; LLVM IR from Forrest-Z/cpp_robotics :: slam/ukf_slam/src/ukf_slam.ll (ZN7UKFSLam19add_landmark_to_mapERK12RadarReading)

; 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" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"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::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::Matrix.2" = type { %"class.Eigen::PlainObjectBase.3" }
%"class.Eigen::PlainObjectBase.3" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { ptr, i64 }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64, i64 }
%"class.Eigen::Block.184" = type { %"class.Eigen::BlockImpl.185" }
%"class.Eigen::BlockImpl.185" = type { %"class.Eigen::internal::BlockImpl_dense.186" }
%"class.Eigen::internal::BlockImpl_dense.186" = type { %"class.Eigen::MapBase.187", ptr, i64 }
%"class.Eigen::MapBase.187" = type { %"class.Eigen::MapBase.188" }
%"class.Eigen::MapBase.188" = type { ptr, [8 x i8], %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::CwiseUnaryOp.196" = type { [8 x i8], %"class.Eigen::ArrayWrapper.203", [8 x i8] }
%"class.Eigen::ArrayWrapper.203" = type { %"class.Eigen::CwiseBinaryOp.209" }
%"class.Eigen::CwiseBinaryOp.209" = type <{ %"class.Eigen::Block.184", %"class.Eigen::Block.184", [8 x i8] }>
%"class.Eigen::CwiseUnaryOp.218" = type { [8 x i8], %"class.Eigen::ArrayWrapper.203", [8 x i8] }
%"class.Eigen::CwiseBinaryOp.226" = type <{ %"class.Eigen::ArrayWrapper.233", %"class.Eigen::ArrayWrapper.241", [8 x i8] }>
%"class.Eigen::ArrayWrapper.233" = type { %"class.Eigen::Block.184" }
%"class.Eigen::ArrayWrapper.241" = type { %"class.Eigen::Transpose" }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::CwiseBinaryOp.250" = type <{ %"class.Eigen::Block.184", %"class.Eigen::Transpose", [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.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: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) 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: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp") align 8, i64 noundef) #0 align 2

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

; 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) #0 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13topLeftCornerEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #0 align 2

; Function Attrs: 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) #0 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 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) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7UKFSLam19add_landmark_to_mapERK12RadarReading(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(16) %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 %"class.Eigen::Matrix.2", align 8
  %8 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %9 = alloca %"class.Eigen::VectorBlock", align 8
  %10 = alloca ptr, align 8
  %11 = alloca i32, align 4
  %12 = alloca %"class.Eigen::Matrix", align 8
  %13 = alloca %"class.Eigen::CwiseNullaryOp.28", align 8
  %14 = alloca %"class.Eigen::Block", align 8
  %15 = alloca %"class.Eigen::Block", align 8
  %16 = alloca %"class.Eigen::Matrix", align 8
  %17 = alloca %"class.Eigen::Matrix.2", align 8
  %18 = alloca %"class.Eigen::Block.184", align 8
  %19 = alloca %"class.Eigen::Block.184", align 8
  %20 = alloca %"class.Eigen::Matrix.2", align 8
  %21 = alloca %"class.Eigen::CwiseUnaryOp.196", align 8
  %22 = alloca %"class.Eigen::ArrayWrapper.203", align 8
  %23 = alloca %"class.Eigen::CwiseBinaryOp.209", align 8
  %24 = alloca %"class.Eigen::Block.184", align 8
  %25 = alloca %"class.Eigen::Block.184", align 8
  %26 = alloca %"class.Eigen::Matrix.2", align 8
  %27 = alloca %"class.Eigen::CwiseUnaryOp.218", align 8
  %28 = alloca %"class.Eigen::ArrayWrapper.203", align 8
  %29 = alloca %"class.Eigen::CwiseBinaryOp.209", align 8
  %30 = alloca %"class.Eigen::Block.184", align 8
  %31 = alloca %"class.Eigen::Block.184", align 8
  %32 = alloca %"class.Eigen::Matrix.2", align 8
  %33 = alloca %"class.Eigen::CwiseBinaryOp.226", align 8
  %34 = alloca %"class.Eigen::ArrayWrapper.233", align 8
  %35 = alloca %"class.Eigen::Block.184", align 8
  %36 = alloca %"class.Eigen::ArrayWrapper.241", align 8
  %37 = alloca %"class.Eigen::Transpose", align 8
  %38 = alloca %"class.Eigen::Matrix.2", align 8
  %39 = alloca %"class.Eigen::CwiseBinaryOp.226", align 8
  %40 = alloca %"class.Eigen::ArrayWrapper.233", align 8
  %41 = alloca %"class.Eigen::Block.184", align 8
  %42 = alloca %"class.Eigen::ArrayWrapper.241", align 8
  %43 = alloca %"class.Eigen::Transpose", align 8
  %44 = alloca %"class.Eigen::CwiseBinaryOp.250", align 8
  %45 = alloca %"class.Eigen::Block.184", align 8
  %46 = alloca %"class.Eigen::Transpose", align 8
  %47 = alloca %"class.Eigen::Block.184", align 8
  %48 = alloca %"class.Eigen::CwiseBinaryOp.250", align 8
  %49 = alloca %"class.Eigen::Block.184", align 8
  %50 = alloca %"class.Eigen::Transpose", align 8
  %51 = alloca %"class.Eigen::Block.184", align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %52 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #5
  %53 = getelementptr inbounds %class.UKFSLam, ptr %52, i32 0, i32 5
  %54 = call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %53)
  %55 = trunc i64 %54 to i32
  store i32 %55, ptr %5, align 4, !tbaa !9
  %56 = getelementptr inbounds %class.UKFSLam, ptr %52, i32 0, i32 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #5
  %57 = load ptr, ptr %4, align 8, !tbaa !5
  %58 = getelementptr inbounds %struct.RadarReading, ptr %57, i32 0, i32 0
  %59 = load i64, ptr %58, align 8, !tbaa !11
  %60 = trunc i64 %59 to i32
  store i32 %60, ptr %6, align 4, !tbaa !9
  call void @_ZNSt6vectorIiSaIiEE9push_backEOi(ptr noundef nonnull align 8 dereferenceable(24) %56, ptr noundef nonnull align 4 dereferenceable(4) %6)
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr %7) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %8) #5
  %61 = load i32, ptr %5, align 4, !tbaa !9
  %62 = add nsw i32 %61, 2
  %63 = sext i32 %62 to i64
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %8, i64 noundef %63)
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %7, ptr noundef nonnull align 1 dereferenceable(1) %8)
  call void @llvm.lifetime.end.p0(i64 24, ptr %8) #5
  %64 = getelementptr inbounds %class.UKFSLam, ptr %52, i32 0, i32 5
  call void @llvm.lifetime.start.p0(i64 40, ptr %9) #5
  %65 = load i32, ptr %5, align 4, !tbaa !9
  %66 = sext i32 %65 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4headEl(ptr dead_on_unwind writable sret(%"class.Eigen::VectorBlock") align 8 %9, ptr noundef nonnull align 1 dereferenceable(1) %7, i64 noundef %66)
          to label %67 unwind label %188

67:                                               ; preds = %2
  %68 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %9, ptr noundef nonnull align 1 dereferenceable(1) %64)
          to label %69 unwind label %188

69:                                               ; preds = %67
  call void @llvm.lifetime.end.p0(i64 40, ptr %9) #5
  %70 = load ptr, ptr %4, align 8, !tbaa !5
  %71 = getelementptr inbounds %struct.RadarReading, ptr %70, i32 0, i32 1
  %72 = load float, ptr %71, align 8, !tbaa !15
  %73 = fpext float %72 to double
  %74 = load i32, ptr %5, align 4, !tbaa !9
  %75 = sext i32 %74 to i64
  %76 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %7, i64 noundef %75)
          to label %77 unwind label %192

