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

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

%"class.Eigen::CwiseNullaryOp.28" = type { %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64, i64 }
%"class.Eigen::TriangularView" = type { ptr }
%"class.Eigen::LLT" = type { %"class.Eigen::Matrix", i8, i32 }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase", ptr, i64 }
%"class.Eigen::MapBase" = type { %"class.Eigen::MapBase.35" }
%"class.Eigen::MapBase.35" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::VectorBlock" = type { %"class.Eigen::Block.43" }
%"class.Eigen::Block.43" = type { %"class.Eigen::BlockImpl.44" }
%"class.Eigen::BlockImpl.44" = type { %"class.Eigen::internal::BlockImpl_dense.45" }
%"class.Eigen::internal::BlockImpl_dense.45" = type { %"class.Eigen::MapBase.base.55", ptr, i64 }
%"class.Eigen::MapBase.base.55" = type { %"class.Eigen::MapBase.base" }
%"class.Eigen::MapBase.base" = type <{ ptr, %"class.Eigen::internal::variable_if_dynamic", i8 }>
%"class.Eigen::Block.56" = type { %"class.Eigen::BlockImpl.57" }
%"class.Eigen::BlockImpl.57" = type { %"class.Eigen::internal::BlockImpl_dense.58" }
%"class.Eigen::internal::BlockImpl_dense.58" = type { %"class.Eigen::MapBase.base.69", ptr, i64 }
%"class.Eigen::MapBase.base.69" = type { %"class.Eigen::MapBase.base.68" }
%"class.Eigen::MapBase.base.68" = type <{ ptr, %"class.Eigen::internal::variable_if_dynamic", i8 }>
%"class.Eigen::CwiseBinaryOp" = type <{ %"class.Eigen::Block.56", %"class.Eigen::CwiseUnaryOp.75", [8 x i8] }>
%"class.Eigen::CwiseUnaryOp.75" = type { %"class.Eigen::Block.56", %"struct.Eigen::internal::scalar_multiple_op" }
%"struct.Eigen::internal::scalar_multiple_op" = type { double }
%"class.Eigen::CwiseBinaryOp.82" = type <{ %"class.Eigen::Block.56", %"class.Eigen::CwiseUnaryOp.75", [8 x i8] }>
%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 }

declare i32 @__gxx_personality_v0(...)

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7UKFSLam20compute_sigma_pointsERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(24) %1, i1 noundef zeroext %2) #3 align 2 personality ptr @__gxx_personality_v0 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca i8, align 1
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca float, align 4
  %10 = alloca %"class.Eigen::Matrix", align 8
  %11 = alloca %"class.Eigen::TriangularView", align 8
  %12 = alloca %"class.Eigen::LLT", align 8
  %13 = alloca %"class.Eigen::Block", align 8
  %14 = alloca ptr, align 8
  %15 = alloca i32, align 4
  %16 = alloca %"class.Eigen::CwiseNullaryOp.28", align 8
  %17 = alloca %"class.Eigen::VectorBlock", align 8
  %18 = alloca %"class.Eigen::Block.56", align 8
  %19 = alloca i32, align 4
  %20 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %21 = alloca %"class.Eigen::Block.56", align 8
  %22 = alloca %"class.Eigen::CwiseUnaryOp.75", align 8
  %23 = alloca double, align 8
  %24 = alloca %"class.Eigen::Block.56", align 8
  %25 = alloca %"class.Eigen::Block.56", align 8
  %26 = alloca %"class.Eigen::CwiseBinaryOp.82", align 8
  %27 = alloca %"class.Eigen::Block.56", align 8
  %28 = alloca %"class.Eigen::CwiseUnaryOp.75", align 8
  %29 = alloca double, align 8
  %30 = alloca %"class.Eigen::Block.56", align 8
  %31 = alloca %"class.Eigen::Block.56", align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  %32 = zext i1 %2 to i8
  store i8 %32, ptr %6, align 1, !tbaa !9
  %33 = load ptr, ptr %4, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #4
  %34 = getelementptr inbounds %class.UKFSLam, ptr %33, i32 0, i32 5
  %35 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %34)
  %36 = trunc i64 %35 to i32
  store i32 %36, ptr %7, align 4, !tbaa !11
  %37 = load i8, ptr %6, align 1, !tbaa !9, !range !13, !noundef !14
  %38 = trunc i8 %37 to i1
  br i1 %38, label %39, label %40

39:                                               ; preds = %3
  store i32 3, ptr %7, align 4, !tbaa !11
  br label %40

