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

; 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.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"class.Eigen::Matrix.33" = type { %"class.Eigen::PlainObjectBase.34" }
%"class.Eigen::PlainObjectBase.34" = type { %"class.Eigen::DenseStorage.42" }
%"class.Eigen::DenseStorage.42" = type { ptr, i64, i64 }
%"struct.Eigen::CommaInitializer.43" = type { ptr, i64, i64, i64 }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.1 = external hidden unnamed_addr constant [48 x i8], align 1

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #1

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN5Tools17CalculateJacobianERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.33") align 8 %0, ptr noundef nonnull align 8 dereferenceable(8) %1, ptr noundef nonnull align 8 dereferenceable(16) %2) #2 align 2 personality ptr @__gxx_personality_v0 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca i1, align 1
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca float, align 4
  %11 = alloca ptr, align 8
  %12 = alloca i32, align 4
  %13 = alloca float, align 4
  %14 = alloca float, align 4
  %15 = alloca float, align 4
  %16 = alloca float, align 4
  %17 = alloca float, align 4
  %18 = alloca float, align 4
  %19 = alloca i32, align 4
  %20 = alloca %"struct.Eigen::CommaInitializer.43", align 8
  %21 = alloca double, align 8
  %22 = alloca double, align 8
  %23 = alloca double, align 8
  %24 = alloca double, align 8
  %25 = alloca double, align 8
  %26 = alloca double, align 8
  %27 = alloca double, align 8
  %28 = alloca double, align 8
  %29 = alloca double, align 8
  %30 = alloca double, align 8
  %31 = alloca double, align 8
  %32 = alloca double, align 8
  store ptr %0, ptr %4, align 8
  store ptr %1, ptr %5, align 8, !tbaa !5
  store ptr %2, ptr %6, align 8, !tbaa !5
  %33 = load ptr, ptr %5, align 8
  store i1 false, ptr %7, align 1
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #5
  store i32 3, ptr %8, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #5
  store i32 4, ptr %9, align 4, !tbaa !9
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2IiiEERKT_RKT0_(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 4 dereferenceable(4) %8, ptr noundef nonnull align 4 dereferenceable(4) %9)
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #5
  %34 = load ptr, ptr %6, align 8, !tbaa !5
  %35 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %34, i64 noundef 0)
          to label %36 unwind label %76

36:                                               ; preds = %3
  %37 = load double, ptr %35, align 8, !tbaa !11
  %38 = fptrunc double %37 to float
  store float %38, ptr %10, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #5
  %39 = load ptr, ptr %6, align 8, !tbaa !5
  %40 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %39, i64 noundef 1)
          to label %41 unwind label %80

41:                                               ; preds = %36
  %42 = load double, ptr %40, align 8, !tbaa !11
  %43 = fptrunc double %42 to float
  store float %43, ptr %13, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #5
  %44 = load ptr, ptr %6, align 8, !tbaa !5
  %45 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %44, i64 noundef 2)
          to label %46 unwind label %84

46:                                               ; preds = %41
  %47 = load double, ptr %45, align 8, !tbaa !11
  %48 = fptrunc double %47 to float
  store float %48, ptr %14, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #5
  %49 = load ptr, ptr %6, align 8, !tbaa !5
  %50 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %49, i64 noundef 3)
          to label %51 unwind label %88

51:                                               ; preds = %46
  %52 = load double, ptr %50, align 8, !tbaa !11
  %53 = fptrunc double %52 to float
  store float %53, ptr %15, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #5
  %54 = load float, ptr %10, align 4, !tbaa !13
  %55 = load float, ptr %10, align 4, !tbaa !13
  %56 = load float, ptr %13, align 4, !tbaa !13
  %57 = load float, ptr %13, align 4, !tbaa !13
  %58 = fmul float %56, %57
  %59 = call float @llvm.fmuladd.f32(float %54, float %55, float %58)
  store float %59, ptr %16, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #5
  %60 = load float, ptr %16, align 4, !tbaa !13
  %61 = invoke noundef float @_ZSt4sqrtf(float noundef %60)
          to label %62 unwind label %92