77:                                               ; preds = %69
  store double %73, ptr %76, align 8, !tbaa !16
  %78 = load ptr, ptr %4, align 8, !tbaa !5
  %79 = getelementptr inbounds %struct.RadarReading, ptr %78, i32 0, i32 2
  %80 = load float, ptr %79, align 4, !tbaa !18
  %81 = fpext float %80 to double
  %82 = load i32, ptr %5, align 4, !tbaa !9
  %83 = add nsw i32 %82, 1
  %84 = sext i32 %83 to i64
  %85 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %7, i64 noundef %84)
          to label %86 unwind label %192

86:                                               ; preds = %77
  store double %81, ptr %85, align 8, !tbaa !16
  %87 = getelementptr inbounds %class.UKFSLam, ptr %52, i32 0, i32 5
  %88 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(16) %87, ptr noundef nonnull align 8 dereferenceable(16) %7)
          to label %89 unwind label %192

89:                                               ; preds = %86
  call void @llvm.lifetime.start.p0(i64 24, ptr %12) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %13) #5
  %90 = load i32, ptr %5, align 4, !tbaa !9
  %91 = add nsw i32 %90, 2
  %92 = sext i32 %91 to i64
  %93 = load i32, ptr %5, align 4, !tbaa !9
  %94 = add nsw i32 %93, 2
  %95 = sext i32 %94 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseNullaryOp.28") align 8 %13, i64 noundef %92, i64 noundef %95)
          to label %96 unwind label %196

96:                                               ; preds = %89
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %12, ptr noundef nonnull align 1 dereferenceable(1) %13)
          to label %97 unwind label %196

97:                                               ; preds = %96
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #5
  %98 = getelementptr inbounds %class.UKFSLam, ptr %52, i32 0, i32 4
  call void @llvm.lifetime.start.p0(i64 40, ptr %14) #5
  %99 = load i32, ptr %5, align 4, !tbaa !9
  %100 = sext i32 %99 to i64
  %101 = load i32, ptr %5, align 4, !tbaa !9
  %102 = sext i32 %101 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13topLeftCornerEll(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %12, i64 noundef %100, i64 noundef %102)
          to label %103 unwind label %200

103:                                              ; preds = %97
  %104 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %14, ptr noundef nonnull align 1 dereferenceable(1) %98)
          to label %105 unwind label %200

105:                                              ; preds = %103
  call void @llvm.lifetime.end.p0(i64 40, ptr %14) #5
  %106 = getelementptr inbounds %class.UKFSLam, ptr %52, i32 0, i32 7
  call void @llvm.lifetime.start.p0(i64 40, ptr %15) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE17bottomRightCornerEll(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %12, i64 noundef 2, i64 noundef 2)
          to label %107 unwind label %204

107:                                              ; preds = %105
  %108 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %15, ptr noundef nonnull align 1 dereferenceable(1) %106)
          to label %109 unwind label %204

109:                                              ; preds = %107
  call void @llvm.lifetime.end.p0(i64 40, ptr %15) #5
  %110 = getelementptr inbounds %class.UKFSLam, ptr %52, i32 0, i32 4
  %111 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %110, ptr noundef nonnull align 8 dereferenceable(24) %12)
          to label %112 unwind label %208

112:                                              ; preds = %109
  call void @llvm.lifetime.start.p0(i64 24, ptr %16) #5
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16)
          to label %113 unwind label %212

113:                                              ; preds = %112
  invoke void @_ZN7UKFSLam20compute_sigma_pointsERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(136) %52, ptr noundef nonnull align 8 dereferenceable(24) %16, i1 noundef zeroext false)
          to label %114 unwind label %216

114:                                              ; preds = %113
  call void @llvm.lifetime.start.p0(i64 16, ptr %17) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr %18) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.184") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %16, i64 noundef 2)
          to label %115 unwind label %220

115:                                              ; preds = %114
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %17, ptr noundef nonnull align 1 dereferenceable(1) %18)
          to label %116 unwind label %220

116:                                              ; preds = %115
  call void @llvm.lifetime.end.p0(i64 40, ptr %18) #5
  %117 = getelementptr inbounds %class.UKFSLam, ptr %52, i32 0, i32 3
  invoke void @_ZN5Tools17normalize_bearingERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(8) %117, ptr noundef nonnull align 8 dereferenceable(16) %17)
          to label %118 unwind label %224

118:                                              ; preds = %116
  call void @llvm.lifetime.start.p0(i64 40, ptr %19) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.184") align 8 %19, ptr noundef nonnull align 1 dereferenceable(1) %16, i64 noundef 2)
          to label %119 unwind label %228

119:                                              ; preds = %118
  %120 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEaSINS1_IdLin1ELi1ELi0ELin1ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %19, ptr noundef nonnull align 1 dereferenceable(1) %17)
          to label %121 unwind label %228

121:                                              ; preds = %119
  call void @llvm.lifetime.end.p0(i64 40, ptr %19) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr %20) #5
  call void @llvm.lifetime.start.p0(i64 104, ptr %21) #5
  call void @llvm.lifetime.start.p0(i64 88, ptr %22) #5
  call void @llvm.lifetime.start.p0(i64 88, ptr %23) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr %24) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.184") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) %16, i64 noundef 2)
          to label %122 unwind label %232

122:                                              ; preds = %121
  call void @llvm.lifetime.start.p0(i64 40, ptr %25) #5
  %123 = load i32, ptr %5, align 4, !tbaa !9
  %124 = add nsw i32 %123, 1
  %125 = sext i32 %124 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.184") align 8 %25, ptr noundef nonnull align 1 dereferenceable(1) %16, i64 noundef %125)
          to label %126 unwind label %236

126:                                              ; preds = %122
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEplIS4_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISC_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.209") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %24, ptr noundef nonnull align 1 dereferenceable(1) %25)
          to label %127 unwind label %236

127:                                              ; preds = %126
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKNS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEES9_EEE5arrayEv(ptr dead_on_unwind writable sret(%"class.Eigen::ArrayWrapper.203") align 8 %22, ptr noundef nonnull align 1 dereferenceable(1) %23)
          to label %128 unwind label %236

128:                                              ; preds = %127
  invoke void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKNS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESA_EEEEE3cosEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp.196") align 8 %21, ptr noundef nonnull align 1 dereferenceable(1) %22)
          to label %129 unwind label %236

129:                                              ; preds = %128
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_cos_opIdEEKNS_12ArrayWrapperIKNS_13CwiseBinaryOpINS4_13scalar_sum_opIdEEKNS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESE_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %20, ptr noundef nonnull align 1 dereferenceable(1) %21)
          to label %130 unwind label %236

130:                                              ; preds = %129
  call void @llvm.lifetime.end.p0(i64 40, ptr %25) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %24) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr %23) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr %22) #5
  call void @llvm.lifetime.end.p0(i64 104, ptr %21) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #5
  call void @llvm.lifetime.start.p0(i64 104, ptr %27) #5
  call void @llvm.lifetime.start.p0(i64 88, ptr %28) #5
  call void @llvm.lifetime.start.p0(i64 88, ptr %29) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr %30) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.184") align 8 %30, ptr noundef nonnull align 1 dereferenceable(1) %16, i64 noundef 2)
          to label %131 unwind label %241

131:                                              ; preds = %130
  call void @llvm.lifetime.start.p0(i64 40, ptr %31) #5
  %132 = load i32, ptr %5, align 4, !tbaa !9
  %133 = add nsw i32 %132, 1
  %134 = sext i32 %133 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.184") align 8 %31, ptr noundef nonnull align 1 dereferenceable(1) %16, i64 noundef %134)
          to label %135 unwind label %245