40:                                               ; preds = %39, %3
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #4
  %41 = load i32, ptr %7, align 4, !tbaa !11
  %42 = mul nsw i32 2, %41
  %43 = add nsw i32 %42, 1
  store i32 %43, ptr %8, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #4
  %44 = getelementptr inbounds %class.UKFSLam, ptr %33, i32 0, i32 2
  %45 = load float, ptr %44, align 4, !tbaa !15
  %46 = load i32, ptr %7, align 4, !tbaa !11
  %47 = sitofp i32 %46 to float
  %48 = fsub float %45, %47
  store float %48, ptr %9, align 4, !tbaa !30
  call void @llvm.lifetime.start.p0(i64 24, ptr %10) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #4
  call void @llvm.lifetime.start.p0(i64 32, ptr %12) #4
  call void @llvm.lifetime.start.p0(i64 40, ptr %13) #4
  %49 = getelementptr inbounds %class.UKFSLam, ptr %33, i32 0, i32 4
  %50 = load i32, ptr %7, align 4, !tbaa !11
  %51 = sext i32 %50 to i64
  %52 = load i32, ptr %7, align 4, !tbaa !11
  %53 = sext i32 %52 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13topLeftCornerEll(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %13, ptr noundef nonnull align 1 dereferenceable(1) %49, i64 noundef %51, i64 noundef %53)
  call void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEEE3lltEv(ptr dead_on_unwind writable sret(%"class.Eigen::LLT") align 8 %12, ptr noundef nonnull align 1 dereferenceable(1) %13)
  %54 = invoke ptr @_ZNK5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EE7matrixLEv(ptr noundef nonnull align 8 dereferenceable(32) %12)
          to label %55 unwind label %81

55:                                               ; preds = %40
  %56 = getelementptr inbounds %"class.Eigen::TriangularView", ptr %11, i32 0, i32 0
  store ptr %54, ptr %56, align 8
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14TriangularViewIKS1_Lj1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %10, ptr noundef nonnull align 1 dereferenceable(1) %11)
          to label %57 unwind label %81

57:                                               ; preds = %55
  call void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #4
  call void @llvm.lifetime.end.p0(i64 40, ptr %13) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr %12) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr %16) #4
  %58 = load i32, ptr %7, align 4, !tbaa !11
  %59 = sext i32 %58 to i64
  %60 = load i32, ptr %7, align 4, !tbaa !11
  %61 = mul nsw i32 2, %60
  %62 = add nsw i32 %61, 1
  %63 = sext i32 %62 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.28") align 8 %16, i64 noundef %59, i64 noundef %63)
          to label %64 unwind label %85

64:                                               ; preds = %57
  %65 = load ptr, ptr %5, align 8, !tbaa !5
  %66 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %65, ptr noundef nonnull align 1 dereferenceable(1) %16)
          to label %67 unwind label %85

67:                                               ; preds = %64
  call void @llvm.lifetime.end.p0(i64 24, ptr %16) #4
  call void @llvm.lifetime.start.p0(i64 40, ptr %17) #4
  %68 = getelementptr inbounds %class.UKFSLam, ptr %33, i32 0, i32 5
  %69 = load i32, ptr %7, align 4, !tbaa !11
  %70 = sext i32 %69 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4headEl(ptr dead_on_unwind writable sret(%"class.Eigen::VectorBlock") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %68, i64 noundef %70)
          to label %71 unwind label %89

71:                                               ; preds = %67
  call void @llvm.lifetime.start.p0(i64 40, ptr %18) #4
  %72 = load ptr, ptr %5, align 8, !tbaa !5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.56") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %72, i64 noundef 0)
          to label %73 unwind label %93

73:                                               ; preds = %71
  %74 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEaSINS0_INS1_IdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %18, ptr noundef nonnull align 1 dereferenceable(1) %17)
          to label %75 unwind label %93

75:                                               ; preds = %73
  call void @llvm.lifetime.end.p0(i64 40, ptr %18) #4
  call void @llvm.lifetime.end.p0(i64 40, ptr %17) #4
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #4
  store i32 0, ptr %19, align 4, !tbaa !11
  br label %76

76:                                               ; preds = %143, %75
  %77 = load i32, ptr %19, align 4, !tbaa !11
  %78 = load i32, ptr %7, align 4, !tbaa !11
  %79 = icmp slt i32 %77, %78
  br i1 %79, label %98, label %80

80:                                               ; preds = %76
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #4
  br label %185

81:                                               ; preds = %55, %40
  %82 = landingpad { ptr, i32 }
          cleanup
  %83 = extractvalue { ptr, i32 } %82, 0
  store ptr %83, ptr %14, align 8
  %84 = extractvalue { ptr, i32 } %82, 1
  store i32 %84, ptr %15, align 4
  call void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %12) #4
  call void @llvm.lifetime.end.p0(i64 40, ptr %13) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr %12) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #4
  br label %187

