; 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"

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZN5Tools15normalize_angleEf(ptr noundef nonnull align 8 dereferenceable(8), float noundef) #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN5Tools17normalize_bearingERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(8) %0, ptr noundef nonnull align 8 dereferenceable(16) %1) #2 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca i32, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %6 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #4
  store i32 1, ptr %5, align 4, !tbaa !9
  br label %7

7:                                                ; preds = %27, %2
  %8 = load i32, ptr %5, align 4, !tbaa !9
  %9 = sext i32 %8 to i64
  %10 = load ptr, ptr %4, align 8, !tbaa !5
  %11 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %10)
  %12 = icmp slt i64 %9, %11
  br i1 %12, label %14, label %13

13:                                               ; preds = %7
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #4
  br label %30

14:                                               ; preds = %7
  %15 = load ptr, ptr %4, align 8, !tbaa !5
  %16 = load i32, ptr %5, align 4, !tbaa !9
  %17 = sext i32 %16 to i64
  %18 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef %17)
  %19 = load double, ptr %18, align 8, !tbaa !11
  %20 = fptrunc double %19 to float
  %21 = call noundef float @_ZN5Tools15normalize_angleEf(ptr noundef nonnull align 8 dereferenceable(8) %6, float noundef %20)
  %22 = fpext float %21 to double
  %23 = load ptr, ptr %4, align 8, !tbaa !5
  %24 = load i32, ptr %5, align 4, !tbaa !9
  %25 = sext i32 %24 to i64
  %26 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %23, i64 noundef %25)
  store double %22, ptr %26, align 8, !tbaa !11
  br label %27

27:                                               ; preds = %14
  %28 = load i32, ptr %5, align 4, !tbaa !9
  %29 = add nsw i32 %28, 2
  store i32 %29, ptr %5, align 4, !tbaa !9
  br label %7, !llvm.loop !13

30:                                               ; preds = %13
  ret void
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #3 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 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 = { 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 #4 = { nounwind }

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

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_ZN5Tools15normalize_angleEf(ptr noundef nonnull align 8 dereferenceable(8), float noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN5Tools17normalize_bearingERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(8) %0, ptr noundef nonnull align 8 dereferenceable(16) %1) local_unnamed_addr #1 align 2 {
  %3 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %1)
  %4 = icmp sgt i64 %3, 1
  br i1 %4, label %.lr.ph, label %._crit_edge

._crit_edge:                                      ; preds = %.lr.ph, %2
  ret void

.lr.ph:                                           ; preds = %2, %.lr.ph
  %indvars.iv = phi i64 [ %indvars.iv.next, %.lr.ph ], [ 1, %2 ]
  %5 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %indvars.iv)
  %6 = load double, ptr %5, align 8, !tbaa !5
  %7 = fptrunc double %6 to float
  %8 = tail call noundef float @_ZN5Tools15normalize_angleEf(ptr noundef nonnull align 8 dereferenceable(8) %0, float noundef %7)
  %9 = fpext float %8 to double
  %10 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %indvars.iv)
  store double %9, ptr %10, align 8, !tbaa !5
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 2
  %11 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %1)
  %12 = icmp sgt i64 %11, %indvars.iv.next
  br i1 %12, label %.lr.ph, label %._crit_edge, !llvm.loop !9
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

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

attributes #0 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress 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 = { 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" }

!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 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = distinct !{!9, !10}
!10 = !{!"llvm.loop.mustprogress"}


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