62:                                               ; preds = %51
  store float %61, ptr %17, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #5
  %63 = load float, ptr %16, align 4, !tbaa !13
  %64 = load float, ptr %17, align 4, !tbaa !13
  %65 = fmul float %63, %64
  store float %65, ptr %18, align 4, !tbaa !13
  %66 = load float, ptr %16, align 4, !tbaa !13
  %67 = invoke noundef float @_ZSt4fabsf(float noundef %66)
          to label %68 unwind label %96

68:                                               ; preds = %62
  %69 = fpext float %67 to double
  %70 = fcmp olt double %69, 1.000000e-04
  br i1 %70, label %71, label %100

71:                                               ; preds = %68
  %72 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.1)
          to label %73 unwind label %96

73:                                               ; preds = %71
  %74 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %72, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %75 unwind label %96

75:                                               ; preds = %73
  store i1 true, ptr %7, align 1
  store i32 1, ptr %19, align 4
  br label %232

76:                                               ; preds = %3
  %77 = landingpad { ptr, i32 }
          cleanup
  %78 = extractvalue { ptr, i32 } %77, 0
  store ptr %78, ptr %11, align 8
  %79 = extractvalue { ptr, i32 } %77, 1
  store i32 %79, ptr %12, align 4
  br label %239

80:                                               ; preds = %36
  %81 = landingpad { ptr, i32 }
          cleanup
  %82 = extractvalue { ptr, i32 } %81, 0
  store ptr %82, ptr %11, align 8
  %83 = extractvalue { ptr, i32 } %81, 1
  store i32 %83, ptr %12, align 4
  br label %238

84:                                               ; preds = %41
  %85 = landingpad { ptr, i32 }
          cleanup
  %86 = extractvalue { ptr, i32 } %85, 0
  store ptr %86, ptr %11, align 8
  %87 = extractvalue { ptr, i32 } %85, 1
  store i32 %87, ptr %12, align 4
  br label %237

88:                                               ; preds = %46
  %89 = landingpad { ptr, i32 }
          cleanup
  %90 = extractvalue { ptr, i32 } %89, 0
  store ptr %90, ptr %11, align 8
  %91 = extractvalue { ptr, i32 } %89, 1
  store i32 %91, ptr %12, align 4
  br label %236

92:                                               ; preds = %51
  %93 = landingpad { ptr, i32 }
          cleanup
  %94 = extractvalue { ptr, i32 } %93, 0
  store ptr %94, ptr %11, align 8
  %95 = extractvalue { ptr, i32 } %93, 1
  store i32 %95, ptr %12, align 4
  br label %235

96:                                               ; preds = %73, %71, %62
  %97 = landingpad { ptr, i32 }
          cleanup
  %98 = extractvalue { ptr, i32 } %97, 0
  store ptr %98, ptr %11, align 8
  %99 = extractvalue { ptr, i32 } %97, 1
  store i32 %99, ptr %12, align 4
  br label %234

100:                                              ; preds = %68
  call void @llvm.lifetime.start.p0(i64 32, ptr %20) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #5
  %101 = load float, ptr %10, align 4, !tbaa !13
  %102 = load float, ptr %17, align 4, !tbaa !13
  %103 = fdiv float %101, %102
  %104 = fpext float %103 to double
  store double %104, ptr %21, align 8, !tbaa !11
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEElsERKd(ptr dead_on_unwind writable sret(%"struct.Eigen::CommaInitializer.43") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %0, ptr noundef nonnull align 8 dereferenceable(8) %21)
          to label %105 unwind label %173

105:                                              ; preds = %100
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #5
  %106 = load float, ptr %13, align 4, !tbaa !13
  %107 = load float, ptr %17, align 4, !tbaa !13
  %108 = fdiv float %106, %107
  %109 = fpext float %108 to double
  store double %109, ptr %22, align 8, !tbaa !11
  %110 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %20, ptr noundef nonnull align 8 dereferenceable(8) %22)
          to label %111 unwind label %177

111:                                              ; preds = %105
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #5
  store double 0.000000e+00, ptr %23, align 8, !tbaa !11
  %112 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %110, ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %113 unwind label %181

113:                                              ; preds = %111
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #5
  store double 0.000000e+00, ptr %24, align 8, !tbaa !11
  %114 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %112, ptr noundef nonnull align 8 dereferenceable(8) %24)
          to label %115 unwind label %185