85:                                               ; preds = %64, %57
  %86 = landingpad { ptr, i32 }
          cleanup
  %87 = extractvalue { ptr, i32 } %86, 0
  store ptr %87, ptr %14, align 8
  %88 = extractvalue { ptr, i32 } %86, 1
  store i32 %88, ptr %15, align 4
  call void @llvm.lifetime.end.p0(i64 24, ptr %16) #4
  br label %186

89:                                               ; preds = %67
  %90 = landingpad { ptr, i32 }
          cleanup
  %91 = extractvalue { ptr, i32 } %90, 0
  store ptr %91, ptr %14, align 8
  %92 = extractvalue { ptr, i32 } %90, 1
  store i32 %92, ptr %15, align 4
  br label %97

93:                                               ; preds = %73, %71
  %94 = landingpad { ptr, i32 }
          cleanup
  %95 = extractvalue { ptr, i32 } %94, 0
  store ptr %95, ptr %14, align 8
  %96 = extractvalue { ptr, i32 } %94, 1
  store i32 %96, ptr %15, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %18) #4
  br label %97

97:                                               ; preds = %93, %89
  call void @llvm.lifetime.end.p0(i64 40, ptr %17) #4
  br label %186

98:                                               ; preds = %76
  call void @llvm.lifetime.start.p0(i64 96, ptr %20) #4
  call void @llvm.lifetime.start.p0(i64 40, ptr %21) #4
  %99 = load ptr, ptr %5, align 8, !tbaa !5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.56") align 8 %21, ptr noundef nonnull align 1 dereferenceable(1) %99, i64 noundef 0)
          to label %100 unwind label %146

100:                                              ; preds = %98
  call void @llvm.lifetime.start.p0(i64 48, ptr %22) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #4
  %101 = load i32, ptr %7, align 4, !tbaa !11
  %102 = sitofp i32 %101 to float
  %103 = load float, ptr %9, align 4, !tbaa !30
  %104 = fadd float %102, %103
  %105 = invoke noundef float @_ZSt4sqrtf(float noundef %104)
          to label %106 unwind label %150

106:                                              ; preds = %100
  %107 = fpext float %105 to double
  store double %107, ptr %23, align 8, !tbaa !31
  call void @llvm.lifetime.start.p0(i64 40, ptr %24) #4
  %108 = load i32, ptr %19, align 4, !tbaa !11
  %109 = sext i32 %108 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.56") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) %10, i64 noundef %109)
          to label %110 unwind label %154

110:                                              ; preds = %106
  invoke void @_ZN5EigenmlERKdRKNS_10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp.75") align 8 %22, ptr noundef nonnull align 8 dereferenceable(8) %23, ptr noundef nonnull align 1 dereferenceable(1) %24)
          to label %111 unwind label %154

111:                                              ; preds = %110
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEplINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKS4_EEEEKNS_13CwiseBinaryOpINS8_13scalar_sum_opIdEESB_KT_EERKNS0_ISG_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %21, ptr noundef nonnull align 1 dereferenceable(1) %22)
          to label %112 unwind label %154

112:                                              ; preds = %111
  call void @llvm.lifetime.start.p0(i64 40, ptr %25) #4
  %113 = load ptr, ptr %5, align 8, !tbaa !5
  %114 = load i32, ptr %19, align 4, !tbaa !11
  %115 = add nsw i32 %114, 1
  %116 = sext i32 %115 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.56") align 8 %25, ptr noundef nonnull align 1 dereferenceable(1) %113, i64 noundef %116)
          to label %117 unwind label %158

117:                                              ; preds = %112
  %118 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS3_KNS_12CwiseUnaryOpINS6_18scalar_multiple_opIdEES9_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %25, ptr noundef nonnull align 1 dereferenceable(1) %20)
          to label %119 unwind label %158

119:                                              ; preds = %117
  call void @llvm.lifetime.end.p0(i64 40, ptr %25) #4
  call void @llvm.lifetime.end.p0(i64 40, ptr %24) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #4
  call void @llvm.lifetime.end.p0(i64 48, ptr %22) #4
  call void @llvm.lifetime.end.p0(i64 40, ptr %21) #4
  call void @llvm.lifetime.end.p0(i64 96, ptr %20) #4
  call void @llvm.lifetime.start.p0(i64 96, ptr %26) #4
  call void @llvm.lifetime.start.p0(i64 40, ptr %27) #4
  %120 = load ptr, ptr %5, align 8, !tbaa !5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.56") align 8 %27, ptr noundef nonnull align 1 dereferenceable(1) %120, i64 noundef 0)
          to label %121 unwind label %165

121:                                              ; preds = %119
  call void @llvm.lifetime.start.p0(i64 48, ptr %28) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #4
  %122 = load i32, ptr %7, align 4, !tbaa !11
  %123 = sitofp i32 %122 to float
  %124 = load float, ptr %9, align 4, !tbaa !30
  %125 = fadd float %123, %124
  %126 = invoke noundef float @_ZSt4sqrtf(float noundef %125)
          to label %127 unwind label %169

