; LLVM IR from Forrest-Z/cpp_robotics :: slam/ukf_slam/src/ukf_slam.ll (ZN7UKFSLam10PredictionERK10OdoReading)

; 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::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::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64, i64 }
%"class.Eigen::CwiseBinaryOp.258" = type <{ %"class.Eigen::Block", ptr, [8 x i8] }>
%struct.OdoReading = type { float, float, float }
%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.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.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 }

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

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 #1 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7UKFSLam20compute_sigma_pointsERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(136), ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) #3 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) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7UKFSLam16recover_mu_sigmaERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE(ptr noundef nonnull align 8 dereferenceable(136), ptr noundef nonnull align 8 dereferenceable(24)) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7UKFSLam10PredictionERK10OdoReading(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 4 dereferenceable(12) %1) #3 align 2 personality ptr @__gxx_personality_v0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca %"class.Eigen::Matrix", align 8
  %6 = alloca ptr, align 8
  %7 = alloca i32, align 4
  %8 = alloca double, align 8
  %9 = alloca double, align 8
  %10 = alloca double, align 8
  %11 = alloca i32, align 4
  %12 = alloca double, align 8
  %13 = alloca double, align 8
  %14 = alloca double, align 8
  %15 = alloca %"class.Eigen::CwiseBinaryOp.258", align 8
  %16 = alloca %"class.Eigen::Block", align 8
  %17 = alloca %"class.Eigen::Block", align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %18 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 24, ptr %5) #6
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5)
  invoke void @_ZN7UKFSLam20compute_sigma_pointsERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(136) %18, ptr noundef nonnull align 8 dereferenceable(24) %5, i1 noundef zeroext true)
          to label %19 unwind label %39

19:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #6
  %20 = load ptr, ptr %4, align 8, !tbaa !5
  %21 = getelementptr inbounds %struct.OdoReading, ptr %20, i32 0, i32 0
  %22 = load float, ptr %21, align 4, !tbaa !9
  %23 = fpext float %22 to double
  store double %23, ptr %8, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #6
  %24 = load ptr, ptr %4, align 8, !tbaa !5
  %25 = getelementptr inbounds %struct.OdoReading, ptr %24, i32 0, i32 1
  %26 = load float, ptr %25, align 4, !tbaa !14
  %27 = fpext float %26 to double
  store double %27, ptr %9, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #6
  %28 = load ptr, ptr %4, align 8, !tbaa !5
  %29 = getelementptr inbounds %struct.OdoReading, ptr %28, i32 0, i32 2
  %30 = load float, ptr %29, align 4, !tbaa !15
  %31 = fpext float %30 to double
  store double %31, ptr %10, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #6
  store i32 0, ptr %11, align 4, !tbaa !16
  br label %32

32:                                               ; preds = %98, %19
  %33 = load i32, ptr %11, align 4, !tbaa !16
  %34 = sext i32 %33 to i64
  %35 = invoke noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24) %5)
          to label %36 unwind label %43

36:                                               ; preds = %32
  %37 = icmp slt i64 %34, %35
  br i1 %37, label %47, label %38

38:                                               ; preds = %36
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #6
  br label %111

39:                                               ; preds = %2
  %40 = landingpad { ptr, i32 }
          cleanup
  %41 = extractvalue { ptr, i32 } %40, 0
  store ptr %41, ptr %6, align 8
  %42 = extractvalue { ptr, i32 } %40, 1
  store i32 %42, ptr %7, align 4
  br label %135

43:                                               ; preds = %32
  %44 = landingpad { ptr, i32 }
          cleanup
  %45 = extractvalue { ptr, i32 } %44, 0
  store ptr %45, ptr %6, align 8
  %46 = extractvalue { ptr, i32 } %44, 1
  store i32 %46, ptr %7, align 4
  br label %110

47:                                               ; preds = %36
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #6
  %48 = load i32, ptr %11, align 4, !tbaa !16
  %49 = sext i32 %48 to i64
  %50 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 2, i64 noundef %49)
          to label %51 unwind label %101

51:                                               ; preds = %47
  %52 = load double, ptr %50, align 8, !tbaa !12
  store double %52, ptr %12, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #6
  %53 = load double, ptr %12, align 8, !tbaa !12
  %54 = load double, ptr %8, align 8, !tbaa !12
  %55 = fadd double %53, %54
  %56 = call double @cos(double noundef %55) #6
  store double %56, ptr %13, align 8, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #6
  %57 = load double, ptr %12, align 8, !tbaa !12
  %58 = load double, ptr %8, align 8, !tbaa !12
  %59 = fadd double %57, %58
  %60 = call double @sin(double noundef %59) #6
  store double %60, ptr %14, align 8, !tbaa !12
  %61 = load i32, ptr %11, align 4, !tbaa !16
  %62 = sext i32 %61 to i64
  %63 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 0, i64 noundef %62)
          to label %64 unwind label %105

