; LLVM IR from Forrest-Z/cpp_robotics :: slam/ukf_slam/src/ukf_slam.ll (ZN7UKFSLam10CorrectionERKSt6vectorI12RadarReadingSaIS1_EE)

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%"class.__gnu_cxx::__normal_iterator" = type { ptr }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64, i64 }
%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 }
%struct.RadarReading = type { i64, float, float }

; 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: mustprogress uwtable
declare dso_local void @_ZN7UKFSLam19add_landmark_to_mapERK12RadarReading(ptr noundef nonnull align 8 dereferenceable(136), ptr noundef nonnull align 8 dereferenceable(16)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7UKFSLam6updateERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERK12RadarReading(ptr noundef nonnull align 8 dereferenceable(136), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16)) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7UKFSLam10CorrectionERKSt6vectorI12RadarReadingSaIS1_EE(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 i32, align 4
  %7 = alloca ptr, align 8
  %8 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %9 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %10 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %11 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %12 = alloca %"class.Eigen::Matrix", align 8
  %13 = alloca ptr, align 8
  %14 = alloca i32, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %15 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #5
  %16 = load ptr, ptr %4, align 8, !tbaa !5
  %17 = call noundef i64 @_ZNKSt6vectorI12RadarReadingSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %16) #5
  %18 = trunc i64 %17 to i32
  store i32 %18, ptr %5, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #5
  store i32 0, ptr %6, align 4, !tbaa !9
  br label %19

19:                                               ; preds = %58, %2
  %20 = load i32, ptr %6, align 4, !tbaa !9
  %21 = load i32, ptr %5, align 4, !tbaa !9
  %22 = icmp slt i32 %20, %21
  br i1 %22, label %24, label %23

23:                                               ; preds = %19
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #5
  br label %61

24:                                               ; preds = %19
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #5
  %25 = load ptr, ptr %4, align 8, !tbaa !5
  %26 = load i32, ptr %6, align 4, !tbaa !9
  %27 = sext i32 %26 to i64
  %28 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZNKSt6vectorI12RadarReadingSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %25, i64 noundef %27) #5
  store ptr %28, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #5
  %29 = getelementptr inbounds %class.UKFSLam, ptr %15, i32 0, i32 8
  %30 = call ptr @_ZNSt6vectorIiSaIiEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %29) #5
  %31 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %9, i32 0, i32 0
  store ptr %30, ptr %31, align 8
  %32 = getelementptr inbounds %class.UKFSLam, ptr %15, i32 0, i32 8
  %33 = call ptr @_ZNSt6vectorIiSaIiEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %32) #5
  %34 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %10, i32 0, i32 0
  store ptr %33, ptr %34, align 8
  %35 = load ptr, ptr %7, align 8, !tbaa !5
  %36 = getelementptr inbounds %struct.RadarReading, ptr %35, i32 0, i32 0
  %37 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %9, i32 0, i32 0
  %38 = load ptr, ptr %37, align 8
  %39 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %10, i32 0, i32 0
  %40 = load ptr, ptr %39, align 8
  %41 = call ptr @_ZSt4findIN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEExET_S7_S7_RKT0_(ptr %38, ptr %40, ptr noundef nonnull align 8 dereferenceable(8) %36)
  %42 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %8, i32 0, i32 0
  store ptr %41, ptr %42, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #5
  %43 = getelementptr inbounds %class.UKFSLam, ptr %15, i32 0, i32 8
  %44 = call ptr @_ZNSt6vectorIiSaIiEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %43) #5
  %45 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %11, i32 0, i32 0
  store ptr %44, ptr %45, align 8
  %46 = call noundef zeroext i1 @_ZN9__gnu_cxxeqIPiSt6vectorIiSaIiEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(8) %11) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #5
  br i1 %46, label %47, label %49

47:                                               ; preds = %24
  %48 = load ptr, ptr %7, align 8, !tbaa !5
  call void @_ZN7UKFSLam19add_landmark_to_mapERK12RadarReading(ptr noundef nonnull align 8 dereferenceable(136) %15, ptr noundef nonnull align 8 dereferenceable(16) %48)
  br label %57

49:                                               ; preds = %24
  call void @llvm.lifetime.start.p0(i64 24, ptr %12) #5
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12)
  invoke void @_ZN7UKFSLam20compute_sigma_pointsERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(136) %15, ptr noundef nonnull align 8 dereferenceable(24) %12, i1 noundef zeroext false)
          to label %50 unwind label %53

50:                                               ; preds = %49
  %51 = load ptr, ptr %7, align 8, !tbaa !5
  invoke void @_ZN7UKFSLam6updateERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERK12RadarReading(ptr noundef nonnull align 8 dereferenceable(136) %15, ptr noundef nonnull align 8 dereferenceable(24) %12, ptr noundef nonnull align 8 dereferenceable(16) %51)
          to label %52 unwind label %53

