; LLVM IR from Forrest-Z/cpp_robotics :: slam/ukf_slam/src (ukf_slam)

; 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.Eigen::CwiseNullaryOp" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseNullaryOp.28" = type { %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase", ptr, i64 }
%"class.Eigen::MapBase" = type { %"class.Eigen::MapBase.35" }
%"class.Eigen::MapBase.35" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::VectorBlock" = type { %"class.Eigen::Block.43" }
%"class.Eigen::Block.43" = type { %"class.Eigen::BlockImpl.44" }
%"class.Eigen::BlockImpl.44" = type { %"class.Eigen::internal::BlockImpl_dense.45" }
%"class.Eigen::internal::BlockImpl_dense.45" = type { %"class.Eigen::MapBase.base.55", ptr, i64 }
%"class.Eigen::MapBase.base.55" = type { %"class.Eigen::MapBase.base" }
%"class.Eigen::MapBase.base" = type <{ ptr, %"class.Eigen::internal::variable_if_dynamic", i8 }>
%"class.Eigen::Matrix.2" = type { %"class.Eigen::PlainObjectBase.3" }
%"class.Eigen::PlainObjectBase.3" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { ptr, i64 }
%"class.Eigen::CwiseUnaryOp.90" = type <{ %"class.Eigen::ArrayWrapper", [8 x i8] }>
%"class.Eigen::ArrayWrapper" = type { %"class.Eigen::Block.102" }
%"class.Eigen::Block.102" = type { %"class.Eigen::BlockImpl.103" }
%"class.Eigen::BlockImpl.103" = type { %"class.Eigen::internal::BlockImpl_dense.104" }
%"class.Eigen::internal::BlockImpl_dense.104" = type { %"class.Eigen::MapBase.105", ptr, i64 }
%"class.Eigen::MapBase.105" = type { ptr, [8 x i8], %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::CwiseUnaryOp.112" = type <{ %"class.Eigen::ArrayWrapper", [8 x i8] }>
%"class.Eigen::GeneralProduct" = type { %"class.Eigen::Matrix.120" }
%"class.Eigen::Matrix.120" = type { %"class.Eigen::PlainObjectBase.121" }
%"class.Eigen::PlainObjectBase.121" = type { %"class.Eigen::DenseStorage.129" }
%"class.Eigen::DenseStorage.129" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [1 x double] }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::GeneralProduct.137" = type { %"class.Eigen::ProductBase" }
%"class.Eigen::ProductBase" = type { ptr, ptr, %"class.Eigen::Matrix.2" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64, i64 }
%"class.Eigen::CwiseBinaryOp.143" = type <{ %"class.Eigen::Block.150", %"class.Eigen::Block.43", [8 x i8] }>
%"class.Eigen::Block.150" = type { %"class.Eigen::BlockImpl.151" }
%"class.Eigen::BlockImpl.151" = type { %"class.Eigen::internal::BlockImpl_dense.152" }
%"class.Eigen::internal::BlockImpl_dense.152" = type { %"class.Eigen::MapBase.base.160", ptr, i64 }
%"class.Eigen::MapBase.base.160" = type <{ ptr, %"class.Eigen::internal::variable_if_dynamic", i8 }>
%"class.Eigen::CwiseBinaryOp.162" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::GeneralProduct.170" = type { %"class.Eigen::ProductBase.171" }
%"class.Eigen::ProductBase.171" = type { %"class.Eigen::CwiseUnaryOp.177", %"class.Eigen::Transpose", %"class.Eigen::Matrix" }
%"class.Eigen::CwiseUnaryOp.177" = type { ptr, %"struct.Eigen::internal::scalar_multiple_op" }
%"struct.Eigen::internal::scalar_multiple_op" = type { double }
%class.UKFSLam = type { ptr, i8, float, %class.Tools, %"class.Eigen::Matrix", %"class.Eigen::Matrix.2", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.std::vector" }
%class.Tools = type { ptr }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" = type { ptr, ptr, ptr }

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #0 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp") align 8, 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: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.28") align 8, i64 noundef, i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13topLeftCornerEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4headEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::VectorBlock") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7UKFSLam16recover_mu_sigmaERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(24) %1) #3 align 2 personality ptr @__gxx_personality_v0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca i32, align 4
  %6 = alloca float, align 4
  %7 = alloca %"class.Eigen::Matrix.2", align 8
  %8 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %9 = alloca ptr, align 8
  %10 = alloca i32, align 4
  %11 = alloca i32, align 4
  %12 = alloca %"class.Eigen::Matrix.2", align 8
  %13 = alloca %"class.Eigen::CwiseUnaryOp.90", align 8
  %14 = alloca %"class.Eigen::ArrayWrapper", align 8
  %15 = alloca %"class.Eigen::Block.102", align 8
  %16 = alloca %"class.Eigen::Matrix.2", align 8
  %17 = alloca %"class.Eigen::CwiseUnaryOp.112", align 8
  %18 = alloca %"class.Eigen::ArrayWrapper", align 8
  %19 = alloca %"class.Eigen::Block.102", align 8
  %20 = alloca double, align 8
  %21 = alloca %"class.Eigen::GeneralProduct", align 8
  %22 = alloca %"class.Eigen::Transpose", align 8
  %23 = alloca double, align 8
  %24 = alloca %"class.Eigen::GeneralProduct", align 8
  %25 = alloca %"class.Eigen::Transpose", align 8
  %26 = alloca %"class.Eigen::GeneralProduct.137", align 8
  %27 = alloca %"class.Eigen::VectorBlock", align 8
  %28 = alloca double, align 8
  %29 = alloca %"class.Eigen::Matrix", align 8
  %30 = alloca %"class.Eigen::CwiseNullaryOp.28", align 8
  %31 = alloca i32, align 4
  %32 = alloca %"class.Eigen::Matrix.2", align 8
  %33 = alloca %"class.Eigen::CwiseBinaryOp.143", align 8
  %34 = alloca %"class.Eigen::Block.150", align 8
  %35 = alloca %"class.Eigen::VectorBlock", align 8
  %36 = alloca %"class.Eigen::CwiseBinaryOp.162", align 8
  %37 = alloca %"class.Eigen::GeneralProduct.170", align 8
  %38 = alloca %"class.Eigen::CwiseUnaryOp.177", align 8
  %39 = alloca %"class.Eigen::Transpose", align 8
  %40 = alloca %"class.Eigen::Block", align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %41 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #6
  %42 = load ptr, ptr %4, align 8, !tbaa !5
  %43 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %42)
  %44 = trunc i64 %43 to i32
  store i32 %44, ptr %5, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #6
  %45 = getelementptr inbounds %class.UKFSLam, ptr %41, i32 0, i32 2
  %46 = load float, ptr %45, align 4, !tbaa !11
  %47 = load i32, ptr %5, align 4, !tbaa !9
  %48 = sitofp i32 %47 to float
  %49 = fsub float %46, %48
  store float %49, ptr %6, align 4, !tbaa !27
  call void @llvm.lifetime.start.p0(i64 16, ptr %7) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %8) #6
  %50 = load i32, ptr %5, align 4, !tbaa !9
  %51 = mul nsw i32 2, %50
  %52 = add nsw i32 %51, 1
  %53 = sext i32 %52 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %8, i64 noundef %53)
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %7, ptr noundef nonnull align 1 dereferenceable(1) %8)
  call void @llvm.lifetime.end.p0(i64 24, ptr %8) #6
  %54 = load float, ptr %6, align 4, !tbaa !27
  %55 = getelementptr inbounds %class.UKFSLam, ptr %41, i32 0, i32 2
  %56 = load float, ptr %55, align 4, !tbaa !11
  %57 = fdiv float %54, %56
  %58 = fpext float %57 to double
  %59 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %7, i64 noundef 0)
          to label %60 unwind label %68