64:                                               ; preds = %51
  %65 = load double, ptr %63, align 8, !tbaa !12
  %66 = load double, ptr %9, align 8, !tbaa !12
  %67 = load double, ptr %13, align 8, !tbaa !12
  %68 = call double @llvm.fmuladd.f64(double %66, double %67, double %65)
  %69 = load i32, ptr %11, align 4, !tbaa !16
  %70 = sext i32 %69 to i64
  %71 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 0, i64 noundef %70)
          to label %72 unwind label %105

72:                                               ; preds = %64
  store double %68, ptr %71, align 8, !tbaa !12
  %73 = load i32, ptr %11, align 4, !tbaa !16
  %74 = sext i32 %73 to i64
  %75 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 1, i64 noundef %74)
          to label %76 unwind label %105

76:                                               ; preds = %72
  %77 = load double, ptr %75, align 8, !tbaa !12
  %78 = load double, ptr %9, align 8, !tbaa !12
  %79 = load double, ptr %14, align 8, !tbaa !12
  %80 = call double @llvm.fmuladd.f64(double %78, double %79, double %77)
  %81 = load i32, ptr %11, align 4, !tbaa !16
  %82 = sext i32 %81 to i64
  %83 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 1, i64 noundef %82)
          to label %84 unwind label %105

84:                                               ; preds = %76
  store double %80, ptr %83, align 8, !tbaa !12
  %85 = load i32, ptr %11, align 4, !tbaa !16
  %86 = sext i32 %85 to i64
  %87 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 2, i64 noundef %86)
          to label %88 unwind label %105

88:                                               ; preds = %84
  %89 = load double, ptr %87, align 8, !tbaa !12
  %90 = load double, ptr %8, align 8, !tbaa !12
  %91 = fadd double %89, %90
  %92 = load double, ptr %10, align 8, !tbaa !12
  %93 = fadd double %91, %92
  %94 = load i32, ptr %11, align 4, !tbaa !16
  %95 = sext i32 %94 to i64
  %96 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %5, i64 noundef 2, i64 noundef %95)
          to label %97 unwind label %105

97:                                               ; preds = %88
  store double %93, ptr %96, align 8, !tbaa !12
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #6
  br label %98

98:                                               ; preds = %97
  %99 = load i32, ptr %11, align 4, !tbaa !16
  %100 = add nsw i32 %99, 1
  store i32 %100, ptr %11, align 4, !tbaa !16
  br label %32, !llvm.loop !18

101:                                              ; preds = %47
  %102 = landingpad { ptr, i32 }
          cleanup
  %103 = extractvalue { ptr, i32 } %102, 0
  store ptr %103, ptr %6, align 8
  %104 = extractvalue { ptr, i32 } %102, 1
  store i32 %104, ptr %7, align 4
  br label %109

105:                                              ; preds = %88, %84, %76, %72, %64, %51
  %106 = landingpad { ptr, i32 }
          cleanup
  %107 = extractvalue { ptr, i32 } %106, 0
  store ptr %107, ptr %6, align 8
  %108 = extractvalue { ptr, i32 } %106, 1
  store i32 %108, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #6
  br label %109

109:                                              ; preds = %105, %101
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #6
  br label %110

110:                                              ; preds = %109, %43
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #6
  br label %134

111:                                              ; preds = %38
  invoke void @_ZN7UKFSLam16recover_mu_sigmaERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE(ptr noundef nonnull align 8 dereferenceable(136) %18, ptr noundef nonnull align 8 dereferenceable(24) %5)
          to label %112 unwind label %121

112:                                              ; preds = %111
  call void @llvm.lifetime.start.p0(i64 56, ptr %15) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr %16) #6
  %113 = getelementptr inbounds %class.UKFSLam, ptr %18, i32 0, i32 4
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13topLeftCornerEll(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %113, i64 noundef 3, i64 noundef 3)
          to label %114 unwind label %125

114:                                              ; preds = %112
  %115 = getelementptr inbounds %class.UKFSLam, ptr %18, i32 0, i32 6
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEEEplIS3_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISC_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.258") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %16, ptr noundef nonnull align 1 dereferenceable(1) %115)
          to label %116 unwind label %125

116:                                              ; preds = %114
  call void @llvm.lifetime.start.p0(i64 40, ptr %17) #6
  %117 = getelementptr inbounds %class.UKFSLam, ptr %18, i32 0, i32 4
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13topLeftCornerEll(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %117, i64 noundef 3, i64 noundef 3)
          to label %118 unwind label %129

118:                                              ; preds = %116
  %119 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS3_KS2_EEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %17, ptr noundef nonnull align 1 dereferenceable(1) %15)
          to label %120 unwind label %129