127:                                              ; preds = %121
  %128 = fpext float %126 to double
  store double %128, ptr %29, align 8, !tbaa !31
  call void @llvm.lifetime.start.p0(i64 40, ptr %30) #4
  %129 = load i32, ptr %19, align 4, !tbaa !11
  %130 = sext i32 %129 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.56") align 8 %30, ptr noundef nonnull align 1 dereferenceable(1) %10, i64 noundef %130)
          to label %131 unwind label %173

131:                                              ; preds = %127
  invoke void @_ZN5EigenmlERKdRKNS_10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp.75") align 8 %28, ptr noundef nonnull align 8 dereferenceable(8) %29, ptr noundef nonnull align 1 dereferenceable(1) %30)
          to label %132 unwind label %173

132:                                              ; preds = %131
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEmiINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKS4_EEEEKNS_13CwiseBinaryOpINS8_20scalar_difference_opIdEESB_KT_EERKNS0_ISG_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.82") align 8 %26, ptr noundef nonnull align 1 dereferenceable(1) %27, ptr noundef nonnull align 1 dereferenceable(1) %28)
          to label %133 unwind label %173

133:                                              ; preds = %132
  call void @llvm.lifetime.start.p0(i64 40, ptr %31) #4
  %134 = load ptr, ptr %5, align 8, !tbaa !5
  %135 = load i32, ptr %19, align 4, !tbaa !11
  %136 = load i32, ptr %7, align 4, !tbaa !11
  %137 = add nsw i32 %135, %136
  %138 = add nsw i32 %137, 1
  %139 = sext i32 %138 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.56") align 8 %31, ptr noundef nonnull align 1 dereferenceable(1) %134, i64 noundef %139)
          to label %140 unwind label %177

140:                                              ; preds = %133
  %141 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdEEKS3_KNS_12CwiseUnaryOpINS6_18scalar_multiple_opIdEES9_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %31, ptr noundef nonnull align 1 dereferenceable(1) %26)
          to label %142 unwind label %177

142:                                              ; preds = %140
  call void @llvm.lifetime.end.p0(i64 40, ptr %31) #4
  call void @llvm.lifetime.end.p0(i64 40, ptr %30) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #4
  call void @llvm.lifetime.end.p0(i64 48, ptr %28) #4
  call void @llvm.lifetime.end.p0(i64 40, ptr %27) #4
  call void @llvm.lifetime.end.p0(i64 96, ptr %26) #4
  br label %143

143:                                              ; preds = %142
  %144 = load i32, ptr %19, align 4, !tbaa !11
  %145 = add nsw i32 %144, 1
  store i32 %145, ptr %19, align 4, !tbaa !11
  br label %76, !llvm.loop !33

146:                                              ; preds = %98
  %147 = landingpad { ptr, i32 }
          cleanup
  %148 = extractvalue { ptr, i32 } %147, 0
  store ptr %148, ptr %14, align 8
  %149 = extractvalue { ptr, i32 } %147, 1
  store i32 %149, ptr %15, align 4
  br label %164

150:                                              ; preds = %100
  %151 = landingpad { ptr, i32 }
          cleanup
  %152 = extractvalue { ptr, i32 } %151, 0
  store ptr %152, ptr %14, align 8
  %153 = extractvalue { ptr, i32 } %151, 1
  store i32 %153, ptr %15, align 4
  br label %163

154:                                              ; preds = %111, %110, %106
  %155 = landingpad { ptr, i32 }
          cleanup
  %156 = extractvalue { ptr, i32 } %155, 0
  store ptr %156, ptr %14, align 8
  %157 = extractvalue { ptr, i32 } %155, 1
  store i32 %157, ptr %15, align 4
  br label %162

158:                                              ; preds = %117, %112
  %159 = landingpad { ptr, i32 }
          cleanup
  %160 = extractvalue { ptr, i32 } %159, 0
  store ptr %160, ptr %14, align 8
  %161 = extractvalue { ptr, i32 } %159, 1
  store i32 %161, ptr %15, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %25) #4
  br label %162

162:                                              ; preds = %158, %154
  call void @llvm.lifetime.end.p0(i64 40, ptr %24) #4
  br label %163

163:                                              ; preds = %162, %150
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #4
  call void @llvm.lifetime.end.p0(i64 48, ptr %22) #4
  br label %164

164:                                              ; preds = %163, %146
  call void @llvm.lifetime.end.p0(i64 40, ptr %21) #4
  call void @llvm.lifetime.end.p0(i64 96, ptr %20) #4
  br label %184