60:                                               ; preds = %2
  store double %58, ptr %59, align 8, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #6
  store i32 1, ptr %11, align 4, !tbaa !9
  br label %61

61:                                               ; preds = %81, %60
  %62 = load i32, ptr %11, align 4, !tbaa !9
  %63 = load i32, ptr %5, align 4, !tbaa !9
  %64 = mul nsw i32 2, %63
  %65 = add nsw i32 %64, 1
  %66 = icmp slt i32 %62, %65
  br i1 %66, label %72, label %67

67:                                               ; preds = %61
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #6
  br label %88

68:                                               ; preds = %2
  %69 = landingpad { ptr, i32 }
          cleanup
  %70 = extractvalue { ptr, i32 } %69, 0
  store ptr %70, ptr %9, align 8
  %71 = extractvalue { ptr, i32 } %69, 1
  store i32 %71, ptr %10, align 4
  br label %262

72:                                               ; preds = %61
  %73 = getelementptr inbounds %class.UKFSLam, ptr %41, i32 0, i32 2
  %74 = load float, ptr %73, align 4, !tbaa !11
  %75 = fpext float %74 to double
  %76 = fdiv double 5.000000e-01, %75
  %77 = load i32, ptr %11, align 4, !tbaa !9
  %78 = sext i32 %77 to i64
  %79 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %7, i64 noundef %78)
          to label %80 unwind label %84

80:                                               ; preds = %72
  store double %76, ptr %79, align 8, !tbaa !28
  br label %81

81:                                               ; preds = %80
  %82 = load i32, ptr %11, align 4, !tbaa !9
  %83 = add nsw i32 %82, 1
  store i32 %83, ptr %11, align 4, !tbaa !9
  br label %61, !llvm.loop !30

84:                                               ; preds = %72
  %85 = landingpad { ptr, i32 }
          cleanup
  %86 = extractvalue { ptr, i32 } %85, 0
  store ptr %86, ptr %9, align 8
  %87 = extractvalue { ptr, i32 } %85, 1
  store i32 %87, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #6
  br label %262

88:                                               ; preds = %67
  call void @llvm.lifetime.start.p0(i64 16, ptr %12) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %13) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %14) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %15) #6
  %89 = load ptr, ptr %4, align 8, !tbaa !5
  invoke void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.102") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %89, i64 noundef 2)
          to label %90 unwind label %144

90:                                               ; preds = %88
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEE5arrayEv(ptr dead_on_unwind writable sret(%"class.Eigen::ArrayWrapper") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %15)
          to label %91 unwind label %144

91:                                               ; preds = %90
  invoke void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEE3cosEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp.90") align 8 %13, ptr noundef nonnull align 1 dereferenceable(1) %14)
          to label %92 unwind label %144

92:                                               ; preds = %91
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_cos_opIdEEKNS_12ArrayWrapperIKNS_5BlockIKNS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %12, ptr noundef nonnull align 1 dereferenceable(1) %13)
          to label %93 unwind label %144

93:                                               ; preds = %92
  call void @llvm.lifetime.end.p0(i64 40, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %13) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %16) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %17) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %18) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %19) #6
  %94 = load ptr, ptr %4, align 8, !tbaa !5
  invoke void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.102") align 8 %19, ptr noundef nonnull align 1 dereferenceable(1) %94, i64 noundef 2)
          to label %95 unwind label %148

95:                                               ; preds = %93
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEE5arrayEv(ptr dead_on_unwind writable sret(%"class.Eigen::ArrayWrapper") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %19)
          to label %96 unwind label %148

96:                                               ; preds = %95
  invoke void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEE3sinEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp.112") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %18)
          to label %97 unwind label %148

97:                                               ; preds = %96
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_sin_opIdEEKNS_12ArrayWrapperIKNS_5BlockIKNS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %16, ptr noundef nonnull align 1 dereferenceable(1) %17)
          to label %98 unwind label %148

98:                                               ; preds = %97
  call void @llvm.lifetime.end.p0(i64 40, ptr %19) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %17) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #6
  %99 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %12)
          to label %100 unwind label %152

100:                                              ; preds = %98
  %101 = getelementptr inbounds %"class.Eigen::Transpose", ptr %22, i32 0, i32 0
  store ptr %99, ptr %101, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEEmlIS3_EEKNS_17ProductReturnTypeIS4_T_Xsr8internal12product_typeIS4_S8_EE5valueEE4TypeERKNS0_IS8_EE(ptr dead_on_unwind writable sret(%"class.Eigen::GeneralProduct") align 8 %21, ptr noundef nonnull align 1 dereferenceable(1) %22, ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %102 unwind label %152

102:                                              ; preds = %100
  %103 = invoke noundef double @_ZNK5Eigen14GeneralProductINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEES3_Li3EEcvKdEv(ptr noundef nonnull align 8 dereferenceable(8) %21)
          to label %104 unwind label %152

104:                                              ; preds = %102
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #6
  store double %103, ptr %20, align 8, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #6
  %105 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %16)
          to label %106 unwind label %156

106:                                              ; preds = %104
  %107 = getelementptr inbounds %"class.Eigen::Transpose", ptr %25, i32 0, i32 0
  store ptr %105, ptr %107, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEEmlIS3_EEKNS_17ProductReturnTypeIS4_T_Xsr8internal12product_typeIS4_S8_EE5valueEE4TypeERKNS0_IS8_EE(ptr dead_on_unwind writable sret(%"class.Eigen::GeneralProduct") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) %25, ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %108 unwind label %156

108:                                              ; preds = %106
  %109 = invoke noundef double @_ZNK5Eigen14GeneralProductINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEES3_Li3EEcvKdEv(ptr noundef nonnull align 8 dereferenceable(8) %24)
          to label %110 unwind label %156

110:                                              ; preds = %108
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #6
  store double %109, ptr %23, align 8, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 32, ptr %26) #6
  %111 = load ptr, ptr %4, align 8, !tbaa !5
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_17ProductReturnTypeIS2_T_Xsr8internal12product_typeIS2_S7_EE5valueEE4TypeERKNS0_IS7_EE(ptr dead_on_unwind writable sret(%"class.Eigen::GeneralProduct.137") align 8 %26, ptr noundef nonnull align 1 dereferenceable(1) %111, ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %112 unwind label %160

112:                                              ; preds = %110
  call void @llvm.lifetime.start.p0(i64 40, ptr %27) #6
  %113 = getelementptr inbounds %class.UKFSLam, ptr %41, i32 0, i32 5
  %114 = load i32, ptr %5, align 4, !tbaa !9
  %115 = sext i32 %114 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4headEl(ptr dead_on_unwind writable sret(%"class.Eigen::VectorBlock") align 8 %27, ptr noundef nonnull align 1 dereferenceable(1) %113, i64 noundef %115)
          to label %116 unwind label %164

116:                                              ; preds = %112
  %117 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEaSINS_14GeneralProductINS1_IdLin1ELin1ELi0ELin1ELin1EEES2_Li4EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %27, ptr noundef nonnull align 1 dereferenceable(1) %26)
          to label %118 unwind label %164