135:                                              ; preds = %131
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEplIS4_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISC_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.209") align 8 %29, ptr noundef nonnull align 1 dereferenceable(1) %30, ptr noundef nonnull align 1 dereferenceable(1) %31)
          to label %136 unwind label %245

136:                                              ; preds = %135
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKNS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEES9_EEE5arrayEv(ptr dead_on_unwind writable sret(%"class.Eigen::ArrayWrapper.203") align 8 %28, ptr noundef nonnull align 1 dereferenceable(1) %29)
          to label %137 unwind label %245

137:                                              ; preds = %136
  invoke void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKNS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESA_EEEEE3sinEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp.218") align 8 %27, ptr noundef nonnull align 1 dereferenceable(1) %28)
          to label %138 unwind label %245

138:                                              ; preds = %137
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_sin_opIdEEKNS_12ArrayWrapperIKNS_13CwiseBinaryOpINS4_13scalar_sum_opIdEEKNS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESE_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %26, ptr noundef nonnull align 1 dereferenceable(1) %27)
          to label %139 unwind label %245

139:                                              ; preds = %138
  call void @llvm.lifetime.end.p0(i64 40, ptr %31) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %30) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr %29) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr %28) #5
  call void @llvm.lifetime.end.p0(i64 104, ptr %27) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #5
  call void @llvm.lifetime.start.p0(i64 56, ptr %33) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr %34) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr %35) #5
  %140 = load i32, ptr %5, align 4, !tbaa !9
  %141 = sext i32 %140 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.184") align 8 %35, ptr noundef nonnull align 1 dereferenceable(1) %16, i64 noundef %141)
          to label %142 unwind label %250

142:                                              ; preds = %139
  invoke void @_ZN5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEE5arrayEv(ptr dead_on_unwind writable sret(%"class.Eigen::ArrayWrapper.233") align 8 %34, ptr noundef nonnull align 1 dereferenceable(1) %35)
          to label %143 unwind label %250

143:                                              ; preds = %142
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #5
  %144 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %20)
          to label %145 unwind label %254

145:                                              ; preds = %143
  %146 = getelementptr inbounds %"class.Eigen::Transpose", ptr %37, i32 0, i32 0
  store ptr %144, ptr %146, align 8
  %147 = invoke ptr @_ZN5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEE5arrayEv(ptr noundef nonnull align 1 dereferenceable(1) %37)
          to label %148 unwind label %254

148:                                              ; preds = %145
  %149 = getelementptr inbounds %"class.Eigen::ArrayWrapper.241", ptr %36, i32 0, i32 0
  %150 = getelementptr inbounds %"class.Eigen::Transpose", ptr %149, i32 0, i32 0
  store ptr %147, ptr %150, align 8
  invoke void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEEmlINS1_INS_9TransposeINS3_IdLin1ELi1ELi0ELin1ELi1EEEEEEEEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNSE_6traitsIT_E6ScalarEEEKS6_KSH_EERKNS0_ISH_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.226") align 8 %33, ptr noundef nonnull align 1 dereferenceable(1) %34, ptr noundef nonnull align 1 dereferenceable(1) %36)
          to label %151 unwind label %254

151:                                              ; preds = %148
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_12ArrayWrapperINS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEKNS7_INS_9TransposeIS1_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %32, ptr noundef nonnull align 1 dereferenceable(1) %33)
          to label %152 unwind label %254

152:                                              ; preds = %151
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %35) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %34) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr %33) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr %38) #5
  call void @llvm.lifetime.start.p0(i64 56, ptr %39) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr %40) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr %41) #5
  %153 = load i32, ptr %5, align 4, !tbaa !9
  %154 = sext i32 %153 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.184") align 8 %41, ptr noundef nonnull align 1 dereferenceable(1) %16, i64 noundef %154)
          to label %155 unwind label %259

155:                                              ; preds = %152
  invoke void @_ZN5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEE5arrayEv(ptr dead_on_unwind writable sret(%"class.Eigen::ArrayWrapper.233") align 8 %40, ptr noundef nonnull align 1 dereferenceable(1) %41)
          to label %156 unwind label %259

156:                                              ; preds = %155
  call void @llvm.lifetime.start.p0(i64 8, ptr %42) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %43) #5
  %157 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %26)
          to label %158 unwind label %263

158:                                              ; preds = %156
  %159 = getelementptr inbounds %"class.Eigen::Transpose", ptr %43, i32 0, i32 0
  store ptr %157, ptr %159, align 8
  %160 = invoke ptr @_ZN5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEE5arrayEv(ptr noundef nonnull align 1 dereferenceable(1) %43)
          to label %161 unwind label %263

161:                                              ; preds = %158
  %162 = getelementptr inbounds %"class.Eigen::ArrayWrapper.241", ptr %42, i32 0, i32 0
  %163 = getelementptr inbounds %"class.Eigen::Transpose", ptr %162, i32 0, i32 0
  store ptr %160, ptr %163, align 8
  invoke void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEEmlINS1_INS_9TransposeINS3_IdLin1ELi1ELi0ELin1ELi1EEEEEEEEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNSE_6traitsIT_E6ScalarEEEKS6_KSH_EERKNS0_ISH_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.226") align 8 %39, ptr noundef nonnull align 1 dereferenceable(1) %40, ptr noundef nonnull align 1 dereferenceable(1) %42)
          to label %164 unwind label %263

164:                                              ; preds = %161
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_12ArrayWrapperINS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEKNS7_INS_9TransposeIS1_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %38, ptr noundef nonnull align 1 dereferenceable(1) %39)
          to label %165 unwind label %263

165:                                              ; preds = %164
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %42) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %41) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %40) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr %39) #5
  call void @llvm.lifetime.start.p0(i64 56, ptr %44) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr %45) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.184") align 8 %45, ptr noundef nonnull align 1 dereferenceable(1) %16, i64 noundef 0)
          to label %166 unwind label %268

166:                                              ; preds = %165
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #5
  %167 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %32)
          to label %168 unwind label %272

168:                                              ; preds = %166
  %169 = getelementptr inbounds %"class.Eigen::Transpose", ptr %46, i32 0, i32 0
  store ptr %167, ptr %169, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEplINS_9TransposeINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.250") align 8 %44, ptr noundef nonnull align 1 dereferenceable(1) %45, ptr noundef nonnull align 1 dereferenceable(1) %46)
          to label %170 unwind label %272

170:                                              ; preds = %168
  call void @llvm.lifetime.start.p0(i64 40, ptr %47) #5
  %171 = load i32, ptr %5, align 4, !tbaa !9
  %172 = sext i32 %171 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.184") align 8 %47, ptr noundef nonnull align 1 dereferenceable(1) %16, i64 noundef %172)
          to label %173 unwind label %276

173:                                              ; preds = %170
  %174 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS3_KNS_9TransposeINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %47, ptr noundef nonnull align 1 dereferenceable(1) %44)
          to label %175 unwind label %276

175:                                              ; preds = %173
  call void @llvm.lifetime.end.p0(i64 40, ptr %47) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %45) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr %44) #5
  call void @llvm.lifetime.start.p0(i64 56, ptr %48) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr %49) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.184") align 8 %49, ptr noundef nonnull align 1 dereferenceable(1) %16, i64 noundef 1)
          to label %176 unwind label %282

176:                                              ; preds = %175
  call void @llvm.lifetime.start.p0(i64 8, ptr %50) #5
  %177 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %38)
          to label %178 unwind label %286

178:                                              ; preds = %176
  %179 = getelementptr inbounds %"class.Eigen::Transpose", ptr %50, i32 0, i32 0
  store ptr %177, ptr %179, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEplINS_9TransposeINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISF_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.250") align 8 %48, ptr noundef nonnull align 1 dereferenceable(1) %49, ptr noundef nonnull align 1 dereferenceable(1) %50)
          to label %180 unwind label %286