165:                                              ; preds = %119
  %166 = landingpad { ptr, i32 }
          cleanup
  %167 = extractvalue { ptr, i32 } %166, 0
  store ptr %167, ptr %14, align 8
  %168 = extractvalue { ptr, i32 } %166, 1
  store i32 %168, ptr %15, align 4
  br label %183

169:                                              ; preds = %121
  %170 = landingpad { ptr, i32 }
          cleanup
  %171 = extractvalue { ptr, i32 } %170, 0
  store ptr %171, ptr %14, align 8
  %172 = extractvalue { ptr, i32 } %170, 1
  store i32 %172, ptr %15, align 4
  br label %182

173:                                              ; preds = %132, %131, %127
  %174 = landingpad { ptr, i32 }
          cleanup
  %175 = extractvalue { ptr, i32 } %174, 0
  store ptr %175, ptr %14, align 8
  %176 = extractvalue { ptr, i32 } %174, 1
  store i32 %176, ptr %15, align 4
  br label %181

177:                                              ; preds = %140, %133
  %178 = landingpad { ptr, i32 }
          cleanup
  %179 = extractvalue { ptr, i32 } %178, 0
  store ptr %179, ptr %14, align 8
  %180 = extractvalue { ptr, i32 } %178, 1
  store i32 %180, ptr %15, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %31) #4
  br label %181

181:                                              ; preds = %177, %173
  call void @llvm.lifetime.end.p0(i64 40, ptr %30) #4
  br label %182

182:                                              ; preds = %181, %169
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #4
  call void @llvm.lifetime.end.p0(i64 48, ptr %28) #4
  br label %183

183:                                              ; preds = %182, %165
  call void @llvm.lifetime.end.p0(i64 40, ptr %27) #4
  call void @llvm.lifetime.end.p0(i64 96, ptr %26) #4
  br label %184

184:                                              ; preds = %183, %164
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #4
  br label %186

185:                                              ; preds = %80
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %10) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #4
  ret void

186:                                              ; preds = %184, %97, %85
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #4
  br label %187

187:                                              ; preds = %186, %81
  call void @llvm.lifetime.end.p0(i64 24, ptr %10) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #4
  br label %188

188:                                              ; preds = %187
  %189 = load ptr, ptr %14, align 8
  %190 = load i32, ptr %15, align 4
  %191 = insertvalue { ptr, i32 } poison, ptr %189, 0
  %192 = insertvalue { ptr, i32 } %191, i32 %190, 1
  resume { ptr, i32 } %192
}

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEEE3lltEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::LLT") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZNK5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EE7matrixLEv(ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14TriangularViewIKS1_Lj1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #0 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.56") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEaSINS0_INS1_IdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEplINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKS4_EEEEKNS_13CwiseBinaryOpINS8_13scalar_sum_opIdEESB_KT_EERKNS0_ISG_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5EigenmlERKdRKNS_10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.75") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4sqrtf(float noundef) #0

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS3_KNS_12CwiseUnaryOpINS6_18scalar_multiple_opIdEES9_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEmiINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKS4_EEEEKNS_13CwiseBinaryOpINS8_20scalar_difference_opIdEESB_KT_EERKNS0_ISG_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.82") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdEEKS3_KNS_12CwiseUnaryOpINS6_18scalar_multiple_opIdEES9_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) #2 align 2