118:                                              ; preds = %116
  call void @llvm.lifetime.end.p0(i64 40, ptr %27) #6
  call void @_ZN5Eigen11ProductBaseINS_14GeneralProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEENS2_IdLin1ELi1ELi0ELin1ELi1EEELi4EEES3_S4_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %26) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %26) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #6
  %119 = load double, ptr %23, align 8, !tbaa !28
  %120 = load double, ptr %20, align 8, !tbaa !28
  %121 = call double @atan2(double noundef %119, double noundef %120) #6
  store double %121, ptr %28, align 8, !tbaa !28
  %122 = getelementptr inbounds %class.UKFSLam, ptr %41, i32 0, i32 3
  %123 = load double, ptr %28, align 8, !tbaa !28
  %124 = fptrunc double %123 to float
  %125 = invoke noundef float @_ZN5Tools15normalize_angleEf(ptr noundef nonnull align 8 dereferenceable(8) %122, float noundef %124)
          to label %126 unwind label %169

126:                                              ; preds = %118
  %127 = fpext float %125 to double
  %128 = getelementptr inbounds %class.UKFSLam, ptr %41, i32 0, i32 5
  %129 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %128, i64 noundef 2)
          to label %130 unwind label %169

130:                                              ; preds = %126
  store double %127, ptr %129, align 8, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 24, ptr %29) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr %30) #6
  %131 = load i32, ptr %5, align 4, !tbaa !9
  %132 = sext i32 %131 to i64
  %133 = load i32, ptr %5, align 4, !tbaa !9
  %134 = sext i32 %133 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.28") align 8 %30, i64 noundef %132, i64 noundef %134)
          to label %135 unwind label %173

135:                                              ; preds = %130
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %29, ptr noundef nonnull align 1 dereferenceable(1) %30)
          to label %136 unwind label %173

136:                                              ; preds = %135
  call void @llvm.lifetime.end.p0(i64 24, ptr %30) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #6
  store i32 0, ptr %31, align 4, !tbaa !9
  br label %137

137:                                              ; preds = %210, %136
  %138 = load i32, ptr %31, align 4, !tbaa !9
  %139 = load i32, ptr %5, align 4, !tbaa !9
  %140 = mul nsw i32 2, %139
  %141 = add nsw i32 %140, 1
  %142 = icmp slt i32 %138, %141
  br i1 %142, label %177, label %143

143:                                              ; preds = %137
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #6
  br label %242

144:                                              ; preds = %92, %91, %90, %88
  %145 = landingpad { ptr, i32 }
          cleanup
  %146 = extractvalue { ptr, i32 } %145, 0
  store ptr %146, ptr %9, align 8
  %147 = extractvalue { ptr, i32 } %145, 1
  store i32 %147, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %13) #6
  br label %261

148:                                              ; preds = %97, %96, %95, %93
  %149 = landingpad { ptr, i32 }
          cleanup
  %150 = extractvalue { ptr, i32 } %149, 0
  store ptr %150, ptr %9, align 8
  %151 = extractvalue { ptr, i32 } %149, 1
  store i32 %151, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %19) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %17) #6
  br label %260

152:                                              ; preds = %102, %100, %98
  %153 = landingpad { ptr, i32 }
          cleanup
  %154 = extractvalue { ptr, i32 } %153, 0
  store ptr %154, ptr %9, align 8
  %155 = extractvalue { ptr, i32 } %153, 1
  store i32 %155, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #6
  br label %259

156:                                              ; preds = %108, %106, %104
  %157 = landingpad { ptr, i32 }
          cleanup
  %158 = extractvalue { ptr, i32 } %157, 0
  store ptr %158, ptr %9, align 8
  %159 = extractvalue { ptr, i32 } %157, 1
  store i32 %159, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #6
  br label %258

160:                                              ; preds = %110
  %161 = landingpad { ptr, i32 }
          cleanup
  %162 = extractvalue { ptr, i32 } %161, 0
  store ptr %162, ptr %9, align 8
  %163 = extractvalue { ptr, i32 } %161, 1
  store i32 %163, ptr %10, align 4
  br label %168

164:                                              ; preds = %116, %112
  %165 = landingpad { ptr, i32 }
          cleanup
  %166 = extractvalue { ptr, i32 } %165, 0
  store ptr %166, ptr %9, align 8
  %167 = extractvalue { ptr, i32 } %165, 1
  store i32 %167, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %27) #6
  call void @_ZN5Eigen11ProductBaseINS_14GeneralProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEENS2_IdLin1ELi1ELi0ELin1ELi1EEELi4EEES3_S4_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %26) #6
  br label %168

168:                                              ; preds = %164, %160
  call void @llvm.lifetime.end.p0(i64 32, ptr %26) #6
  br label %258

169:                                              ; preds = %126, %118
  %170 = landingpad { ptr, i32 }
          cleanup
  %171 = extractvalue { ptr, i32 } %170, 0
  store ptr %171, ptr %9, align 8
  %172 = extractvalue { ptr, i32 } %170, 1
  store i32 %172, ptr %10, align 4
  br label %257

173:                                              ; preds = %135, %130
  %174 = landingpad { ptr, i32 }
          cleanup
  %175 = extractvalue { ptr, i32 } %174, 0
  store ptr %175, ptr %9, align 8
  %176 = extractvalue { ptr, i32 } %174, 1
  store i32 %176, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 24, ptr %30) #6
  br label %256

177:                                              ; preds = %137
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #6
  call void @llvm.lifetime.start.p0(i64 88, ptr %33) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %34) #6
  %178 = load ptr, ptr %4, align 8, !tbaa !5
  %179 = load i32, ptr %31, align 4, !tbaa !9
  %180 = sext i32 %179 to i64
  invoke void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.150") align 8 %34, ptr noundef nonnull align 1 dereferenceable(1) %178, i64 noundef %180)
          to label %181 unwind label %213

181:                                              ; preds = %177
  call void @llvm.lifetime.start.p0(i64 40, ptr %35) #6
  %182 = getelementptr inbounds %class.UKFSLam, ptr %41, i32 0, i32 5
  %183 = load i32, ptr %5, align 4, !tbaa !9
  %184 = sext i32 %183 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4headEl(ptr dead_on_unwind writable sret(%"class.Eigen::VectorBlock") align 8 %35, ptr noundef nonnull align 1 dereferenceable(1) %182, i64 noundef %184)
          to label %185 unwind label %217

185:                                              ; preds = %181
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEmiINS1_INS2_IdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdEEKS5_KT_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.143") align 8 %33, ptr noundef nonnull align 1 dereferenceable(1) %34, ptr noundef nonnull align 1 dereferenceable(1) %35)
          to label %186 unwind label %217

186:                                              ; preds = %185
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdEEKNS_5BlockIKNS0_IdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEKNS7_IS1_Lin1ELi1ELb0EEEEEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %32, ptr noundef nonnull align 1 dereferenceable(1) %33)
          to label %187 unwind label %217

187:                                              ; preds = %186
  call void @llvm.lifetime.end.p0(i64 40, ptr %35) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %34) #6
  call void @llvm.lifetime.end.p0(i64 88, ptr %33) #6
  %188 = getelementptr inbounds %class.UKFSLam, ptr %41, i32 0, i32 3
  %189 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %32, i64 noundef 2)
          to label %190 unwind label %222

190:                                              ; preds = %187
  %191 = load double, ptr %189, align 8, !tbaa !28
  %192 = fptrunc double %191 to float
  %193 = invoke noundef float @_ZN5Tools15normalize_angleEf(ptr noundef nonnull align 8 dereferenceable(8) %188, float noundef %192)
          to label %194 unwind label %222

194:                                              ; preds = %190
  %195 = fpext float %193 to double
  %196 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %32, i64 noundef 2)
          to label %197 unwind label %222