180:                                              ; preds = %178
  call void @llvm.lifetime.start.p0(i64 40, ptr %51) #5
  %181 = load i32, ptr %5, align 4, !tbaa !9
  %182 = add nsw i32 %181, 1
  %183 = sext i32 %182 to i64
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block.184") align 8 %51, ptr noundef nonnull align 1 dereferenceable(1) %16, i64 noundef %183)
          to label %184 unwind label %290

184:                                              ; preds = %180
  %185 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS3_KNS_9TransposeINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %51, ptr noundef nonnull align 1 dereferenceable(1) %48)
          to label %186 unwind label %290

186:                                              ; preds = %184
  call void @llvm.lifetime.end.p0(i64 40, ptr %51) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %49) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr %48) #5
  invoke void @_ZN7UKFSLam16recover_mu_sigmaERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE(ptr noundef nonnull align 8 dereferenceable(136) %52, ptr noundef nonnull align 8 dereferenceable(24) %16)
          to label %187 unwind label %296

187:                                              ; preds = %186
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %38) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %32) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %26) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %20) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %17) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %16) #5
  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 @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %7) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #5
  ret void

188:                                              ; preds = %67, %2
  %189 = landingpad { ptr, i32 }
          cleanup
  %190 = extractvalue { ptr, i32 } %189, 0
  store ptr %190, ptr %10, align 8
  %191 = extractvalue { ptr, i32 } %189, 1
  store i32 %191, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %9) #5
  br label %311

192:                                              ; preds = %86, %77, %69
  %193 = landingpad { ptr, i32 }
          cleanup
  %194 = extractvalue { ptr, i32 } %193, 0
  store ptr %194, ptr %10, align 8
  %195 = extractvalue { ptr, i32 } %193, 1
  store i32 %195, ptr %11, align 4
  br label %311

196:                                              ; preds = %96, %89
  %197 = landingpad { ptr, i32 }
          cleanup
  %198 = extractvalue { ptr, i32 } %197, 0
  store ptr %198, ptr %10, align 8
  %199 = extractvalue { ptr, i32 } %197, 1
  store i32 %199, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #5
  br label %310

200:                                              ; preds = %103, %97
  %201 = landingpad { ptr, i32 }
          cleanup
  %202 = extractvalue { ptr, i32 } %201, 0
  store ptr %202, ptr %10, align 8
  %203 = extractvalue { ptr, i32 } %201, 1
  store i32 %203, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %14) #5
  br label %309

204:                                              ; preds = %107, %105
  %205 = landingpad { ptr, i32 }
          cleanup
  %206 = extractvalue { ptr, i32 } %205, 0
  store ptr %206, ptr %10, align 8
  %207 = extractvalue { ptr, i32 } %205, 1
  store i32 %207, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %15) #5
  br label %309

208:                                              ; preds = %109
  %209 = landingpad { ptr, i32 }
          cleanup
  %210 = extractvalue { ptr, i32 } %209, 0
  store ptr %210, ptr %10, align 8
  %211 = extractvalue { ptr, i32 } %209, 1
  store i32 %211, ptr %11, align 4
  br label %309

212:                                              ; preds = %112
  %213 = landingpad { ptr, i32 }
          cleanup
  %214 = extractvalue { ptr, i32 } %213, 0
  store ptr %214, ptr %10, align 8
  %215 = extractvalue { ptr, i32 } %213, 1
  store i32 %215, ptr %11, align 4
  br label %308

216:                                              ; preds = %113
  %217 = landingpad { ptr, i32 }
          cleanup
  %218 = extractvalue { ptr, i32 } %217, 0
  store ptr %218, ptr %10, align 8
  %219 = extractvalue { ptr, i32 } %217, 1
  store i32 %219, ptr %11, align 4
  br label %307

220:                                              ; preds = %115, %114
  %221 = landingpad { ptr, i32 }
          cleanup
  %222 = extractvalue { ptr, i32 } %221, 0
  store ptr %222, ptr %10, align 8
  %223 = extractvalue { ptr, i32 } %221, 1
  store i32 %223, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %18) #5
  br label %306

224:                                              ; preds = %116
  %225 = landingpad { ptr, i32 }
          cleanup
  %226 = extractvalue { ptr, i32 } %225, 0
  store ptr %226, ptr %10, align 8
  %227 = extractvalue { ptr, i32 } %225, 1
  store i32 %227, ptr %11, align 4
  br label %305

228:                                              ; preds = %119, %118
  %229 = landingpad { ptr, i32 }
          cleanup
  %230 = extractvalue { ptr, i32 } %229, 0
  store ptr %230, ptr %10, align 8
  %231 = extractvalue { ptr, i32 } %229, 1
  store i32 %231, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %19) #5
  br label %305

232:                                              ; preds = %121
  %233 = landingpad { ptr, i32 }
          cleanup
  %234 = extractvalue { ptr, i32 } %233, 0
  store ptr %234, ptr %10, align 8
  %235 = extractvalue { ptr, i32 } %233, 1
  store i32 %235, ptr %11, align 4
  br label %240

236:                                              ; preds = %129, %128, %127, %126, %122
  %237 = landingpad { ptr, i32 }
          cleanup
  %238 = extractvalue { ptr, i32 } %237, 0
  store ptr %238, ptr %10, align 8
  %239 = extractvalue { ptr, i32 } %237, 1
  store i32 %239, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %25) #5
  br label %240

240:                                              ; preds = %236, %232
  call void @llvm.lifetime.end.p0(i64 40, ptr %24) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr %23) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr %22) #5
  call void @llvm.lifetime.end.p0(i64 104, ptr %21) #5
  br label %304

241:                                              ; preds = %130
  %242 = landingpad { ptr, i32 }
          cleanup
  %243 = extractvalue { ptr, i32 } %242, 0
  store ptr %243, ptr %10, align 8
  %244 = extractvalue { ptr, i32 } %242, 1
  store i32 %244, ptr %11, align 4
  br label %249

245:                                              ; preds = %138, %137, %136, %135, %131
  %246 = landingpad { ptr, i32 }
          cleanup
  %247 = extractvalue { ptr, i32 } %246, 0
  store ptr %247, ptr %10, align 8
  %248 = extractvalue { ptr, i32 } %246, 1
  store i32 %248, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %31) #5
  br label %249

249:                                              ; preds = %245, %241
  call void @llvm.lifetime.end.p0(i64 40, ptr %30) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr %29) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr %28) #5
  call void @llvm.lifetime.end.p0(i64 104, ptr %27) #5
  br label %303

250:                                              ; preds = %142, %139
  %251 = landingpad { ptr, i32 }
          cleanup
  %252 = extractvalue { ptr, i32 } %251, 0
  store ptr %252, ptr %10, align 8
  %253 = extractvalue { ptr, i32 } %251, 1
  store i32 %253, ptr %11, align 4
  br label %258

254:                                              ; preds = %151, %148, %145, %143
  %255 = landingpad { ptr, i32 }
          cleanup
  %256 = extractvalue { ptr, i32 } %255, 0
  store ptr %256, ptr %10, align 8
  %257 = extractvalue { ptr, i32 } %255, 1
  store i32 %257, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #5
  br label %258

258:                                              ; preds = %254, %250
  call void @llvm.lifetime.end.p0(i64 40, ptr %35) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %34) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr %33) #5
  br label %302

259:                                              ; preds = %155, %152
  %260 = landingpad { ptr, i32 }
          cleanup
  %261 = extractvalue { ptr, i32 } %260, 0
  store ptr %261, ptr %10, align 8
  %262 = extractvalue { ptr, i32 } %260, 1
  store i32 %262, ptr %11, align 4
  br label %267