115:                                              ; preds = %113
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #5
  %116 = load float, ptr %13, align 4, !tbaa !13
  %117 = load float, ptr %16, align 4, !tbaa !13
  %118 = fdiv float %116, %117
  %119 = fneg float %118
  %120 = fpext float %119 to double
  store double %120, ptr %25, align 8, !tbaa !11
  %121 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %114, ptr noundef nonnull align 8 dereferenceable(8) %25)
          to label %122 unwind label %189

122:                                              ; preds = %115
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #5
  %123 = load float, ptr %10, align 4, !tbaa !13
  %124 = load float, ptr %16, align 4, !tbaa !13
  %125 = fdiv float %123, %124
  %126 = fpext float %125 to double
  store double %126, ptr %26, align 8, !tbaa !11
  %127 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %121, ptr noundef nonnull align 8 dereferenceable(8) %26)
          to label %128 unwind label %193

128:                                              ; preds = %122
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #5
  store double 0.000000e+00, ptr %27, align 8, !tbaa !11
  %129 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %127, ptr noundef nonnull align 8 dereferenceable(8) %27)
          to label %130 unwind label %197

130:                                              ; preds = %128
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #5
  store double 0.000000e+00, ptr %28, align 8, !tbaa !11
  %131 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %129, ptr noundef nonnull align 8 dereferenceable(8) %28)
          to label %132 unwind label %201

132:                                              ; preds = %130
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #5
  %133 = load float, ptr %13, align 4, !tbaa !13
  %134 = load float, ptr %14, align 4, !tbaa !13
  %135 = load float, ptr %13, align 4, !tbaa !13
  %136 = load float, ptr %15, align 4, !tbaa !13
  %137 = load float, ptr %10, align 4, !tbaa !13
  %138 = fmul float %136, %137
  %139 = fneg float %138
  %140 = call float @llvm.fmuladd.f32(float %134, float %135, float %139)
  %141 = fmul float %133, %140
  %142 = load float, ptr %18, align 4, !tbaa !13
  %143 = fdiv float %141, %142
  %144 = fpext float %143 to double
  store double %144, ptr %29, align 8, !tbaa !11
  %145 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %131, ptr noundef nonnull align 8 dereferenceable(8) %29)
          to label %146 unwind label %205

146:                                              ; preds = %132
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #5
  %147 = load float, ptr %10, align 4, !tbaa !13
  %148 = load float, ptr %10, align 4, !tbaa !13
  %149 = load float, ptr %15, align 4, !tbaa !13
  %150 = load float, ptr %13, align 4, !tbaa !13
  %151 = load float, ptr %14, align 4, !tbaa !13
  %152 = fmul float %150, %151
  %153 = fneg float %152
  %154 = call float @llvm.fmuladd.f32(float %148, float %149, float %153)
  %155 = fmul float %147, %154
  %156 = load float, ptr %18, align 4, !tbaa !13
  %157 = fdiv float %155, %156
  %158 = fpext float %157 to double
  store double %158, ptr %30, align 8, !tbaa !11
  %159 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %145, ptr noundef nonnull align 8 dereferenceable(8) %30)
          to label %160 unwind label %209

160:                                              ; preds = %146
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #5
  %161 = load float, ptr %10, align 4, !tbaa !13
  %162 = load float, ptr %17, align 4, !tbaa !13
  %163 = fdiv float %161, %162
  %164 = fpext float %163 to double
  store double %164, ptr %31, align 8, !tbaa !11
  %165 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %159, ptr noundef nonnull align 8 dereferenceable(8) %31)
          to label %166 unwind label %213

166:                                              ; preds = %160
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #5
  %167 = load float, ptr %13, align 4, !tbaa !13
  %168 = load float, ptr %17, align 4, !tbaa !13
  %169 = fdiv float %167, %168
  %170 = fpext float %169 to double
  store double %170, ptr %32, align 8, !tbaa !11
  %171 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %165, ptr noundef nonnull align 8 dereferenceable(8) %32)
          to label %172 unwind label %217

172:                                              ; preds = %166
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #5
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %20) #5
  store i1 true, ptr %7, align 1
  store i32 1, ptr %19, align 4
  br label %232