197:                                              ; preds = %194
  store double %195, ptr %196, align 8, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 24, ptr %36) #6
  call void @llvm.lifetime.start.p0(i64 48, ptr %37) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %38) #6
  %198 = load i32, ptr %31, align 4, !tbaa !9
  %199 = sext i32 %198 to i64
  %200 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %7, i64 noundef %199)
          to label %201 unwind label %226

201:                                              ; preds = %197
  invoke void @_ZN5EigenmlERKdRKNS_10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp.177") align 8 %38, ptr noundef nonnull align 8 dereferenceable(8) %200, ptr noundef nonnull align 1 dereferenceable(1) %32)
          to label %202 unwind label %226

202:                                              ; preds = %201
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #6
  %203 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %32)
          to label %204 unwind label %230

204:                                              ; preds = %202
  %205 = getelementptr inbounds %"class.Eigen::Transpose", ptr %39, i32 0, i32 0
  store ptr %203, ptr %205, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEEmlINS_9TransposeIS6_EEEEKNS_17ProductReturnTypeIS8_T_Xsr8internal12product_typeIS8_SE_EE5valueEE4TypeERKNS0_ISE_EE(ptr dead_on_unwind writable sret(%"class.Eigen::GeneralProduct.170") align 8 %37, ptr noundef nonnull align 1 dereferenceable(1) %38, ptr noundef nonnull align 1 dereferenceable(1) %39)
          to label %206 unwind label %230

206:                                              ; preds = %204
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEplINS_14GeneralProductINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKNS1_IdLin1ELi1ELi0ELin1ELi1EEEEENS_9TransposeISA_EELi2EEEEEKNS_13CwiseBinaryOpINS7_13scalar_sum_opIdEEKS2_KT_EERKNS0_ISK_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.162") align 8 %36, ptr noundef nonnull align 1 dereferenceable(1) %29, ptr noundef nonnull align 1 dereferenceable(1) %37)
          to label %207 unwind label %234

207:                                              ; preds = %206
  %208 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS1_KNS_14GeneralProductINS_12CwiseUnaryOpINS4_18scalar_multiple_opIdEEKNS0_IdLin1ELi1ELi0ELin1ELi1EEEEENS_9TransposeISC_EELi2EEEEEEERS1_RKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %29, ptr noundef nonnull align 1 dereferenceable(1) %36)
          to label %209 unwind label %234

209:                                              ; preds = %207
  call void @_ZN5Eigen11ProductBaseINS_14GeneralProductINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEENS_9TransposeIS7_EELi2EEES9_SB_ED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %37) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %37) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %36) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %32) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #6
  br label %210

210:                                              ; preds = %209
  %211 = load i32, ptr %31, align 4, !tbaa !9
  %212 = add nsw i32 %211, 1
  store i32 %212, ptr %31, align 4, !tbaa !9
  br label %137, !llvm.loop !32

213:                                              ; preds = %177
  %214 = landingpad { ptr, i32 }
          cleanup
  %215 = extractvalue { ptr, i32 } %214, 0
  store ptr %215, ptr %9, align 8
  %216 = extractvalue { ptr, i32 } %214, 1
  store i32 %216, ptr %10, align 4
  br label %221

217:                                              ; preds = %186, %185, %181
  %218 = landingpad { ptr, i32 }
          cleanup
  %219 = extractvalue { ptr, i32 } %218, 0
  store ptr %219, ptr %9, align 8
  %220 = extractvalue { ptr, i32 } %218, 1
  store i32 %220, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %35) #6
  br label %221

221:                                              ; preds = %217, %213
  call void @llvm.lifetime.end.p0(i64 40, ptr %34) #6
  call void @llvm.lifetime.end.p0(i64 88, ptr %33) #6
  br label %241

222:                                              ; preds = %194, %190, %187
  %223 = landingpad { ptr, i32 }
          cleanup
  %224 = extractvalue { ptr, i32 } %223, 0
  store ptr %224, ptr %9, align 8
  %225 = extractvalue { ptr, i32 } %223, 1
  store i32 %225, ptr %10, align 4
  br label %240

226:                                              ; preds = %201, %197
  %227 = landingpad { ptr, i32 }
          cleanup
  %228 = extractvalue { ptr, i32 } %227, 0
  store ptr %228, ptr %9, align 8
  %229 = extractvalue { ptr, i32 } %227, 1
  store i32 %229, ptr %10, align 4
  br label %239

230:                                              ; preds = %204, %202
  %231 = landingpad { ptr, i32 }
          cleanup
  %232 = extractvalue { ptr, i32 } %231, 0
  store ptr %232, ptr %9, align 8
  %233 = extractvalue { ptr, i32 } %231, 1
  store i32 %233, ptr %10, align 4
  br label %238

234:                                              ; preds = %207, %206
  %235 = landingpad { ptr, i32 }
          cleanup
  %236 = extractvalue { ptr, i32 } %235, 0
  store ptr %236, ptr %9, align 8
  %237 = extractvalue { ptr, i32 } %235, 1
  store i32 %237, ptr %10, align 4
  call void @_ZN5Eigen11ProductBaseINS_14GeneralProductINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEENS_9TransposeIS7_EELi2EEES9_SB_ED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %37) #6
  br label %238

238:                                              ; preds = %234, %230
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #6
  br label %239

239:                                              ; preds = %238, %226
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #6
  call void @llvm.lifetime.end.p0(i64 48, ptr %37) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %36) #6
  br label %240

240:                                              ; preds = %239, %222
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %32) #6
  br label %241

241:                                              ; preds = %240, %221
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #6
  br label %255

242:                                              ; preds = %143
  call void @llvm.lifetime.start.p0(i64 40, ptr %40) #6
  %243 = getelementptr inbounds %class.UKFSLam, ptr %41, i32 0, i32 4
  %244 = load i32, ptr %5, align 4, !tbaa !9
  %245 = sext i32 %244 to i64
  %246 = load i32, ptr %5, align 4, !tbaa !9
  %247 = sext i32 %246 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13topLeftCornerEll(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %40, ptr noundef nonnull align 1 dereferenceable(1) %243, i64 noundef %245, i64 noundef %247)
          to label %248 unwind label %251

248:                                              ; preds = %242
  %249 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %40, ptr noundef nonnull align 1 dereferenceable(1) %29)
          to label %250 unwind label %251

250:                                              ; preds = %248
  call void @llvm.lifetime.end.p0(i64 40, ptr %40) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %29) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %29) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %16) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %16) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %12) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %7) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #6
  ret void

251:                                              ; preds = %248, %242
  %252 = landingpad { ptr, i32 }
          cleanup
  %253 = extractvalue { ptr, i32 } %252, 0
  store ptr %253, ptr %9, align 8
  %254 = extractvalue { ptr, i32 } %252, 1
  store i32 %254, ptr %10, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %40) #6
  br label %255

255:                                              ; preds = %251, %241
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %29) #6
  br label %256

256:                                              ; preds = %255, %173
  call void @llvm.lifetime.end.p0(i64 24, ptr %29) #6
  br label %257

257:                                              ; preds = %256, %169
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #6
  br label %258

258:                                              ; preds = %257, %168, %156
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #6
  br label %259

259:                                              ; preds = %258, %152
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %16) #6
  br label %260

260:                                              ; preds = %259, %148
  call void @llvm.lifetime.end.p0(i64 16, ptr %16) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %12) #6
  br label %261

261:                                              ; preds = %260, %144
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #6
  br label %262

262:                                              ; preds = %261, %84, %68
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %7) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #6
  br label %263