263:                                              ; preds = %164, %161, %158, %156
  %264 = landingpad { ptr, i32 }
          cleanup
  %265 = extractvalue { ptr, i32 } %264, 0
  store ptr %265, ptr %10, align 8
  %266 = extractvalue { ptr, i32 } %264, 1
  store i32 %266, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %42) #5
  br label %267

267:                                              ; preds = %263, %259
  call void @llvm.lifetime.end.p0(i64 40, ptr %41) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr %40) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr %39) #5
  br label %301

268:                                              ; preds = %165
  %269 = landingpad { ptr, i32 }
          cleanup
  %270 = extractvalue { ptr, i32 } %269, 0
  store ptr %270, ptr %10, align 8
  %271 = extractvalue { ptr, i32 } %269, 1
  store i32 %271, ptr %11, align 4
  br label %281

272:                                              ; preds = %168, %166
  %273 = landingpad { ptr, i32 }
          cleanup
  %274 = extractvalue { ptr, i32 } %273, 0
  store ptr %274, ptr %10, align 8
  %275 = extractvalue { ptr, i32 } %273, 1
  store i32 %275, ptr %11, align 4
  br label %280

276:                                              ; preds = %173, %170
  %277 = landingpad { ptr, i32 }
          cleanup
  %278 = extractvalue { ptr, i32 } %277, 0
  store ptr %278, ptr %10, align 8
  %279 = extractvalue { ptr, i32 } %277, 1
  store i32 %279, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %47) #5
  br label %280

280:                                              ; preds = %276, %272
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #5
  br label %281

281:                                              ; preds = %280, %268
  call void @llvm.lifetime.end.p0(i64 40, ptr %45) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr %44) #5
  br label %300

282:                                              ; preds = %175
  %283 = landingpad { ptr, i32 }
          cleanup
  %284 = extractvalue { ptr, i32 } %283, 0
  store ptr %284, ptr %10, align 8
  %285 = extractvalue { ptr, i32 } %283, 1
  store i32 %285, ptr %11, align 4
  br label %295

286:                                              ; preds = %178, %176
  %287 = landingpad { ptr, i32 }
          cleanup
  %288 = extractvalue { ptr, i32 } %287, 0
  store ptr %288, ptr %10, align 8
  %289 = extractvalue { ptr, i32 } %287, 1
  store i32 %289, ptr %11, align 4
  br label %294

290:                                              ; preds = %184, %180
  %291 = landingpad { ptr, i32 }
          cleanup
  %292 = extractvalue { ptr, i32 } %291, 0
  store ptr %292, ptr %10, align 8
  %293 = extractvalue { ptr, i32 } %291, 1
  store i32 %293, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 40, ptr %51) #5
  br label %294

294:                                              ; preds = %290, %286
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #5
  br label %295

295:                                              ; preds = %294, %282
  call void @llvm.lifetime.end.p0(i64 40, ptr %49) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr %48) #5
  br label %300

296:                                              ; preds = %186
  %297 = landingpad { ptr, i32 }
          cleanup
  %298 = extractvalue { ptr, i32 } %297, 0
  store ptr %298, ptr %10, align 8
  %299 = extractvalue { ptr, i32 } %297, 1
  store i32 %299, ptr %11, align 4
  br label %300

300:                                              ; preds = %296, %295, %281
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %38) #5
  br label %301

301:                                              ; preds = %300, %267
  call void @llvm.lifetime.end.p0(i64 16, ptr %38) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %32) #5
  br label %302

302:                                              ; preds = %301, %258
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %26) #5
  br label %303

303:                                              ; preds = %302, %249
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %20) #5
  br label %304

304:                                              ; preds = %303, %240
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #5
  br label %305

305:                                              ; preds = %304, %228, %224
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %17) #5
  br label %306

306:                                              ; preds = %305, %220
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #5
  br label %307

307:                                              ; preds = %306, %216
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16) #5
  br label %308

308:                                              ; preds = %307, %212
  call void @llvm.lifetime.end.p0(i64 24, ptr %16) #5
  br label %309

309:                                              ; preds = %308, %208, %204, %200
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #5
  br label %310

310:                                              ; preds = %309, %196
  call void @llvm.lifetime.end.p0(i64 24, ptr %12) #5
  br label %311

311:                                              ; preds = %310, %192, %188
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %7) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %7) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #5
  br label %312

312:                                              ; preds = %311
  %313 = load ptr, ptr %10, align 8
  %314 = load i32, ptr %11, align 4
  %315 = insertvalue { ptr, i32 } poison, ptr %313, 0
  %316 = insertvalue { ptr, i32 } %315, i32 %314, 1
  resume { ptr, i32 } %316
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEE9push_backEOi(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(4)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE17bottomRightCornerEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.184") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

declare void @_ZN5Tools17normalize_bearingERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(16)) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEaSINS1_IdLin1ELi1ELi0ELin1ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEplIS4_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISC_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.209") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKNS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEES9_EEE5arrayEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::ArrayWrapper.203") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKNS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESA_EEEEE3cosEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.196") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_cos_opIdEEKNS_12ArrayWrapperIKNS_13CwiseBinaryOpINS4_13scalar_sum_opIdEEKNS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESE_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKNS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESA_EEEEE3sinEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.218") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_sin_opIdEEKNS_12ArrayWrapperIKNS_13CwiseBinaryOpINS4_13scalar_sum_opIdEEKNS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESE_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEE5arrayEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::ArrayWrapper.233") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEEmlINS1_INS_9TransposeINS3_IdLin1ELi1ELi0ELin1ELi1EEEEEEEEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNSE_6traitsIT_E6ScalarEEEKS6_KSH_EERKNS0_ISH_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.226") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEE5arrayEv(ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_12ArrayWrapperINS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEKNS7_INS_9TransposeIS1_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEplINS_9TransposeINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.250") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS3_KNS_9TransposeINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

attributes #0 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !13, i64 0}
!12 = !{!"_ZTS12RadarReading", !13, i64 0, !14, i64 8, !14, i64 12}
!13 = !{!"long long", !7, i64 0}
!14 = !{!"float", !7, i64 0}
!15 = !{!12, !14, i64 8}
!16 = !{!17, !17, i64 0}
!17 = !{!"double", !7, i64 0}
!18 = !{!12, !14, i64 12}


; 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" = type { %"class.Eigen::internal::variable_if_dynamic", [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"class.Eigen::internal::variable_if_dynamic" = type { i64 }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%"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::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::Matrix.2" = type { %"class.Eigen::PlainObjectBase.3" }
%"class.Eigen::PlainObjectBase.3" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { ptr, i64 }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64, i64 }
%"class.Eigen::Block.184" = type { %"class.Eigen::BlockImpl.185" }
%"class.Eigen::BlockImpl.185" = type { %"class.Eigen::internal::BlockImpl_dense.186" }
%"class.Eigen::internal::BlockImpl_dense.186" = type { %"class.Eigen::MapBase.187", ptr, i64 }
%"class.Eigen::MapBase.187" = type { %"class.Eigen::MapBase.188" }
%"class.Eigen::MapBase.188" = type { ptr, [8 x i8], %"class.Eigen::internal::variable_if_dynamic" }
%"class.Eigen::CwiseUnaryOp.196" = type { [8 x i8], %"class.Eigen::ArrayWrapper.203", [8 x i8] }
%"class.Eigen::ArrayWrapper.203" = type { %"class.Eigen::CwiseBinaryOp.209" }
%"class.Eigen::CwiseBinaryOp.209" = type <{ %"class.Eigen::Block.184", %"class.Eigen::Block.184", [8 x i8] }>
%"class.Eigen::CwiseUnaryOp.218" = type { [8 x i8], %"class.Eigen::ArrayWrapper.203", [8 x i8] }
%"class.Eigen::CwiseBinaryOp.226" = type <{ %"class.Eigen::ArrayWrapper.233", %"class.Eigen::ArrayWrapper.241", [8 x i8] }>
%"class.Eigen::ArrayWrapper.233" = type { %"class.Eigen::Block.184" }
%"class.Eigen::ArrayWrapper.241" = type { %"class.Eigen::Transpose" }
%"class.Eigen::Transpose" = type { ptr }
%"class.Eigen::CwiseBinaryOp.250" = type <{ %"class.Eigen::Block.184", %"class.Eigen::Transpose", [8 x i8] }>