173:                                              ; preds = %100
  %174 = landingpad { ptr, i32 }
          cleanup
  %175 = extractvalue { ptr, i32 } %174, 0
  store ptr %175, ptr %11, align 8
  %176 = extractvalue { ptr, i32 } %174, 1
  store i32 %176, ptr %12, align 4
  br label %231

177:                                              ; preds = %105
  %178 = landingpad { ptr, i32 }
          cleanup
  %179 = extractvalue { ptr, i32 } %178, 0
  store ptr %179, ptr %11, align 8
  %180 = extractvalue { ptr, i32 } %178, 1
  store i32 %180, ptr %12, align 4
  br label %230

181:                                              ; preds = %111
  %182 = landingpad { ptr, i32 }
          cleanup
  %183 = extractvalue { ptr, i32 } %182, 0
  store ptr %183, ptr %11, align 8
  %184 = extractvalue { ptr, i32 } %182, 1
  store i32 %184, ptr %12, align 4
  br label %229

185:                                              ; preds = %113
  %186 = landingpad { ptr, i32 }
          cleanup
  %187 = extractvalue { ptr, i32 } %186, 0
  store ptr %187, ptr %11, align 8
  %188 = extractvalue { ptr, i32 } %186, 1
  store i32 %188, ptr %12, align 4
  br label %228

189:                                              ; preds = %115
  %190 = landingpad { ptr, i32 }
          cleanup
  %191 = extractvalue { ptr, i32 } %190, 0
  store ptr %191, ptr %11, align 8
  %192 = extractvalue { ptr, i32 } %190, 1
  store i32 %192, ptr %12, align 4
  br label %227

193:                                              ; preds = %122
  %194 = landingpad { ptr, i32 }
          cleanup
  %195 = extractvalue { ptr, i32 } %194, 0
  store ptr %195, ptr %11, align 8
  %196 = extractvalue { ptr, i32 } %194, 1
  store i32 %196, ptr %12, align 4
  br label %226

197:                                              ; preds = %128
  %198 = landingpad { ptr, i32 }
          cleanup
  %199 = extractvalue { ptr, i32 } %198, 0
  store ptr %199, ptr %11, align 8
  %200 = extractvalue { ptr, i32 } %198, 1
  store i32 %200, ptr %12, align 4
  br label %225

201:                                              ; preds = %130
  %202 = landingpad { ptr, i32 }
          cleanup
  %203 = extractvalue { ptr, i32 } %202, 0
  store ptr %203, ptr %11, align 8
  %204 = extractvalue { ptr, i32 } %202, 1
  store i32 %204, ptr %12, align 4
  br label %224

205:                                              ; preds = %132
  %206 = landingpad { ptr, i32 }
          cleanup
  %207 = extractvalue { ptr, i32 } %206, 0
  store ptr %207, ptr %11, align 8
  %208 = extractvalue { ptr, i32 } %206, 1
  store i32 %208, ptr %12, align 4
  br label %223

209:                                              ; preds = %146
  %210 = landingpad { ptr, i32 }
          cleanup
  %211 = extractvalue { ptr, i32 } %210, 0
  store ptr %211, ptr %11, align 8
  %212 = extractvalue { ptr, i32 } %210, 1
  store i32 %212, ptr %12, align 4
  br label %222

213:                                              ; preds = %160
  %214 = landingpad { ptr, i32 }
          cleanup
  %215 = extractvalue { ptr, i32 } %214, 0
  store ptr %215, ptr %11, align 8
  %216 = extractvalue { ptr, i32 } %214, 1
  store i32 %216, ptr %12, align 4
  br label %221

217:                                              ; preds = %166
  %218 = landingpad { ptr, i32 }
          cleanup
  %219 = extractvalue { ptr, i32 } %218, 0
  store ptr %219, ptr %11, align 8
  %220 = extractvalue { ptr, i32 } %218, 1
  store i32 %220, ptr %12, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #5
  br label %221

221:                                              ; preds = %217, %213
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #5
  br label %222

222:                                              ; preds = %221, %209
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #5
  br label %223

223:                                              ; preds = %222, %205
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #5
  br label %224

224:                                              ; preds = %223, %201
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #5
  br label %225

225:                                              ; preds = %224, %197
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #5
  br label %226

226:                                              ; preds = %225, %193
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #5
  br label %227

227:                                              ; preds = %226, %189
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #5
  br label %228