263:                                              ; preds = %262
  %264 = load ptr, ptr %9, align 8
  %265 = load i32, ptr %10, align 4
  %266 = insertvalue { ptr, i32 } poison, ptr %264, 0
  %267 = insertvalue { ptr, i32 } %266, i32 %265, 1
  resume { ptr, i32 } %267
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.102") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEE5arrayEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::ArrayWrapper") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEE3cosEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.90") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_cos_opIdEEKNS_12ArrayWrapperIKNS_5BlockIKNS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEE3sinEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.112") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_sin_opIdEEKNS_12ArrayWrapperIKNS_5BlockIKNS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEEmlIS3_EEKNS_17ProductReturnTypeIS4_T_Xsr8internal12product_typeIS4_S8_EE5valueEE4TypeERKNS0_IS8_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::GeneralProduct") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZNK5Eigen14GeneralProductINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEES3_Li3EEcvKdEv(ptr noundef nonnull align 8 dereferenceable(8)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_17ProductReturnTypeIS2_T_Xsr8internal12product_typeIS2_S7_EE5valueEE4TypeERKNS0_IS7_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::GeneralProduct.137") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEaSINS_14GeneralProductINS1_IdLin1ELin1ELi0ELin1ELin1EEES2_Li4EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen11ProductBaseINS_14GeneralProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEENS2_IdLin1ELi1ELi0ELin1ELi1EEELi4EEES3_S4_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #0 align 2

; Function Attrs: nounwind
declare double @atan2(double noundef, double noundef) #4

declare noundef float @_ZN5Tools15normalize_angleEf(ptr noundef nonnull align 8 dereferenceable(8), float noundef) #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.150") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEmiINS1_INS2_IdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdEEKS5_KT_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.143") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdEEKNS_5BlockIKNS0_IdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEKNS7_IS1_Lin1ELi1ELb0EEEEEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEplINS_14GeneralProductINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKNS1_IdLin1ELi1ELi0ELin1ELi1EEEEENS_9TransposeISA_EELi2EEEEEKNS_13CwiseBinaryOpINS7_13scalar_sum_opIdEEKS2_KT_EERKNS0_ISK_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.162") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5EigenmlERKdRKNS_10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.177") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEEmlINS_9TransposeIS6_EEEEKNS_17ProductReturnTypeIS8_T_Xsr8internal12product_typeIS8_SE_EE5valueEE4TypeERKNS0_ISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::GeneralProduct.170") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS1_KNS_14GeneralProductINS_12CwiseUnaryOpINS4_18scalar_multiple_opIdEEKNS0_IdLin1ELi1ELi0ELin1ELi1EEEEENS_9TransposeISC_EELi2EEEEEEERS1_RKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen11ProductBaseINS_14GeneralProductINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEENS_9TransposeIS7_EELi2EEES9_SB_ED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

attributes #0 = { 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 #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { 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 #4 = { 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 #5 = { "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 = { 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 = !{!"int", !7, i64 0}
!11 = !{!12, !14, i64 12}
!12 = !{!"_ZTS7UKFSLam", !13, i64 8, !14, i64 12, !15, i64 16, !16, i64 24, !20, i64 48, !16, i64 64, !16, i64 88, !23, i64 112}
!13 = !{!"bool", !7, i64 0}
!14 = !{!"float", !7, i64 0}
!15 = !{!"_ZTS5Tools"}
!16 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !6, i64 0, !19, i64 8, !19, i64 16}
!19 = !{!"long", !7, i64 0}
!20 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !19, i64 8}
!23 = !{!"_ZTSSt6vectorIiSaIiEE", !24, i64 0}
!24 = !{!"_ZTSSt12_Vector_baseIiSaIiEE", !25, i64 0}
!25 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE12_Vector_implE", !26, i64 0}
!26 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!27 = !{!14, !14, i64 0}
!28 = !{!29, !29, i64 0}
!29 = !{!"double", !7, i64 0}
!30 = distinct !{!30, !31}
!31 = !{!"llvm.loop.mustprogress"}
!32 = distinct !{!32, !31}


; 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.Eigen::CwiseNullaryOp" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::CwiseNullaryOp.28" = type { %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase", ptr, i64 }
%"class.Eigen::MapBase" = type { %"class.Eigen::MapBase.35" }
%"class.Eigen::MapBase.35" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::VectorBlock" = type { %"class.Eigen::Block.43" }
%"class.Eigen::Block.43" = type { %"class.Eigen::BlockImpl.44" }
%"class.Eigen::BlockImpl.44" = type { %"class.Eigen::internal::BlockImpl_dense.45" }
%"class.Eigen::internal::BlockImpl_dense.45" = type { %"class.Eigen::MapBase.base.55", ptr, i64 }
%"class.Eigen::MapBase.base.55" = type { %"class.Eigen::MapBase.base" }
%"class.Eigen::MapBase.base" = type <{ ptr, %"class.Eigen::internal::variable_if_dynamic", i8 }>
%"class.Eigen::Matrix.2" = type { %"class.Eigen::PlainObjectBase.3" }
%"class.Eigen::PlainObjectBase.3" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { ptr, i64 }
%"class.Eigen::CwiseUnaryOp.90" = type <{ %"class.Eigen::ArrayWrapper", [8 x i8] }>
%"class.Eigen::ArrayWrapper" = type { %"class.Eigen::Block.102" }
%"class.Eigen::Block.102" = type { %"class.Eigen::BlockImpl.103" }
%"class.Eigen::BlockImpl.103" = type { %"class.Eigen::internal::BlockImpl_dense.104" }
%"class.Eigen::internal::BlockImpl_dense.104" = type { %"class.Eigen::MapBase.105", ptr, i64 }
%"class.Eigen::MapBase.105" = type { ptr, [8 x i8], %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::CwiseUnaryOp.112" = type <{ %"class.Eigen::ArrayWrapper", [8 x i8] }>
%"class.Eigen::GeneralProduct" = type { %"class.Eigen::Matrix.120" }
%"class.Eigen::Matrix.120" = type { %"class.Eigen::PlainObjectBase.121" }
%"class.Eigen::PlainObjectBase.121" = type { %"class.Eigen::DenseStorage.129" }
%"class.Eigen::DenseStorage.129" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [1 x double] }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::GeneralProduct.137" = type { %"class.Eigen::ProductBase" }
%"class.Eigen::ProductBase" = type { ptr, ptr, %"class.Eigen::Matrix.2" }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64, i64 }
%"class.Eigen::CwiseBinaryOp.143" = type <{ %"class.Eigen::Block.150", %"class.Eigen::Block.43", [8 x i8] }>
%"class.Eigen::Block.150" = type { %"class.Eigen::BlockImpl.151" }
%"class.Eigen::BlockImpl.151" = type { %"class.Eigen::internal::BlockImpl_dense.152" }
%"class.Eigen::internal::BlockImpl_dense.152" = type { %"class.Eigen::MapBase.base.160", ptr, i64 }
%"class.Eigen::MapBase.base.160" = type <{ ptr, %"class.Eigen::internal::variable_if_dynamic", i8 }>
%"class.Eigen::CwiseBinaryOp.162" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::GeneralProduct.170" = type { %"class.Eigen::ProductBase.171" }
%"class.Eigen::ProductBase.171" = type { %"class.Eigen::CwiseUnaryOp.177", %"class.Eigen::Transpose", %"class.Eigen::Matrix" }
%"class.Eigen::CwiseUnaryOp.177" = type { ptr, %"struct.Eigen::internal::scalar_multiple_op" }
%"struct.Eigen::internal::scalar_multiple_op" = type { double }