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

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) 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: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseNullaryOp") align 8, i64 noundef) local_unnamed_addr #0 align 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: 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 #0 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13topLeftCornerEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: 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 #0 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 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 #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7UKFSLam19add_landmark_to_mapERK12RadarReading(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr nocapture noundef nonnull readonly align 8 dereferenceable(16) %1) local_unnamed_addr #3 align 2 personality ptr @__gxx_personality_v0 {
  %3 = alloca i32, align 4
  %4 = alloca %"class.Eigen::Matrix.2", align 8
  %5 = alloca %"class.Eigen::CwiseNullaryOp", align 8
  %6 = alloca %"class.Eigen::VectorBlock", align 8
  %7 = alloca %"class.Eigen::Matrix", align 8
  %8 = alloca %"class.Eigen::CwiseNullaryOp.28", align 8
  %9 = alloca %"class.Eigen::Block", align 8
  %10 = alloca %"class.Eigen::Block", align 8
  %11 = alloca %"class.Eigen::Matrix", align 8
  %12 = alloca %"class.Eigen::Matrix.2", align 8
  %13 = alloca %"class.Eigen::Block.184", align 8
  %14 = alloca %"class.Eigen::Block.184", align 8
  %15 = alloca %"class.Eigen::Matrix.2", align 8
  %16 = alloca %"class.Eigen::CwiseUnaryOp.196", align 8
  %17 = alloca %"class.Eigen::ArrayWrapper.203", align 8
  %18 = alloca %"class.Eigen::CwiseBinaryOp.209", align 8
  %19 = alloca %"class.Eigen::Block.184", align 8
  %20 = alloca %"class.Eigen::Block.184", align 8
  %21 = alloca %"class.Eigen::Matrix.2", align 8
  %22 = alloca %"class.Eigen::CwiseUnaryOp.218", align 8
  %23 = alloca %"class.Eigen::ArrayWrapper.203", align 8
  %24 = alloca %"class.Eigen::CwiseBinaryOp.209", align 8
  %25 = alloca %"class.Eigen::Block.184", align 8
  %26 = alloca %"class.Eigen::Block.184", align 8
  %27 = alloca %"class.Eigen::Matrix.2", align 8
  %28 = alloca %"class.Eigen::CwiseBinaryOp.226", align 8
  %29 = alloca %"class.Eigen::ArrayWrapper.233", align 8
  %30 = alloca %"class.Eigen::Block.184", align 8
  %31 = alloca %"class.Eigen::ArrayWrapper.241", align 8
  %32 = alloca %"class.Eigen::Transpose", align 8
  %33 = alloca %"class.Eigen::Matrix.2", align 8
  %34 = alloca %"class.Eigen::CwiseBinaryOp.226", align 8
  %35 = alloca %"class.Eigen::ArrayWrapper.233", align 8
  %36 = alloca %"class.Eigen::Block.184", align 8
  %37 = alloca %"class.Eigen::ArrayWrapper.241", align 8
  %38 = alloca %"class.Eigen::Transpose", align 8
  %39 = alloca %"class.Eigen::CwiseBinaryOp.250", align 8
  %40 = alloca %"class.Eigen::Block.184", align 8
  %41 = alloca %"class.Eigen::Transpose", align 8
  %42 = alloca %"class.Eigen::Block.184", align 8
  %43 = alloca %"class.Eigen::CwiseBinaryOp.250", align 8
  %44 = alloca %"class.Eigen::Block.184", align 8
  %45 = alloca %"class.Eigen::Transpose", align 8
  %46 = alloca %"class.Eigen::Block.184", align 8
  %47 = getelementptr inbounds i8, ptr %0, i64 48
  %48 = tail call noundef i64 @_ZNK5Eigen9EigenBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4sizeEv(ptr noundef nonnull align 1 dereferenceable(1) %47)
  %49 = getelementptr inbounds i8, ptr %0, i64 112
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %3) #5
  %50 = load i64, ptr %1, align 8, !tbaa !5
  %51 = trunc i64 %50 to i32
  store i32 %51, ptr %3, align 4, !tbaa !11
  call void @_ZNSt6vectorIiSaIiEE9push_backEOi(ptr noundef nonnull align 8 dereferenceable(24) %49, ptr noundef nonnull align 4 dereferenceable(4) %3)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %3) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %4) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %5) #5
  %52 = shl i64 %48, 32
  %sext = add i64 %52, 8589934592
  %53 = ashr exact i64 %sext, 32
  call void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4ZeroEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp") align 8 %5, i64 noundef %53)
  call void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull align 1 dereferenceable(1) %5)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %6) #5
  %54 = ashr exact i64 %52, 32
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4headEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::VectorBlock") align 8 %6, ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %54)
          to label %55 unwind label %135

55:                                               ; preds = %2
  %56 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %6, ptr noundef nonnull align 1 dereferenceable(1) %47)
          to label %57 unwind label %135

57:                                               ; preds = %55
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %6) #5
  %58 = getelementptr inbounds i8, ptr %1, i64 8
  %59 = load float, ptr %58, align 8, !tbaa !13
  %60 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %54)
          to label %61 unwind label %137

61:                                               ; preds = %57
  %62 = fpext float %59 to double
  store double %62, ptr %60, align 8, !tbaa !14
  %63 = getelementptr inbounds i8, ptr %1, i64 12
  %64 = load float, ptr %63, align 4, !tbaa !16
  %sext40 = add i64 %52, 4294967296
  %65 = ashr exact i64 %sext40, 32
  %66 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %65)
          to label %67 unwind label %137

67:                                               ; preds = %61
  %68 = fpext float %64 to double
  store double %68, ptr %66, align 8, !tbaa !14
  %69 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(16) %47, ptr noundef nonnull align 8 dereferenceable(16) %4)
          to label %70 unwind label %137

70:                                               ; preds = %67
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %7) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %8) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4ZeroEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseNullaryOp.28") align 8 %8, i64 noundef %53, i64 noundef %53)
          to label %71 unwind label %139

71:                                               ; preds = %70
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS_14CwiseNullaryOpINS_8internal18scalar_constant_opIdEES1_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull align 1 dereferenceable(1) %8)
          to label %72 unwind label %139

72:                                               ; preds = %71
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #5
  %73 = getelementptr inbounds i8, ptr %0, i64 24
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %9) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE13topLeftCornerEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %9, ptr noundef nonnull align 1 dereferenceable(1) %7, i64 noundef %54, i64 noundef %54)
          to label %74 unwind label %141

74:                                               ; preds = %72
  %75 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %9, ptr noundef nonnull align 1 dereferenceable(1) %73)
          to label %76 unwind label %141

76:                                               ; preds = %74
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %9) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %10) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE17bottomRightCornerEll(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %10, ptr noundef nonnull align 1 dereferenceable(1) %7, i64 noundef 2, i64 noundef 2)
          to label %77 unwind label %143