attributes #0 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nounwind }

!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 = !{!"bool", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{i8 0, i8 2}
!14 = !{}
!15 = !{!16, !17, i64 12}
!16 = !{!"_ZTS7UKFSLam", !10, i64 8, !17, i64 12, !18, i64 16, !19, i64 24, !23, i64 48, !19, i64 64, !19, i64 88, !26, i64 112}
!17 = !{!"float", !7, i64 0}
!18 = !{!"_ZTS5Tools"}
!19 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !6, i64 0, !22, i64 8, !22, i64 16}
!22 = !{!"long", !7, i64 0}
!23 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !22, i64 8}
!26 = !{!"_ZTSSt6vectorIiSaIiEE", !27, i64 0}
!27 = !{!"_ZTSSt12_Vector_baseIiSaIiEE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE12_Vector_implE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!30 = !{!17, !17, i64 0}
!31 = !{!32, !32, i64 0}
!32 = !{!"double", !7, i64 0}
!33 = distinct !{!33, !34}
!34 = !{!"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::CwiseNullaryOp.28" = type { %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic", %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64, i64 }
%"class.Eigen::TriangularView" = type { ptr }
%"class.Eigen::LLT" = type { %"class.Eigen::Matrix", i8, i32 }
%"class.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase", ptr, i64 }
%"class.Eigen::MapBase" = type { %"class.Eigen::MapBase.35" }
%"class.Eigen::MapBase.35" = type { ptr, %"class.Eigen::internal::variable_if_dynamic", %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::VectorBlock" = type { %"class.Eigen::Block.43" }
%"class.Eigen::Block.43" = type { %"class.Eigen::BlockImpl.44" }
%"class.Eigen::BlockImpl.44" = type { %"class.Eigen::internal::BlockImpl_dense.45" }
%"class.Eigen::internal::BlockImpl_dense.45" = type { %"class.Eigen::MapBase.base.55", ptr, i64 }
%"class.Eigen::MapBase.base.55" = type { %"class.Eigen::MapBase.base" }
%"class.Eigen::MapBase.base" = type <{ ptr, %"class.Eigen::internal::variable_if_dynamic", i8 }>
%"class.Eigen::Block.56" = type { %"class.Eigen::BlockImpl.57" }
%"class.Eigen::BlockImpl.57" = type { %"class.Eigen::internal::BlockImpl_dense.58" }
%"class.Eigen::internal::BlockImpl_dense.58" = type { %"class.Eigen::MapBase.base.69", ptr, i64 }
%"class.Eigen::MapBase.base.69" = type { %"class.Eigen::MapBase.base.68" }
%"class.Eigen::MapBase.base.68" = type <{ ptr, %"class.Eigen::internal::variable_if_dynamic", i8 }>
%"class.Eigen::CwiseBinaryOp" = type <{ %"class.Eigen::Block.56", %"class.Eigen::CwiseUnaryOp.75", [8 x i8] }>
%"class.Eigen::CwiseUnaryOp.75" = type { %"class.Eigen::Block.56", %"struct.Eigen::internal::scalar_multiple_op" }
%"struct.Eigen::internal::scalar_multiple_op" = type { double }
%"class.Eigen::CwiseBinaryOp.82" = type <{ %"class.Eigen::Block.56", %"class.Eigen::CwiseUnaryOp.75", [8 x i8] }>

declare i32 @__gxx_personality_v0(...)

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7UKFSLam20compute_sigma_pointsERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(24) %1, i1 noundef zeroext %2) local_unnamed_addr #3 align 2 personality ptr @__gxx_personality_v0 {
  %4 = alloca %"class.Eigen::Matrix", align 8
  %5 = alloca %"class.Eigen::TriangularView", align 8
  %6 = alloca %"class.Eigen::LLT", align 8
  %7 = alloca %"class.Eigen::Block", align 8
  %8 = alloca %"class.Eigen::CwiseNullaryOp.28", align 8
  %9 = alloca %"class.Eigen::VectorBlock", align 8
  %10 = alloca %"class.Eigen::Block.56", align 8
  %11 = alloca %"class.Eigen::CwiseBinaryOp", align 8
  %12 = alloca %"class.Eigen::Block.56", align 8
  %13 = alloca %"class.Eigen::CwiseUnaryOp.75", align 8
  %14 = alloca double, align 8
  %15 = alloca %"class.Eigen::Block.56", align 8
  %16 = alloca %"class.Eigen::Block.56", align 8
  %17 = alloca %"class.Eigen::CwiseBinaryOp.82", align 8
  %18 = alloca %"class.Eigen::Block.56", align 8
  %19 = alloca %"class.Eigen::CwiseUnaryOp.75", align 8
  %20 = alloca double, align 8
  %21 = alloca %"class.Eigen::Block.56", align 8
  %22 = alloca %"class.Eigen::Block.56", align 8
  %23 = getelementptr inbounds i8, ptr %0, i64 48
  %24 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %23)
  %25 = trunc i64 %24 to i32
  %spec.store.select = select i1 %2, i32 3, i32 %25
  %26 = shl nsw i32 %spec.store.select, 1
  %27 = getelementptr inbounds i8, ptr %0, i64 12
  %28 = load float, ptr %27, align 4, !tbaa !5
  %29 = sitofp i32 %spec.store.select to float
  %30 = fsub float %28, %29
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %4) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #4
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %6) #4
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %7) #4
  %31 = getelementptr inbounds i8, ptr %0, i64 24
  %32 = sext i32 %spec.store.select to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13topLeftCornerEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %7, ptr noundef nonnull align 1 dereferenceable(1) %31, i64 noundef %32, i64 noundef %32)
  call void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEEE3lltEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::LLT") align 8 %6, ptr noundef nonnull align 1 dereferenceable(1) %7)
  %33 = invoke ptr @_ZNK5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EE7matrixLEv(ptr noundef nonnull align 8 dereferenceable(32) %6)
          to label %34 unwind label %48

34:                                               ; preds = %3
  store ptr %33, ptr %5, align 8
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14TriangularViewIKS1_Lj1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %4, ptr noundef nonnull align 1 dereferenceable(1) %5)
          to label %35 unwind label %48