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #0 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp") align 8, i64 noundef) local_unnamed_addr #2 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp.28") align 8, i64 noundef, i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13topLeftCornerEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4headEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::VectorBlock") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7UKFSLam16recover_mu_sigmaERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(24) %1) local_unnamed_addr #3 align 2 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.Eigen::Matrix.2", align 8
  %4 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %5 = alloca %"class.Eigen::Matrix.2", align 8
  %6 = alloca %"class.Eigen::CwiseUnaryOp.90", align 8
  %7 = alloca %"class.Eigen::ArrayWrapper", align 8
  %8 = alloca %"class.Eigen::Block.102", align 8
  %9 = alloca %"class.Eigen::Matrix.2", align 8
  %10 = alloca %"class.Eigen::CwiseUnaryOp.112", align 8
  %11 = alloca %"class.Eigen::ArrayWrapper", align 8
  %12 = alloca %"class.Eigen::Block.102", align 8
  %13 = alloca %"class.Eigen::GeneralProduct", align 8
  %14 = alloca %"class.Eigen::Transpose", align 8
  %15 = alloca %"class.Eigen::GeneralProduct", align 8
  %16 = alloca %"class.Eigen::Transpose", align 8
  %17 = alloca %"class.Eigen::GeneralProduct.137", align 8
  %18 = alloca %"class.Eigen::VectorBlock", align 8
  %19 = alloca %"class.Eigen::Matrix", align 8
  %20 = alloca %"class.Eigen::CwiseNullaryOp.28", align 8
  %21 = alloca %"class.Eigen::Matrix.2", align 8
  %22 = alloca %"class.Eigen::CwiseBinaryOp.143", align 8
  %23 = alloca %"class.Eigen::Block.150", align 8
  %24 = alloca %"class.Eigen::VectorBlock", align 8
  %25 = alloca %"class.Eigen::CwiseBinaryOp.162", align 8
  %26 = alloca %"class.Eigen::GeneralProduct.170", align 8
  %27 = alloca %"class.Eigen::CwiseUnaryOp.177", align 8
  %28 = alloca %"class.Eigen::Transpose", align 8
  %29 = alloca %"class.Eigen::Block", align 8
  %30 = tail call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %1)
  %31 = trunc i64 %30 to i32
  %32 = getelementptr inbounds i8, ptr %0, i64 12
  %33 = load float, ptr %32, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %3) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %4) #7
  %34 = shl nsw i32 %31, 1
  %35 = or disjoint i32 %34, 1
  %36 = sext i32 %35 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %4, i64 noundef %36)
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %3, ptr noundef nonnull align 1 dereferenceable(1) %4)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #7
  %37 = load float, ptr %32, align 4, !tbaa !5
  %38 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0)
          to label %39 unwind label %45

39:                                               ; preds = %2
  %40 = sitofp i32 %31 to float
  %41 = fsub float %33, %40
  %42 = fdiv float %41, %37
  %43 = fpext float %42 to double
  store double %43, ptr %38, align 8, !tbaa !24
  %.not63 = icmp slt i32 %31, 1
  br i1 %.not63, label %._crit_edge, label %.lr.ph.preheader

.lr.ph.preheader:                                 ; preds = %39
  %smax = call i32 @llvm.smax.i32(i32 %34, i32 1)
  %44 = add nuw nsw i32 %smax, 1
  %wide.trip.count = zext nneg i32 %44 to i64
  br label %.lr.ph

._crit_edge:                                      ; preds = %49, %39
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %5) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %6) #7
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %7) #7
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %8) #7
  invoke void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.102") align 8 %8, ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef 2)
          to label %54 unwind label %90

45:                                               ; preds = %2
  %46 = landingpad { ptr, i32 }
          cleanup
  br label %156

.lr.ph:                                           ; preds = %.lr.ph.preheader, %49
  %indvars.iv = phi i64 [ 1, %.lr.ph.preheader ], [ %indvars.iv.next, %49 ]
  %47 = load float, ptr %32, align 4, !tbaa !5
  %48 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %indvars.iv)
          to label %49 unwind label %52

49:                                               ; preds = %.lr.ph
  %50 = fpext float %47 to double
  %51 = fdiv double 5.000000e-01, %50
  store double %51, ptr %48, align 8, !tbaa !24
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %._crit_edge, label %.lr.ph, !llvm.loop !26

52:                                               ; preds = %.lr.ph
  %53 = landingpad { ptr, i32 }
          cleanup
  br label %156

54:                                               ; preds = %._crit_edge
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEE5arrayEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::ArrayWrapper") align 8 %7, ptr noundef nonnull align 1 dereferenceable(1) %8)
          to label %55 unwind label %90

55:                                               ; preds = %54
  invoke void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEE3cosEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp.90") align 8 %6, ptr noundef nonnull align 1 dereferenceable(1) %7)
          to label %56 unwind label %90

56:                                               ; preds = %55
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_cos_opIdEEKNS_12ArrayWrapperIKNS_5BlockIKNS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %5, ptr noundef nonnull align 1 dereferenceable(1) %6)
          to label %57 unwind label %90

57:                                               ; preds = %56
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %8) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %6) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %10) #7
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %11) #7
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %12) #7
  invoke void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.102") align 8 %12, ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef 2)
          to label %58 unwind label %92

58:                                               ; preds = %57
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEE5arrayEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::ArrayWrapper") align 8 %11, ptr noundef nonnull align 1 dereferenceable(1) %12)
          to label %59 unwind label %92

59:                                               ; preds = %58
  invoke void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEE3sinEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp.112") align 8 %10, ptr noundef nonnull align 1 dereferenceable(1) %11)
          to label %60 unwind label %92

60:                                               ; preds = %59
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_sin_opIdEEKNS_12ArrayWrapperIKNS_5BlockIKNS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %9, ptr noundef nonnull align 1 dereferenceable(1) %10)
          to label %61 unwind label %92

61:                                               ; preds = %60
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %12) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %11) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %10) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #7
  %62 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %5)
          to label %63 unwind label %94

63:                                               ; preds = %61
  store ptr %62, ptr %14, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEEmlIS3_EEKNS_17ProductReturnTypeIS4_T_Xsr8internal12product_typeIS4_S8_EE5valueEE4TypeERKNS0_IS8_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::GeneralProduct") align 8 %13, ptr noundef nonnull align 1 dereferenceable(1) %14, ptr noundef nonnull align 1 dereferenceable(1) %3)
          to label %64 unwind label %94

64:                                               ; preds = %63
  %65 = invoke noundef double @_ZNK5Eigen14GeneralProductINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEES3_Li3EEcvKdEv(ptr noundef nonnull align 8 dereferenceable(8) %13)
          to label %66 unwind label %94

66:                                               ; preds = %64
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #7
  %67 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %9)
          to label %68 unwind label %96

68:                                               ; preds = %66
  store ptr %67, ptr %16, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEEmlIS3_EEKNS_17ProductReturnTypeIS4_T_Xsr8internal12product_typeIS4_S8_EE5valueEE4TypeERKNS0_IS8_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::GeneralProduct") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %16, ptr noundef nonnull align 1 dereferenceable(1) %3)
          to label %69 unwind label %96

69:                                               ; preds = %68
  %70 = invoke noundef double @_ZNK5Eigen14GeneralProductINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEES3_Li3EEcvKdEv(ptr noundef nonnull align 8 dereferenceable(8) %15)
          to label %71 unwind label %96

71:                                               ; preds = %69
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #7
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %17) #7
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_17ProductReturnTypeIS2_T_Xsr8internal12product_typeIS2_S7_EE5valueEE4TypeERKNS0_IS7_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::GeneralProduct.137") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %1, ptr noundef nonnull align 1 dereferenceable(1) %3)
          to label %72 unwind label %98