120:                                              ; preds = %118
  call void @llvm.lifetime.end.p0(i64 40, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr %16) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %5) #6
  ret void

121:                                              ; preds = %111
  %122 = landingpad { ptr, i32 }
          cleanup
  %123 = extractvalue { ptr, i32 } %122, 0
  store ptr %123, ptr %6, align 8
  %124 = extractvalue { ptr, i32 } %122, 1
  store i32 %124, ptr %7, align 4
  br label %134

125:                                              ; preds = %114, %112
  %126 = landingpad { ptr, i32 }
          cleanup
  %127 = extractvalue { ptr, i32 } %126, 0
  store ptr %127, ptr %6, align 8
  %128 = extractvalue { ptr, i32 } %126, 1
  store i32 %128, ptr %7, align 4
  br label %133

129:                                              ; preds = %118, %116
  %130 = landingpad { ptr, i32 }
          cleanup
  %131 = extractvalue { ptr, i32 } %130, 0
  store ptr %131, ptr %6, align 8
  %132 = extractvalue { ptr, i32 } %130, 1
  store i32 %132, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %17) #6
  br label %133

133:                                              ; preds = %129, %125
  call void @llvm.lifetime.end.p0(i64 40, ptr %16) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr %15) #6
  br label %134

134:                                              ; preds = %133, %121, %110
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #6
  br label %135

135:                                              ; preds = %134, %39
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %5) #6
  br label %136

136:                                              ; preds = %135
  %137 = load ptr, ptr %6, align 8
  %138 = load i32, ptr %7, align 4
  %139 = insertvalue { ptr, i32 } poison, ptr %137, 0
  %140 = insertvalue { ptr, i32 } %139, i32 %138, 1
  resume { ptr, i32 } %140
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #0 align 2

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

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

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEEEplIS3_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISC_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.258") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS3_KS2_EEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

attributes #0 = { 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 #1 = { 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 #2 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
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, !11, i64 0}
!10 = !{!"_ZTS10OdoReading", !11, i64 0, !11, i64 4, !11, i64 8}
!11 = !{!"float", !7, i64 0}
!12 = !{!13, !13, i64 0}
!13 = !{!"double", !7, i64 0}
!14 = !{!10, !11, i64 4}
!15 = !{!10, !11, i64 8}
!16 = !{!17, !17, i64 0}
!17 = !{!"int", !7, i64 0}
!18 = distinct !{!18, !19}
!19 = !{!"llvm.loop.mustprogress"}


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

%"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::internal::variable_if_dynamic" = type { i64 }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64, i64 }
%"class.Eigen::CwiseBinaryOp.258" = type <{ %"class.Eigen::Block", ptr, [8 x i8] }>

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #0 align 2

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 #1 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7UKFSLam20compute_sigma_pointsERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(136), ptr noundef nonnull align 8 dereferenceable(24), i1 noundef zeroext) local_unnamed_addr #3 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 #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7UKFSLam16recover_mu_sigmaERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE(ptr noundef nonnull align 8 dereferenceable(136), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7UKFSLam10PredictionERK10OdoReading(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr nocapture noundef nonnull readonly align 4 dereferenceable(12) %1) local_unnamed_addr #3 align 2 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.Eigen::Matrix", align 8
  %4 = alloca %"class.Eigen::CwiseBinaryOp.258", align 8
  %5 = alloca %"class.Eigen::Block", align 8
  %6 = alloca %"class.Eigen::Block", align 8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %3) #6
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %3)
  invoke void @_ZN7UKFSLam20compute_sigma_pointsERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(24) %3, i1 noundef zeroext true)
          to label %7 unwind label %21

7:                                                ; preds = %2
  %8 = load float, ptr %1, align 4, !tbaa !5
  %9 = fpext float %8 to double
  %10 = getelementptr inbounds i8, ptr %1, i64 4
  %11 = load float, ptr %10, align 4, !tbaa !10
  %12 = fpext float %11 to double
  %13 = getelementptr inbounds i8, ptr %1, i64 8
  %14 = load float, ptr %13, align 4, !tbaa !11
  %15 = fpext float %14 to double
  br label %16

16:                                               ; preds = %48, %7
  %indvars.iv = phi i64 [ %indvars.iv.next, %48 ], [ 0, %7 ]
  %17 = invoke noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24) %3)
          to label %18 unwind label %23

18:                                               ; preds = %16
  %19 = icmp sgt i64 %17, %indvars.iv
  br i1 %19, label %25, label %20

20:                                               ; preds = %18
  invoke void @_ZN7UKFSLam16recover_mu_sigmaERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(24) %3)
          to label %55 unwind label %63

21:                                               ; preds = %2
  %22 = landingpad { ptr, i32 }
          cleanup
  br label %70

