5, align 8, !tbaa !12
  %126 = fmul double %125, 4.000000e+00
  %127 = fdiv double 1.000000e+00, %126
  %128 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 1)
  %129 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %128, i64 noundef 0)
  %130 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 0)
  %131 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %130, i64 noundef 1)
  %132 = fsub double %129, %131
  %133 = fmul double %127, %132
  store double %133, ptr %0, align 8, !tbaa !5
  %134 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 0)
  %135 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %134, i64 noundef 2)
  %136 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 2)
  %137 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %136, i64 noundef 0)
  %138 = fadd double %135, %137
  %139 = fmul double %127, %138
  store double %139, ptr %3, align 8, !tbaa !10
  %140 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 1)
  %141 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %140, i64 noundef 2)
  %142 = tail call noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72) %1, i64 noundef 2)
  %143 = tail call noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %142, i64 noundef 1)
  %144 = fadd double %141, %143
  %145 = fmul double %127, %144
  store double %145, ptr %4, align 8, !tbaa !11
  br label %146

146:                                              ; preds = %51, %121, %96, %15
  ret void
}

declare noundef nonnull align 8 dereferenceable(24) ptr @_ZNK7maliput4math6MatrixILm3EEixEm(ptr noundef nonnull align 8 dereferenceable(72), i64 noundef) local_unnamed_addr #1

declare noundef double @_ZNK7maliput4math10VectorBaseILm3ENS0_6VectorILm3EEEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1

; Function Attrs: mustprogress nofree nounwind willreturn memory(write)
declare double @sqrt(double noundef) local_unnamed_addr #2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #3

attributes #0 = { 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 #1 = { "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 nofree nounwind willreturn memory(write) "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 nounwind willreturn memory(argmem: write) }
attributes #4 = { 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 0}
!6 = !{!"_ZTSN7maliput4math10QuaternionE", !7, i64 0, !7, i64 8, !7, i64 16, !7, i64 24}
!7 = !{!"double", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!6, !7, i64 8}
!11 = !{!6, !7, i64 16}
!12 = !{!6, !7, i64 24}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,MemCpyOptPass,PostOrderFunctionAttrsPass,ReassociatePass,SROAPass,SimplifyCFGPass,TailCallElimPass