228:                                              ; preds = %227, %185
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #5
  br label %229

229:                                              ; preds = %228, %181
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #5
  br label %230

230:                                              ; preds = %229, %177
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #5
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %20) #5
  br label %231

231:                                              ; preds = %230, %173
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %20) #5
  br label %234

232:                                              ; preds = %172, %75
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #5
  %233 = load i1, ptr %7, align 1
  br i1 %233, label %241, label %240

234:                                              ; preds = %231, %96
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #5
  br label %235

235:                                              ; preds = %234, %92
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #5
  br label %236

236:                                              ; preds = %235, %88
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #5
  br label %237

237:                                              ; preds = %236, %84
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #5
  br label %238

238:                                              ; preds = %237, %80
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #5
  br label %239

239:                                              ; preds = %238, %76
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #5
  br label %242

240:                                              ; preds = %232
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #5
  br label %241

241:                                              ; preds = %240, %232
  ret void

242:                                              ; preds = %239
  %243 = load ptr, ptr %11, align 8
  %244 = load i32, ptr %12, align 4
  %245 = insertvalue { ptr, i32 } poison, ptr %243, 0
  %246 = insertvalue { ptr, i32 } %245, i32 %244, 1
  resume { ptr, i32 } %246
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2IiiEERKT_RKT0_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #1 align 2

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4sqrtf(float noundef) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4fabsf(float noundef) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEElsERKd(ptr dead_on_unwind noalias writable sret(%"struct.Eigen::CommaInitializer.43") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { nounwind }

!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, !12, i64 0}
!12 = !{!"double", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"float", !7, i64 0}


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

%"class.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"class.Eigen::Matrix.33" = type { %"class.Eigen::PlainObjectBase.34" }
%"class.Eigen::PlainObjectBase.34" = type { %"class.Eigen::DenseStorage.42" }
%"class.Eigen::DenseStorage.42" = type { ptr, i64, i64 }
%"struct.Eigen::CommaInitializer.43" = type { ptr, i64, i64, i64 }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.1 = external hidden unnamed_addr constant [48 x i8], align 1

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

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN5Tools17CalculateJacobianERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE(ptr dead_on_unwind noalias nonnull writable sret(%"class.Eigen::Matrix.33") align 8 %0, ptr nocapture noundef nonnull readnone align 8 dereferenceable(8) %1, ptr noundef nonnull align 8 dereferenceable(16) %2) local_unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %4 = alloca i32, align 4
  %5 = alloca i32, align 4
  %6 = alloca %"struct.Eigen::CommaInitializer.43", align 8
  %7 = alloca double, align 8
  %8 = alloca double, align 8
  %9 = alloca double, align 8
  %10 = alloca double, align 8
  %11 = alloca double, align 8
  %12 = alloca double, align 8
  %13 = alloca double, align 8
  %14 = alloca double, align 8
  %15 = alloca double, align 8
  %16 = alloca double, align 8
  %17 = alloca double, align 8
  %18 = alloca double, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %4) #5
  store i32 3, ptr %4, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %5) #5
  store i32 4, ptr %5, align 4, !tbaa !5
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2IiiEERKT_RKT0_(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 4 dereferenceable(4) %4, ptr noundef nonnull align 4 dereferenceable(4) %5)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %5) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %4) #5
  %19 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef 0)
          to label %20 unwind label %46

20:                                               ; preds = %3
  %21 = load double, ptr %19, align 8, !tbaa !9
  %22 = fptrunc double %21 to float
  %23 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef 1)
          to label %24 unwind label %48

24:                                               ; preds = %20
  %25 = load double, ptr %23, align 8, !tbaa !9
  %26 = fptrunc double %25 to float
  %27 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef 2)
          to label %28 unwind label %50

28:                                               ; preds = %24
  %29 = load double, ptr %27, align 8, !tbaa !9
  %30 = fptrunc double %29 to float
  %31 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef 3)
          to label %32 unwind label %52