52:                                               ; preds = %50
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %12) #5
  br label %57

53:                                               ; preds = %50, %49
  %54 = landingpad { ptr, i32 }
          cleanup
  %55 = extractvalue { ptr, i32 } %54, 0
  store ptr %55, ptr %13, align 8
  %56 = extractvalue { ptr, i32 } %54, 1
  store i32 %56, ptr %14, align 4
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %12) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #5
  br label %62

57:                                               ; preds = %52, %47
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #5
  br label %58

58:                                               ; preds = %57
  %59 = load i32, ptr %6, align 4, !tbaa !9
  %60 = add nsw i32 %59, 1
  store i32 %60, ptr %6, align 4, !tbaa !9
  br label %19, !llvm.loop !11

61:                                               ; preds = %23
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #5
  ret void

62:                                               ; preds = %53
  %63 = load ptr, ptr %13, align 8
  %64 = load i32, ptr %14, align 4
  %65 = insertvalue { ptr, i32 } poison, ptr %63, 0
  %66 = insertvalue { ptr, i32 } %65, i32 %64, 1
  resume { ptr, i32 } %66
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI12RadarReadingSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZNKSt6vectorI12RadarReadingSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxeqIPiSt6vectorIiSaIiEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZSt4findIN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEExET_S7_S7_RKT0_(ptr, ptr, ptr noundef nonnull align 8 dereferenceable(8)) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIiSaIiEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIiSaIiEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 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 = { 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 = distinct !{!11, !12}
!12 = !{!"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.__gnu_cxx::__normal_iterator" = type { ptr }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64, i64 }

; 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: mustprogress uwtable
declare dso_local void @_ZN7UKFSLam19add_landmark_to_mapERK12RadarReading(ptr noundef nonnull align 8 dereferenceable(136), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7UKFSLam6updateERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERK12RadarReading(ptr noundef nonnull align 8 dereferenceable(136), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7UKFSLam10CorrectionERKSt6vectorI12RadarReadingSaIS1_EE(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.__gnu_cxx::__normal_iterator", align 8
  %4 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %5 = alloca %"class.Eigen::Matrix", align 8
  %6 = tail call noundef i64 @_ZNKSt6vectorI12RadarReadingSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %1) #5
  %7 = trunc i64 %6 to i32
  %8 = icmp sgt i32 %7, 0
  br i1 %8, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %2
  %9 = getelementptr inbounds i8, ptr %0, i64 112
  %wide.trip.count = and i64 %6, 2147483647
  br label %10

._crit_edge:                                      ; preds = %23, %2
  ret void

10:                                               ; preds = %.lr.ph, %23
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %23 ]
  %11 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZNKSt6vectorI12RadarReadingSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %indvars.iv) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #5
  %12 = call ptr @_ZNSt6vectorIiSaIiEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %9) #5
  %13 = call ptr @_ZNSt6vectorIiSaIiEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %9) #5
  %14 = call ptr @_ZSt4findIN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEExET_S7_S7_RKT0_(ptr %12, ptr %13, ptr noundef nonnull align 8 dereferenceable(8) %11)
  store ptr %14, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #5
  %15 = call ptr @_ZNSt6vectorIiSaIiEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %9) #5
  store ptr %15, ptr %4, align 8
  %16 = call noundef zeroext i1 @_ZN9__gnu_cxxeqIPiSt6vectorIiSaIiEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8) %3, ptr noundef nonnull align 8 dereferenceable(8) %4) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #5
  br i1 %16, label %17, label %18

17:                                               ; preds = %10
  call void @_ZN7UKFSLam19add_landmark_to_mapERK12RadarReading(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(16) %11)
  br label %23

18:                                               ; preds = %10
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %5) #5
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5)
  invoke void @_ZN7UKFSLam20compute_sigma_pointsERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(24) %5, i1 noundef zeroext false)
          to label %19 unwind label %21

19:                                               ; preds = %18
  invoke void @_ZN7UKFSLam6updateERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERK12RadarReading(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef nonnull align 8 dereferenceable(16) %11)
          to label %20 unwind label %21

20:                                               ; preds = %19
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #5
  br label %23

21:                                               ; preds = %19, %18
  %22 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #5
  resume { ptr, i32 } %22

23:                                               ; preds = %20, %17
  %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 %10, !llvm.loop !5
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorI12RadarReadingSaIS0_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZNKSt6vectorI12RadarReadingSaIS0_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxeqIPiSt6vectorIiSaIiEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZSt4findIN9__gnu_cxx17__normal_iteratorIPiSt6vectorIiSaIiEEEExET_S7_S7_RKT0_(ptr, ptr, ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIiSaIiEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIiSaIiEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 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 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 = distinct !{!5, !6}
!6 = !{!"llvm.loop.mustprogress"}


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