72:                                               ; preds = %71
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %18) #7
  %73 = getelementptr inbounds i8, ptr %0, i64 48
  %sext = shl i64 %30, 32
  %74 = ashr exact i64 %sext, 32
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4headEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::VectorBlock") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %73, i64 noundef %74)
          to label %75 unwind label %100

75:                                               ; preds = %72
  %76 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEaSINS_14GeneralProductINS1_IdLin1ELin1ELi0ELin1ELin1EEES2_Li4EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %18, ptr noundef nonnull align 1 dereferenceable(1) %17)
          to label %77 unwind label %100

77:                                               ; preds = %75
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %18) #7
  call void @_ZN5Eigen11ProductBaseINS_14GeneralProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEENS2_IdLin1ELi1ELi0ELin1ELi1EEELi4EEES3_S4_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #7
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %17) #7
  %78 = call double @atan2(double noundef %70, double noundef %65) #7
  %79 = getelementptr inbounds i8, ptr %0, i64 16
  %80 = fptrunc double %78 to float
  %81 = invoke noundef float @_ZN5Tools15normalize_angleEf(ptr noundef nonnull align 8 dereferenceable(8) %79, float noundef %80)
          to label %82 unwind label %103

82:                                               ; preds = %77
  %83 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %73, i64 noundef 2)
          to label %84 unwind label %103

84:                                               ; preds = %82
  %85 = fpext float %81 to double
  store double %85, ptr %83, align 8, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %19) #7
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %20) #7
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.28") align 8 %20, i64 noundef %74, i64 noundef %74)
          to label %86 unwind label %105

86:                                               ; preds = %84
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %19, ptr noundef nonnull align 1 dereferenceable(1) %20)
          to label %87 unwind label %105

87:                                               ; preds = %86
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %20) #7
  %.not4665 = icmp slt i32 %31, 0
  br i1 %.not4665, label %._crit_edge69, label %.lr.ph68.preheader

.lr.ph68.preheader:                               ; preds = %87
  %88 = or disjoint i32 %34, 1
  %wide.trip.count75 = zext nneg i32 %88 to i64
  br label %.lr.ph68

._crit_edge69:                                    ; preds = %128, %87
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %29) #7
  %89 = getelementptr inbounds i8, ptr %0, i64 24
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13topLeftCornerEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %29, ptr noundef nonnull align 1 dereferenceable(1) %89, i64 noundef %74, i64 noundef %74)
          to label %146 unwind label %149

90:                                               ; preds = %56, %55, %54, %._crit_edge
  %91 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %8) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %6) #7
  br label %155

92:                                               ; preds = %60, %59, %58, %57
  %93 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %12) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %11) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %10) #7
  br label %154

94:                                               ; preds = %64, %63, %61
  %95 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #7
  br label %153

96:                                               ; preds = %69, %68, %66
  %97 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #7
  br label %153

98:                                               ; preds = %71
  %99 = landingpad { ptr, i32 }
          cleanup
  br label %102

100:                                              ; preds = %75, %72
  %101 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %18) #7
  call void @_ZN5Eigen11ProductBaseINS_14GeneralProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEENS2_IdLin1ELi1ELi0ELin1ELi1EEELi4EEES3_S4_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %17) #7
  br label %102

102:                                              ; preds = %100, %98
  %.pn = phi { ptr, i32 } [ %101, %100 ], [ %99, %98 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %17) #7
  br label %153

103:                                              ; preds = %82, %77
  %104 = landingpad { ptr, i32 }
          cleanup
  br label %153

105:                                              ; preds = %86, %84
  %106 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %20) #7
  br label %152

.lr.ph68:                                         ; preds = %.lr.ph68.preheader, %128
  %indvars.iv71 = phi i64 [ 0, %.lr.ph68.preheader ], [ %indvars.iv.next72, %128 ]
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #7
  call void @llvm.lifetime.start.p0(i64 88, ptr nonnull %22) #7
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %23) #7
  invoke void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.150") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %indvars.iv71)
          to label %107 unwind label %129

107:                                              ; preds = %.lr.ph68
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %24) #7
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4headEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::VectorBlock") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) %73, i64 noundef %74)
          to label %108 unwind label %131

108:                                              ; preds = %107
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEmiINS1_INS2_IdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdEEKS5_KT_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.143") align 8 %22, ptr noundef nonnull align 1 dereferenceable(1) %23, ptr noundef nonnull align 1 dereferenceable(1) %24)
          to label %109 unwind label %131

109:                                              ; preds = %108
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdEEKNS_5BlockIKNS0_IdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEKNS7_IS1_Lin1ELi1ELb0EEEEEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %21, ptr noundef nonnull align 1 dereferenceable(1) %22)
          to label %110 unwind label %131

110:                                              ; preds = %109
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %24) #7
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %23) #7
  call void @llvm.lifetime.end.p0(i64 88, ptr nonnull %22) #7
  %111 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %21, i64 noundef 2)
          to label %112 unwind label %134

112:                                              ; preds = %110
  %113 = load double, ptr %111, align 8, !tbaa !24
  %114 = fptrunc double %113 to float
  %115 = invoke noundef float @_ZN5Tools15normalize_angleEf(ptr noundef nonnull align 8 dereferenceable(8) %79, float noundef %114)
          to label %116 unwind label %134

116:                                              ; preds = %112
  %117 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %21, i64 noundef 2)
          to label %118 unwind label %134

118:                                              ; preds = %116
  %119 = fpext float %115 to double
  store double %119, ptr %117, align 8, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %25) #7
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %26) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %27) #7
  %120 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef %indvars.iv71)
          to label %121 unwind label %136

121:                                              ; preds = %118
  invoke void @_ZN5EigenmlERKdRKNS_10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp.177") align 8 %27, ptr noundef nonnull align 8 dereferenceable(8) %120, ptr noundef nonnull align 1 dereferenceable(1) %21)
          to label %122 unwind label %136

122:                                              ; preds = %121
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %28) #7
  %123 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %21)
          to label %124 unwind label %138

124:                                              ; preds = %122
  store ptr %123, ptr %28, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEEmlINS_9TransposeIS6_EEEEKNS_17ProductReturnTypeIS8_T_Xsr8internal12product_typeIS8_SE_EE5valueEE4TypeERKNS0_ISE_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::GeneralProduct.170") align 8 %26, ptr noundef nonnull align 1 dereferenceable(1) %27, ptr noundef nonnull align 1 dereferenceable(1) %28)
          to label %125 unwind label %138

125:                                              ; preds = %124
  invoke void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEplINS_14GeneralProductINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKNS1_IdLin1ELi1ELi0ELin1ELi1EEEEENS_9TransposeISA_EELi2EEEEEKNS_13CwiseBinaryOpINS7_13scalar_sum_opIdEEKS2_KT_EERKNS0_ISK_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.162") align 8 %25, ptr noundef nonnull align 1 dereferenceable(1) %19, ptr noundef nonnull align 1 dereferenceable(1) %26)
          to label %126 unwind label %140

126:                                              ; preds = %125
  %127 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS1_KNS_14GeneralProductINS_12CwiseUnaryOpINS4_18scalar_multiple_opIdEEKNS0_IdLin1ELi1ELi0ELin1ELi1EEEEENS_9TransposeISC_EELi2EEEEEEERS1_RKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %19, ptr noundef nonnull align 1 dereferenceable(1) %25)
          to label %128 unwind label %140

128:                                              ; preds = %126
  call void @_ZN5Eigen11ProductBaseINS_14GeneralProductINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEENS_9TransposeIS7_EELi2EEES9_SB_ED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %26) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %27) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %26) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %25) #7
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %21) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #7
  %indvars.iv.next72 = add nuw nsw i64 %indvars.iv71, 1
  %exitcond76.not = icmp eq i64 %indvars.iv.next72, %wide.trip.count75
  br i1 %exitcond76.not, label %._crit_edge69, label %.lr.ph68, !llvm.loop !28