35:                                               ; preds = %34
  call void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #4
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %7) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %8) #4
  %36 = or disjoint i32 %26, 1
  %37 = sext i32 %36 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.28") align 8 %8, i64 noundef %32, i64 noundef %37)
          to label %38 unwind label %50

38:                                               ; preds = %35
  %39 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSINS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERS1_RKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %1, ptr noundef nonnull align 1 dereferenceable(1) %8)
          to label %40 unwind label %50

40:                                               ; preds = %38
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #4
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %9) #4
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4headEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::VectorBlock") align 8 %9, ptr noundef nonnull align 1 dereferenceable(1) %23, i64 noundef %32)
          to label %41 unwind label %52

41:                                               ; preds = %40
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %10) #4
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.56") align 8 %10, ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef 0)
          to label %42 unwind label %54

42:                                               ; preds = %41
  %43 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEaSINS0_INS1_IdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %10, ptr noundef nonnull align 1 dereferenceable(1) %9)
          to label %44 unwind label %54

44:                                               ; preds = %42
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %10) #4
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %9) #4
  %45 = icmp sgt i32 %spec.store.select, 0
  br i1 %45, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %44
  %46 = fadd float %30, %29
  %47 = add nuw i32 %spec.store.select, 1
  %wide.trip.count = zext nneg i32 %spec.store.select to i64
  br label %57

._crit_edge:                                      ; preds = %78, %44
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #4
  ret void

48:                                               ; preds = %34, %3
  %49 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %6) #4
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %7) #4
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #4
  br label %96

50:                                               ; preds = %38, %35
  %51 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #4
  br label %95

52:                                               ; preds = %40
  %53 = landingpad { ptr, i32 }
          cleanup
  br label %56

54:                                               ; preds = %42, %41
  %55 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %10) #4
  br label %56

56:                                               ; preds = %54, %52
  %.pn = phi { ptr, i32 } [ %55, %54 ], [ %53, %52 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %9) #4
  br label %95

57:                                               ; preds = %.lr.ph, %78
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %78 ]
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %11) #4
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %12) #4
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.56") align 8 %12, ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef 0)
          to label %58 unwind label %79

58:                                               ; preds = %57
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %13) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #4
  %59 = call noundef float @_ZSt4sqrtf(float noundef %46)
  %60 = fpext float %59 to double
  store double %60, ptr %14, align 8, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %15) #4
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.56") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %indvars.iv)
          to label %61 unwind label %81

61:                                               ; preds = %58
  invoke void @_ZN5EigenmlERKdRKNS_10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp.75") align 8 %13, ptr noundef nonnull align 8 dereferenceable(8) %14, ptr noundef nonnull align 1 dereferenceable(1) %15)
          to label %62 unwind label %81

62:                                               ; preds = %61
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEplINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKS4_EEEEKNS_13CwiseBinaryOpINS8_13scalar_sum_opIdEESB_KT_EERKNS0_ISG_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp") align 8 %11, ptr noundef nonnull align 1 dereferenceable(1) %12, ptr noundef nonnull align 1 dereferenceable(1) %13)
          to label %63 unwind label %81

63:                                               ; preds = %62
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %16) #4
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.56") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %indvars.iv.next)
          to label %64 unwind label %83

64:                                               ; preds = %63
  %65 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS3_KNS_12CwiseUnaryOpINS6_18scalar_multiple_opIdEES9_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %16, ptr noundef nonnull align 1 dereferenceable(1) %11)
          to label %66 unwind label %83

66:                                               ; preds = %64
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %16) #4
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %15) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #4
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %13) #4
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %12) #4
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %11) #4
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %17) #4
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %18) #4
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.56") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef 0)
          to label %67 unwind label %87

67:                                               ; preds = %66
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %19) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %20) #4
  %68 = call noundef float @_ZSt4sqrtf(float noundef %46)
  %69 = fpext float %68 to double
  store double %69, ptr %20, align 8, !tbaa !24
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %21) #4
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.56") align 8 %21, ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %indvars.iv)
          to label %70 unwind label %89

70:                                               ; preds = %67
  invoke void @_ZN5EigenmlERKdRKNS_10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp.75") align 8 %19, ptr noundef nonnull align 8 dereferenceable(8) %20, ptr noundef nonnull align 1 dereferenceable(1) %21)
          to label %71 unwind label %89

71:                                               ; preds = %70
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEmiINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKS4_EEEEKNS_13CwiseBinaryOpINS8_20scalar_difference_opIdEESB_KT_EERKNS0_ISG_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.82") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %18, ptr noundef nonnull align 1 dereferenceable(1) %19)
          to label %72 unwind label %89

72:                                               ; preds = %71
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %22) #4
  %73 = trunc nuw nsw i64 %indvars.iv to i32
  %74 = add i32 %47, %73
  %75 = sext i32 %74 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.56") align 8 %22, ptr noundef nonnull align 1 dereferenceable(1) %1, i64 noundef %75)
          to label %76 unwind label %91