32:                                               ; preds = %28
  %33 = load double, ptr %31, align 8, !tbaa !9
  %34 = fptrunc double %33 to float
  %35 = fmul float %26, %26
  %36 = call float @llvm.fmuladd.f32(float %22, float %22, float %35)
  %37 = call noundef float @_ZSt4sqrtf(float noundef %36)
  %38 = fmul float %36, %37
  %39 = call noundef float @_ZSt4fabsf(float noundef %36)
  %40 = fpext float %39 to double
  %41 = fcmp olt double %40, 1.000000e-04
  br i1 %41, label %42, label %56

42:                                               ; preds = %32
  %43 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.1)
          to label %44 unwind label %54

44:                                               ; preds = %42
  %45 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %43, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %136 unwind label %54

46:                                               ; preds = %3
  %47 = landingpad { ptr, i32 }
          cleanup
  br label %135

48:                                               ; preds = %20
  %49 = landingpad { ptr, i32 }
          cleanup
  br label %135

50:                                               ; preds = %24
  %51 = landingpad { ptr, i32 }
          cleanup
  br label %135

52:                                               ; preds = %28
  %53 = landingpad { ptr, i32 }
          cleanup
  br label %135

54:                                               ; preds = %44, %42
  %55 = landingpad { ptr, i32 }
          cleanup
  br label %135

56:                                               ; preds = %32
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %6) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #5
  %57 = fdiv float %22, %37
  %58 = fpext float %57 to double
  store double %58, ptr %7, align 8, !tbaa !9
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEElsERKd(ptr dead_on_unwind nonnull writable sret(%"struct.Eigen::CommaInitializer.43") align 8 %6, ptr noundef nonnull align 1 dereferenceable(1) %0, ptr noundef nonnull align 8 dereferenceable(8) %7)
          to label %59 unwind label %100

59:                                               ; preds = %56
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #5
  %60 = fdiv float %26, %37
  %61 = fpext float %60 to double
  store double %61, ptr %8, align 8, !tbaa !9
  %62 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %6, ptr noundef nonnull align 8 dereferenceable(8) %8)
          to label %63 unwind label %102

63:                                               ; preds = %59
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #5
  store double 0.000000e+00, ptr %9, align 8, !tbaa !9
  %64 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %62, ptr noundef nonnull align 8 dereferenceable(8) %9)
          to label %65 unwind label %104

65:                                               ; preds = %63
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #5
  store double 0.000000e+00, ptr %10, align 8, !tbaa !9
  %66 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %64, ptr noundef nonnull align 8 dereferenceable(8) %10)
          to label %67 unwind label %106

67:                                               ; preds = %65
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #5
  %68 = fneg float %26
  %69 = fdiv float %68, %36
  %70 = fpext float %69 to double
  store double %70, ptr %11, align 8, !tbaa !9
  %71 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %66, ptr noundef nonnull align 8 dereferenceable(8) %11)
          to label %72 unwind label %108

72:                                               ; preds = %67
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #5
  %73 = fdiv float %22, %36
  %74 = fpext float %73 to double
  store double %74, ptr %12, align 8, !tbaa !9
  %75 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %71, ptr noundef nonnull align 8 dereferenceable(8) %12)
          to label %76 unwind label %110

76:                                               ; preds = %72
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #5
  store double 0.000000e+00, ptr %13, align 8, !tbaa !9
  %77 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %75, ptr noundef nonnull align 8 dereferenceable(8) %13)
          to label %78 unwind label %112

78:                                               ; preds = %76
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #5
  store double 0.000000e+00, ptr %14, align 8, !tbaa !9
  %79 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %77, ptr noundef nonnull align 8 dereferenceable(8) %14)
          to label %80 unwind label %114

80:                                               ; preds = %78
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #5
  %81 = fneg float %34
  %82 = fmul float %22, %81
  %83 = call float @llvm.fmuladd.f32(float %30, float %26, float %82)
  %84 = fmul float %83, %26
  %85 = fdiv float %84, %38
  %86 = fpext float %85 to double
  store double %86, ptr %15, align 8, !tbaa !9
  %87 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %79, ptr noundef nonnull align 8 dereferenceable(8) %15)
          to label %88 unwind label %116

88:                                               ; preds = %80
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #5
  %89 = fmul float %68, %30
  %90 = call float @llvm.fmuladd.f32(float %22, float %34, float %89)
  %91 = fmul float %90, %22
  %92 = fdiv float %91, %38
  %93 = fpext float %92 to double
  store double %93, ptr %16, align 8, !tbaa !9
  %94 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %87, ptr noundef nonnull align 8 dereferenceable(8) %16)
          to label %95 unwind label %118