23:                                               ; preds = %16
  %24 = landingpad { ptr, i32 }
          cleanup
  br label %70

25:                                               ; preds = %18
  %26 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2, i64 noundef %indvars.iv)
          to label %27 unwind label %51

27:                                               ; preds = %25
  %28 = load double, ptr %26, align 8, !tbaa !12
  %29 = fadd double %28, %9
  %30 = call double @cos(double noundef %29) #6
  %31 = call double @sin(double noundef %29) #6
  %32 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0, i64 noundef %indvars.iv)
          to label %33 unwind label %53

33:                                               ; preds = %27
  %34 = load double, ptr %32, align 8, !tbaa !12
  %35 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0, i64 noundef %indvars.iv)
          to label %36 unwind label %53

36:                                               ; preds = %33
  %37 = call double @llvm.fmuladd.f64(double %12, double %30, double %34)
  store double %37, ptr %35, align 8, !tbaa !12
  %38 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 1, i64 noundef %indvars.iv)
          to label %39 unwind label %53

39:                                               ; preds = %36
  %40 = load double, ptr %38, align 8, !tbaa !12
  %41 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 1, i64 noundef %indvars.iv)
          to label %42 unwind label %53

42:                                               ; preds = %39
  %43 = call double @llvm.fmuladd.f64(double %12, double %31, double %40)
  store double %43, ptr %41, align 8, !tbaa !12
  %44 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2, i64 noundef %indvars.iv)
          to label %45 unwind label %53

45:                                               ; preds = %42
  %46 = load double, ptr %44, align 8, !tbaa !12
  %47 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2, i64 noundef %indvars.iv)
          to label %48 unwind label %53

48:                                               ; preds = %45
  %49 = fadd double %46, %9
  %50 = fadd double %49, %15
  store double %50, ptr %47, align 8, !tbaa !12
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  br label %16, !llvm.loop !14

51:                                               ; preds = %25
  %52 = landingpad { ptr, i32 }
          cleanup
  br label %70

53:                                               ; preds = %45, %42, %39, %36, %33, %27
  %54 = landingpad { ptr, i32 }
          cleanup
  br label %70

55:                                               ; preds = %20
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %4) #6
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %5) #6
  %56 = getelementptr inbounds i8, ptr %0, i64 24
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13topLeftCornerEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %5, ptr noundef nonnull align 1 dereferenceable(1) %56, i64 noundef 3, i64 noundef 3)
          to label %57 unwind label %65

57:                                               ; preds = %55
  %58 = getelementptr inbounds i8, ptr %0, i64 64
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEEEplIS3_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISC_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.258") align 8 %4, ptr noundef nonnull align 1 dereferenceable(1) %5, ptr noundef nonnull align 1 dereferenceable(1) %58)
          to label %59 unwind label %65

59:                                               ; preds = %57
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %6) #6
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13topLeftCornerEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %6, ptr noundef nonnull align 1 dereferenceable(1) %56, i64 noundef 3, i64 noundef 3)
          to label %60 unwind label %67

60:                                               ; preds = %59
  %61 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS3_KS2_EEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %6, ptr noundef nonnull align 1 dereferenceable(1) %4)
          to label %62 unwind label %67

62:                                               ; preds = %60
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %6) #6
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %5) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %4) #6
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %3) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %3) #6
  ret void

63:                                               ; preds = %20
  %64 = landingpad { ptr, i32 }
          cleanup
  br label %70

65:                                               ; preds = %57, %55
  %66 = landingpad { ptr, i32 }
          cleanup
  br label %69

67:                                               ; preds = %60, %59
  %68 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %6) #6
  br label %69

69:                                               ; preds = %67, %65
  %.pn = phi { ptr, i32 } [ %68, %67 ], [ %66, %65 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %5) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %4) #6
  br label %70

70:                                               ; preds = %63, %69, %51, %53, %23, %21
  %.pn32.pn.pn.pn = phi { ptr, i32 } [ %22, %21 ], [ %.pn, %69 ], [ %64, %63 ], [ %24, %23 ], [ %54, %53 ], [ %52, %51 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %3) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %3) #6
  resume { ptr, i32 } %.pn32.pn.pn.pn
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) local_unnamed_addr #0 align 2

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

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

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEEEplIS3_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISC_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.258") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS3_KS2_EEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

attributes #0 = { 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 #1 = { 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 #2 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
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, !7, i64 0}
!6 = !{!"_ZTS10OdoReading", !7, i64 0, !7, i64 4, !7, i64 8}
!7 = !{!"float", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!6, !7, i64 4}
!11 = !{!6, !7, i64 8}
!12 = !{!13, !13, i64 0}
!13 = !{!"double", !8, i64 0}
!14 = distinct !{!14, !15}
!15 = !{!"llvm.loop.mustprogress"}


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