77:                                               ; preds = %76
  %78 = getelementptr inbounds i8, ptr %0, i64 88
  %79 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELin1ELin1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %10, ptr noundef nonnull align 1 dereferenceable(1) %78)
          to label %80 unwind label %143

80:                                               ; preds = %77
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %10) #5
  %81 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %73, ptr noundef nonnull align 8 dereferenceable(24) %7)
          to label %82 unwind label %145

82:                                               ; preds = %80
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #5
  invoke void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11)
          to label %83 unwind label %147

83:                                               ; preds = %82
  invoke void @_ZN7UKFSLam20compute_sigma_pointsERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEb(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(24) %11, i1 noundef zeroext false)
          to label %84 unwind label %149

84:                                               ; preds = %83
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %13) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.184") align 8 %13, ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef 2)
          to label %85 unwind label %151

85:                                               ; preds = %84
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %12, ptr noundef nonnull align 1 dereferenceable(1) %13)
          to label %86 unwind label %151

86:                                               ; preds = %85
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %13) #5
  %87 = getelementptr inbounds i8, ptr %0, i64 16
  invoke void @_ZN5Tools17normalize_bearingERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(8) %87, ptr noundef nonnull align 8 dereferenceable(16) %12)
          to label %88 unwind label %153

88:                                               ; preds = %86
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %14) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.184") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef 2)
          to label %89 unwind label %155

89:                                               ; preds = %88
  %90 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEaSINS1_IdLin1ELi1ELi0ELin1ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %14, ptr noundef nonnull align 1 dereferenceable(1) %12)
          to label %91 unwind label %155

91:                                               ; preds = %89
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %14) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %15) #5
  call void @llvm.lifetime.start.p0(i64 104, ptr nonnull %16) #5
  call void @llvm.lifetime.start.p0(i64 88, ptr nonnull %17) #5
  call void @llvm.lifetime.start.p0(i64 88, ptr nonnull %18) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %19) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.184") align 8 %19, ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef 2)
          to label %92 unwind label %157

92:                                               ; preds = %91
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %20) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.184") align 8 %20, ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef %65)
          to label %93 unwind label %159

93:                                               ; preds = %92
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEplIS4_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISC_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.209") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %19, ptr noundef nonnull align 1 dereferenceable(1) %20)
          to label %94 unwind label %159

94:                                               ; preds = %93
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKNS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEES9_EEE5arrayEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::ArrayWrapper.203") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %18)
          to label %95 unwind label %159

95:                                               ; preds = %94
  invoke void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKNS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESA_EEEEE3cosEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp.196") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %17)
          to label %96 unwind label %159

96:                                               ; preds = %95
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_cos_opIdEEKNS_12ArrayWrapperIKNS_13CwiseBinaryOpINS4_13scalar_sum_opIdEEKNS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESE_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %15, ptr noundef nonnull align 1 dereferenceable(1) %16)
          to label %97 unwind label %159

97:                                               ; preds = %96
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %20) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %19) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr nonnull %18) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr nonnull %17) #5
  call void @llvm.lifetime.end.p0(i64 104, ptr nonnull %16) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %21) #5
  call void @llvm.lifetime.start.p0(i64 104, ptr nonnull %22) #5
  call void @llvm.lifetime.start.p0(i64 88, ptr nonnull %23) #5
  call void @llvm.lifetime.start.p0(i64 88, ptr nonnull %24) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %25) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.184") align 8 %25, ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef 2)
          to label %98 unwind label %162

98:                                               ; preds = %97
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %26) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.184") align 8 %26, ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef %65)
          to label %99 unwind label %164

99:                                               ; preds = %98
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEplIS4_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISC_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.209") align 8 %24, ptr noundef nonnull align 1 dereferenceable(1) %25, ptr noundef nonnull align 1 dereferenceable(1) %26)
          to label %100 unwind label %164

100:                                              ; preds = %99
  invoke void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKNS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEES9_EEE5arrayEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::ArrayWrapper.203") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %24)
          to label %101 unwind label %164

101:                                              ; preds = %100
  invoke void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKNS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESA_EEEEE3sinEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp.218") align 8 %22, ptr noundef nonnull align 1 dereferenceable(1) %23)
          to label %102 unwind label %164

102:                                              ; preds = %101
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_sin_opIdEEKNS_12ArrayWrapperIKNS_13CwiseBinaryOpINS4_13scalar_sum_opIdEEKNS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESE_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %21, ptr noundef nonnull align 1 dereferenceable(1) %22)
          to label %103 unwind label %164

103:                                              ; preds = %102
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %26) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %25) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr nonnull %24) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr nonnull %23) #5
  call void @llvm.lifetime.end.p0(i64 104, ptr nonnull %22) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %27) #5
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %28) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %29) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %30) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.184") align 8 %30, ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef %54)
          to label %104 unwind label %167

104:                                              ; preds = %103
  invoke void @_ZN5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEE5arrayEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::ArrayWrapper.233") align 8 %29, ptr noundef nonnull align 1 dereferenceable(1) %30)
          to label %105 unwind label %167

105:                                              ; preds = %104
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %31) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %32) #5
  %106 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %15)
          to label %107 unwind label %169

107:                                              ; preds = %105
  store ptr %106, ptr %32, align 8
  %108 = invoke ptr @_ZN5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEE5arrayEv(ptr noundef nonnull align 1 dereferenceable(1) %32)
          to label %109 unwind label %169

109:                                              ; preds = %107
  store ptr %108, ptr %31, align 8
  invoke void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEEmlINS1_INS_9TransposeINS3_IdLin1ELi1ELi0ELin1ELi1EEEEEEEEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNSE_6traitsIT_E6ScalarEEEKS6_KSH_EERKNS0_ISH_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.226") align 8 %28, ptr noundef nonnull align 1 dereferenceable(1) %29, ptr noundef nonnull align 1 dereferenceable(1) %31)
          to label %110 unwind label %169

110:                                              ; preds = %109
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_12ArrayWrapperINS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEKNS7_INS_9TransposeIS1_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %27, ptr noundef nonnull align 1 dereferenceable(1) %28)
          to label %111 unwind label %169

111:                                              ; preds = %110
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %32) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %30) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %29) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %28) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %33) #5
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %34) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %35) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %36) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.184") align 8 %36, ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef %54)
          to label %112 unwind label %172

112:                                              ; preds = %111
  invoke void @_ZN5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEE5arrayEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::ArrayWrapper.233") align 8 %35, ptr noundef nonnull align 1 dereferenceable(1) %36)
          to label %113 unwind label %172

113:                                              ; preds = %112
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %37) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %38) #5
  %114 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %21)
          to label %115 unwind label %174

115:                                              ; preds = %113
  store ptr %114, ptr %38, align 8
  %116 = invoke ptr @_ZN5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEE5arrayEv(ptr noundef nonnull align 1 dereferenceable(1) %38)
          to label %117 unwind label %174

117:                                              ; preds = %115
  store ptr %116, ptr %37, align 8
  invoke void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEEmlINS1_INS_9TransposeINS3_IdLin1ELi1ELi0ELin1ELi1EEEEEEEEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNSE_6traitsIT_E6ScalarEEEKS6_KSH_EERKNS0_ISH_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.226") align 8 %34, ptr noundef nonnull align 1 dereferenceable(1) %35, ptr noundef nonnull align 1 dereferenceable(1) %37)
          to label %118 unwind label %174

118:                                              ; preds = %117
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_12ArrayWrapperINS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEKNS7_INS_9TransposeIS1_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %33, ptr noundef nonnull align 1 dereferenceable(1) %34)
          to label %119 unwind label %174

119:                                              ; preds = %118
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %38) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %37) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %36) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %35) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %34) #5
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %39) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %40) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.184") align 8 %40, ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef 0)
          to label %120 unwind label %177