129:                                              ; preds = %.lr.ph68
  %130 = landingpad { ptr, i32 }
          cleanup
  br label %133

131:                                              ; preds = %109, %108, %107
  %132 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %24) #7
  br label %133

133:                                              ; preds = %131, %129
  %.pn47 = phi { ptr, i32 } [ %132, %131 ], [ %130, %129 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %23) #7
  call void @llvm.lifetime.end.p0(i64 88, ptr nonnull %22) #7
  br label %145

134:                                              ; preds = %116, %112, %110
  %135 = landingpad { ptr, i32 }
          cleanup
  br label %144

136:                                              ; preds = %121, %118
  %137 = landingpad { ptr, i32 }
          cleanup
  br label %143

138:                                              ; preds = %124, %122
  %139 = landingpad { ptr, i32 }
          cleanup
  br label %142

140:                                              ; preds = %126, %125
  %141 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5Eigen11ProductBaseINS_14GeneralProductINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEENS_9TransposeIS7_EELi2EEES9_SB_ED2Ev(ptr noundef nonnull align 8 dereferenceable(48) %26) #7
  br label %142

142:                                              ; preds = %140, %138
  %.pn49 = phi { ptr, i32 } [ %141, %140 ], [ %139, %138 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #7
  br label %143

143:                                              ; preds = %142, %136
  %.pn49.pn = phi { ptr, i32 } [ %.pn49, %142 ], [ %137, %136 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %27) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %26) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %25) #7
  br label %144

144:                                              ; preds = %143, %134
  %.pn49.pn.pn = phi { ptr, i32 } [ %.pn49.pn, %143 ], [ %135, %134 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %21) #7
  br label %145

145:                                              ; preds = %144, %133
  %.pn49.pn.pn.pn = phi { ptr, i32 } [ %.pn49.pn.pn, %144 ], [ %.pn47, %133 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #7
  br label %151

146:                                              ; preds = %._crit_edge69
  %147 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %29, ptr noundef nonnull align 1 dereferenceable(1) %19)
          to label %148 unwind label %149

148:                                              ; preds = %146
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %29) #7
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %19) #7
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %9) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #7
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %5) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #7
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %3) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %3) #7
  ret void

149:                                              ; preds = %146, %._crit_edge69
  %150 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %29) #7
  br label %151

151:                                              ; preds = %149, %145
  %.pn49.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn49.pn.pn.pn, %145 ], [ %150, %149 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #7
  br label %152

152:                                              ; preds = %151, %105
  %.pn49.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn49.pn.pn.pn.pn, %151 ], [ %106, %105 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %19) #7
  br label %153

153:                                              ; preds = %96, %102, %152, %103, %94
  %.pn49.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %95, %94 ], [ %.pn, %102 ], [ %97, %96 ], [ %.pn49.pn.pn.pn.pn.pn, %152 ], [ %104, %103 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %9) #7
  br label %154

154:                                              ; preds = %153, %92
  %.pn49.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn49.pn.pn.pn.pn.pn.pn.pn.pn, %153 ], [ %93, %92 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #7
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %5) #7
  br label %155

155:                                              ; preds = %154, %90
  %.pn49.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn49.pn.pn.pn.pn.pn.pn.pn.pn.pn, %154 ], [ %91, %90 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #7
  br label %156

156:                                              ; preds = %155, %52, %45
  %.pn61 = phi { ptr, i32 } [ %53, %52 ], [ %.pn49.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn, %155 ], [ %46, %45 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %3) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %3) #7
  resume { ptr, i32 } %.pn61
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.102") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEE5arrayEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::ArrayWrapper") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEE3cosEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.90") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_cos_opIdEEKNS_12ArrayWrapperIKNS_5BlockIKNS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEE3sinEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.112") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_sin_opIdEEKNS_12ArrayWrapperIKNS_5BlockIKNS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEEmlIS3_EEKNS_17ProductReturnTypeIS4_T_Xsr8internal12product_typeIS4_S8_EE5valueEE4TypeERKNS0_IS8_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::GeneralProduct") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZNK5Eigen14GeneralProductINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEES3_Li3EEcvKdEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEmlINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEKNS_17ProductReturnTypeIS2_T_Xsr8internal12product_typeIS2_S7_EE5valueEE4TypeERKNS0_IS7_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::GeneralProduct.137") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEaSINS_14GeneralProductINS1_IdLin1ELin1ELi0ELin1ELin1EEES2_Li4EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen11ProductBaseINS_14GeneralProductINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEENS2_IdLin1ELi1ELi0ELin1ELi1EEELi4EEES3_S4_ED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nofree nounwind willreturn memory(write)
declare double @atan2(double noundef, double noundef) local_unnamed_addr #4

declare noundef float @_ZN5Tools15normalize_angleEf(ptr noundef nonnull align 8 dereferenceable(8), float noundef) local_unnamed_addr #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.150") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockIKNS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEmiINS1_INS2_IdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEEEEKNS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdEEKS5_KT_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.143") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdEEKNS_5BlockIKNS0_IdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEKNS7_IS1_Lin1ELi1ELb0EEEEEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEplINS_14GeneralProductINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKNS1_IdLin1ELi1ELi0ELin1ELi1EEEEENS_9TransposeISA_EELi2EEEEEKNS_13CwiseBinaryOpINS7_13scalar_sum_opIdEEKS2_KT_EERKNS0_ISK_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.162") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5EigenmlERKdRKNS_10MatrixBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.177") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEEmlINS_9TransposeIS6_EEEEKNS_17ProductReturnTypeIS8_T_Xsr8internal12product_typeIS8_SE_EE5valueEE4TypeERKNS0_ISE_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::GeneralProduct.170") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS1_KNS_14GeneralProductINS_12CwiseUnaryOpINS4_18scalar_multiple_opIdEEKNS0_IdLin1ELi1ELi0ELin1ELi1EEEEENS_9TransposeISC_EELi2EEEEEEERS1_RKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen11ProductBaseINS_14GeneralProductINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKNS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEENS_9TransposeIS7_EELi2EEES9_SB_ED2Ev(ptr noundef nonnull align 8 dereferenceable(48)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare i32 @llvm.smax.i32(i32, i32) #6

attributes #0 = { 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 #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { 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 #4 = { 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 #5 = { "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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
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, !10, i64 12}
!6 = !{!"_ZTS7UKFSLam", !7, i64 8, !10, i64 12, !11, i64 16, !12, i64 24, !17, i64 48, !12, i64 64, !12, i64 88, !20, i64 112}
!7 = !{!"bool", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"float", !8, i64 0}
!11 = !{!"_ZTS5Tools"}
!12 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !13, i64 0}
!13 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !14, i64 0}
!14 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !15, i64 0, !16, i64 8, !16, i64 16}
!15 = !{!"any pointer", !8, i64 0}
!16 = !{!"long", !8, i64 0}
!17 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !15, i64 0, !16, i64 8}
!20 = !{!"_ZTSSt6vectorIiSaIiEE", !21, i64 0}
!21 = !{!"_ZTSSt12_Vector_baseIiSaIiEE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE12_Vector_implE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!24 = !{!25, !25, i64 0}
!25 = !{!"double", !8, i64 0}
!26 = distinct !{!26, !27}
!27 = !{!"llvm.loop.mustprogress"}
!28 = distinct !{!28, !27}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,SCCPPass,SROAPass,SimplifyCFGPass,TailCallElimPass