95:                                               ; preds = %88
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #5
  store double %58, ptr %17, align 8, !tbaa !9
  %96 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %94, ptr noundef nonnull align 8 dereferenceable(8) %17)
          to label %97 unwind label %120

97:                                               ; preds = %95
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #5
  store double %61, ptr %18, align 8, !tbaa !9
  %98 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32) %96, ptr noundef nonnull align 8 dereferenceable(8) %18)
          to label %99 unwind label %122

99:                                               ; preds = %97
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #5
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #5
  br label %136

100:                                              ; preds = %56
  %101 = landingpad { ptr, i32 }
          cleanup
  br label %134

102:                                              ; preds = %59
  %103 = landingpad { ptr, i32 }
          cleanup
  br label %133

104:                                              ; preds = %63
  %105 = landingpad { ptr, i32 }
          cleanup
  br label %132

106:                                              ; preds = %65
  %107 = landingpad { ptr, i32 }
          cleanup
  br label %131

108:                                              ; preds = %67
  %109 = landingpad { ptr, i32 }
          cleanup
  br label %130

110:                                              ; preds = %72
  %111 = landingpad { ptr, i32 }
          cleanup
  br label %129

112:                                              ; preds = %76
  %113 = landingpad { ptr, i32 }
          cleanup
  br label %128

114:                                              ; preds = %78
  %115 = landingpad { ptr, i32 }
          cleanup
  br label %127

116:                                              ; preds = %80
  %117 = landingpad { ptr, i32 }
          cleanup
  br label %126

118:                                              ; preds = %88
  %119 = landingpad { ptr, i32 }
          cleanup
  br label %125

120:                                              ; preds = %95
  %121 = landingpad { ptr, i32 }
          cleanup
  br label %124

122:                                              ; preds = %97
  %123 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #5
  br label %124

124:                                              ; preds = %122, %120
  %.pn = phi { ptr, i32 } [ %123, %122 ], [ %121, %120 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #5
  br label %125

125:                                              ; preds = %124, %118
  %.pn.pn = phi { ptr, i32 } [ %.pn, %124 ], [ %119, %118 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #5
  br label %126

126:                                              ; preds = %125, %116
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %125 ], [ %117, %116 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #5
  br label %127

127:                                              ; preds = %126, %114
  %.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn, %126 ], [ %115, %114 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #5
  br label %128

128:                                              ; preds = %127, %112
  %.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn.pn, %127 ], [ %113, %112 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #5
  br label %129

129:                                              ; preds = %128, %110
  %.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn.pn.pn, %128 ], [ %111, %110 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #5
  br label %130

130:                                              ; preds = %129, %108
  %.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn.pn.pn.pn, %129 ], [ %109, %108 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #5
  br label %131

131:                                              ; preds = %130, %106
  %.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn.pn.pn.pn.pn, %130 ], [ %107, %106 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #5
  br label %132

132:                                              ; preds = %131, %104
  %.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn.pn.pn.pn.pn.pn, %131 ], [ %105, %104 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #5
  br label %133

133:                                              ; preds = %132, %102
  %.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn.pn.pn.pn.pn.pn.pn, %132 ], [ %103, %102 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #5
  call void @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #5
  br label %134

134:                                              ; preds = %133, %100
  %.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn, %133 ], [ %101, %100 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #5
  br label %135

135:                                              ; preds = %48, %52, %134, %54, %50, %46
  %.pn67.pn.pn.pn.pn = phi { ptr, i32 } [ %47, %46 ], [ %49, %48 ], [ %51, %50 ], [ %53, %52 ], [ %55, %54 ], [ %.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn, %134 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #5
  resume { ptr, i32 } %.pn67.pn.pn.pn.pn

136:                                              ; preds = %99, %44
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2IiiEERKT_RKT0_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4sqrtf(float noundef) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4fabsf(float noundef) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEElsERKd(ptr dead_on_unwind noalias writable sret(%"struct.Eigen::CommaInitializer.43") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(32) ptr @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEcmERKd(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen16CommaInitializerINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress 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 nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { nounwind }

!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 = !{!"int", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"double", !7, i64 0}


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