76:                                               ; preds = %72
  %77 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdEEKS3_KNS_12CwiseUnaryOpINS6_18scalar_multiple_opIdEES9_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %22, ptr noundef nonnull align 1 dereferenceable(1) %17)
          to label %78 unwind label %91

78:                                               ; preds = %76
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %22) #4
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %21) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #4
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %19) #4
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %18) #4
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %17) #4
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %._crit_edge, label %57, !llvm.loop !26

79:                                               ; preds = %57
  %80 = landingpad { ptr, i32 }
          cleanup
  br label %86

81:                                               ; preds = %62, %61, %58
  %82 = landingpad { ptr, i32 }
          cleanup
  br label %85

83:                                               ; preds = %64, %63
  %84 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %16) #4
  br label %85

85:                                               ; preds = %83, %81
  %.pn38 = phi { ptr, i32 } [ %84, %83 ], [ %82, %81 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %15) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #4
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %13) #4
  br label %86

86:                                               ; preds = %85, %79
  %.pn38.pn = phi { ptr, i32 } [ %.pn38, %85 ], [ %80, %79 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %12) #4
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %11) #4
  br label %95

87:                                               ; preds = %66
  %88 = landingpad { ptr, i32 }
          cleanup
  br label %94

89:                                               ; preds = %71, %70, %67
  %90 = landingpad { ptr, i32 }
          cleanup
  br label %93

91:                                               ; preds = %76, %72
  %92 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %22) #4
  br label %93

93:                                               ; preds = %91, %89
  %.pn41 = phi { ptr, i32 } [ %92, %91 ], [ %90, %89 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %21) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #4
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %19) #4
  br label %94

94:                                               ; preds = %93, %87
  %.pn41.pn = phi { ptr, i32 } [ %.pn41, %93 ], [ %88, %87 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %18) #4
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %17) #4
  br label %95

95:                                               ; preds = %86, %94, %56, %50
  %.pn41.pn.pn.pn = phi { ptr, i32 } [ %.pn, %56 ], [ %51, %50 ], [ %.pn41.pn, %94 ], [ %.pn38.pn, %86 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #4
  br label %96

96:                                               ; preds = %95, %48
  %.pn41.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn41.pn.pn.pn, %95 ], [ %49, %48 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #4
  resume { ptr, i32 } %.pn41.pn.pn.pn.pn
}

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEEE3lltEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::LLT") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZNK5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EE7matrixLEv(ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14TriangularViewIKS1_Lj1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen3LLTINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #0 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3colEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.56") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEaSINS0_INS1_IdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEplINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKS4_EEEEKNS_13CwiseBinaryOpINS8_13scalar_sum_opIdEESB_KT_EERKNS0_ISG_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5EigenmlERKdRKNS_10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.75") align 8, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4sqrtf(float noundef) local_unnamed_addr #0

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS3_KNS_12CwiseUnaryOpINS6_18scalar_multiple_opIdEES9_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEEEmiINS_12CwiseUnaryOpINS_8internal18scalar_multiple_opIdEEKS4_EEEEKNS_13CwiseBinaryOpINS8_20scalar_difference_opIdEESB_KT_EERKNS0_ISG_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.82") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELi1ELb1EEaSINS_13CwiseBinaryOpINS_8internal20scalar_difference_opIdEEKS3_KNS_12CwiseUnaryOpINS6_18scalar_multiple_opIdEES9_EEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #2 align 2

attributes #0 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !10, i64 12}
!6 = !{!"_ZTS7UKFSLam", !7, i64 8, !10, i64 12, !11, i64 16, !12, i64 24, !17, i64 48, !12, i64 64, !12, i64 88, !20, i64 112}
!7 = !{!"bool", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"float", !8, i64 0}
!11 = !{!"_ZTS5Tools"}
!12 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !13, i64 0}
!13 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !14, i64 0}
!14 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !15, i64 0, !16, i64 8, !16, i64 16}
!15 = !{!"any pointer", !8, i64 0}
!16 = !{!"long", !8, i64 0}
!17 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !15, i64 0, !16, i64 8}
!20 = !{!"_ZTSSt6vectorIiSaIiEE", !21, i64 0}
!21 = !{!"_ZTSSt12_Vector_baseIiSaIiEE", !22, i64 0}
!22 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE12_Vector_implE", !23, i64 0}
!23 = !{!"_ZTSNSt12_Vector_baseIiSaIiEE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!24 = !{!25, !25, i64 0}
!25 = !{!"double", !8, i64 0}
!26 = distinct !{!26, !27}
!27 = !{!"llvm.loop.mustprogress"}


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