120:                                              ; preds = %119
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %41) #5
  %121 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %27)
          to label %122 unwind label %179

122:                                              ; preds = %120
  store ptr %121, ptr %41, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEplINS_9TransposeINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.250") align 8 %39, ptr noundef nonnull align 1 dereferenceable(1) %40, ptr noundef nonnull align 1 dereferenceable(1) %41)
          to label %123 unwind label %179

123:                                              ; preds = %122
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %42) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.184") align 8 %42, ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef %54)
          to label %124 unwind label %181

124:                                              ; preds = %123
  %125 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS3_KNS_9TransposeINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %42, ptr noundef nonnull align 1 dereferenceable(1) %39)
          to label %126 unwind label %181

126:                                              ; preds = %124
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %42) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %41) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %40) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %39) #5
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %43) #5
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %44) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.184") align 8 %44, ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef 1)
          to label %127 unwind label %185

127:                                              ; preds = %126
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %45) #5
  %128 = invoke ptr @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE9transposeEv(ptr noundef nonnull align 1 dereferenceable(1) %33)
          to label %129 unwind label %187

129:                                              ; preds = %127
  store ptr %128, ptr %45, align 8
  invoke void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEplINS_9TransposeINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISF_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.250") align 8 %43, ptr noundef nonnull align 1 dereferenceable(1) %44, ptr noundef nonnull align 1 dereferenceable(1) %45)
          to label %130 unwind label %187

130:                                              ; preds = %129
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %46) #5
  invoke void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block.184") align 8 %46, ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef %65)
          to label %131 unwind label %189

131:                                              ; preds = %130
  %132 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS3_KNS_9TransposeINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40) %46, ptr noundef nonnull align 1 dereferenceable(1) %43)
          to label %133 unwind label %189

133:                                              ; preds = %131
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %46) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %45) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %44) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %43) #5
  invoke void @_ZN7UKFSLam16recover_mu_sigmaERKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(24) %11)
          to label %134 unwind label %193

134:                                              ; preds = %133
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %33) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %33) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %27) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %27) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %21) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %15) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %12) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %4) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %4) #5
  ret void

135:                                              ; preds = %55, %2
  %136 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %6) #5
  br label %206

137:                                              ; preds = %67, %61, %57
  %138 = landingpad { ptr, i32 }
          cleanup
  br label %206

139:                                              ; preds = %71, %70
  %140 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #5
  br label %205

141:                                              ; preds = %74, %72
  %142 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %9) #5
  br label %204

143:                                              ; preds = %77, %76
  %144 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %10) #5
  br label %204

145:                                              ; preds = %80
  %146 = landingpad { ptr, i32 }
          cleanup
  br label %204

147:                                              ; preds = %82
  %148 = landingpad { ptr, i32 }
          cleanup
  br label %203

149:                                              ; preds = %83
  %150 = landingpad { ptr, i32 }
          cleanup
  br label %202

151:                                              ; preds = %85, %84
  %152 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %13) #5
  br label %201

153:                                              ; preds = %86
  %154 = landingpad { ptr, i32 }
          cleanup
  br label %200

155:                                              ; preds = %89, %88
  %156 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %14) #5
  br label %200

157:                                              ; preds = %91
  %158 = landingpad { ptr, i32 }
          cleanup
  br label %161

159:                                              ; preds = %96, %95, %94, %93, %92
  %160 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %20) #5
  br label %161

161:                                              ; preds = %159, %157
  %.pn = phi { ptr, i32 } [ %160, %159 ], [ %158, %157 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %19) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr nonnull %18) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr nonnull %17) #5
  call void @llvm.lifetime.end.p0(i64 104, ptr nonnull %16) #5
  br label %199

162:                                              ; preds = %97
  %163 = landingpad { ptr, i32 }
          cleanup
  br label %166

164:                                              ; preds = %102, %101, %100, %99, %98
  %165 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %26) #5
  br label %166

166:                                              ; preds = %164, %162
  %.pn42 = phi { ptr, i32 } [ %165, %164 ], [ %163, %162 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %25) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr nonnull %24) #5
  call void @llvm.lifetime.end.p0(i64 88, ptr nonnull %23) #5
  call void @llvm.lifetime.end.p0(i64 104, ptr nonnull %22) #5
  br label %198

167:                                              ; preds = %104, %103
  %168 = landingpad { ptr, i32 }
          cleanup
  br label %171

169:                                              ; preds = %110, %109, %107, %105
  %170 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %32) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #5
  br label %171

171:                                              ; preds = %169, %167
  %.pn44 = phi { ptr, i32 } [ %170, %169 ], [ %168, %167 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %30) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %29) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %28) #5
  br label %197

172:                                              ; preds = %112, %111
  %173 = landingpad { ptr, i32 }
          cleanup
  br label %176

174:                                              ; preds = %118, %117, %115, %113
  %175 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %38) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %37) #5
  br label %176

176:                                              ; preds = %174, %172
  %.pn46 = phi { ptr, i32 } [ %175, %174 ], [ %173, %172 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %36) #5
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %35) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %34) #5
  br label %196

177:                                              ; preds = %119
  %178 = landingpad { ptr, i32 }
          cleanup
  br label %184

179:                                              ; preds = %122, %120
  %180 = landingpad { ptr, i32 }
          cleanup
  br label %183

181:                                              ; preds = %124, %123
  %182 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %42) #5
  br label %183

183:                                              ; preds = %181, %179
  %.pn48 = phi { ptr, i32 } [ %182, %181 ], [ %180, %179 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %41) #5
  br label %184

184:                                              ; preds = %183, %177
  %.pn48.pn = phi { ptr, i32 } [ %.pn48, %183 ], [ %178, %177 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %40) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %39) #5
  br label %195

185:                                              ; preds = %126
  %186 = landingpad { ptr, i32 }
          cleanup
  br label %192

187:                                              ; preds = %129, %127
  %188 = landingpad { ptr, i32 }
          cleanup
  br label %191

189:                                              ; preds = %131, %130
  %190 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %46) #5
  br label %191

191:                                              ; preds = %189, %187
  %.pn51 = phi { ptr, i32 } [ %190, %189 ], [ %188, %187 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %45) #5
  br label %192

192:                                              ; preds = %191, %185
  %.pn51.pn = phi { ptr, i32 } [ %.pn51, %191 ], [ %186, %185 ]
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %44) #5
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %43) #5
  br label %195

193:                                              ; preds = %133
  %194 = landingpad { ptr, i32 }
          cleanup
  br label %195

195:                                              ; preds = %193, %192, %184
  %.pn54 = phi { ptr, i32 } [ %194, %193 ], [ %.pn51.pn, %192 ], [ %.pn48.pn, %184 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %33) #5
  br label %196

196:                                              ; preds = %195, %176
  %.pn54.pn = phi { ptr, i32 } [ %.pn54, %195 ], [ %.pn46, %176 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %33) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %27) #5
  br label %197

197:                                              ; preds = %196, %171
  %.pn54.pn.pn = phi { ptr, i32 } [ %.pn54.pn, %196 ], [ %.pn44, %171 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %27) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %21) #5
  br label %198

198:                                              ; preds = %197, %166
  %.pn54.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn, %197 ], [ %.pn42, %166 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %21) #5
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %15) #5
  br label %199

199:                                              ; preds = %198, %161
  %.pn54.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn.pn, %198 ], [ %.pn, %161 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %15) #5
  br label %200

200:                                              ; preds = %199, %155, %153
  %.pn54.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn.pn.pn, %199 ], [ %156, %155 ], [ %154, %153 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %12) #5
  br label %201

201:                                              ; preds = %200, %151
  %.pn54.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn.pn.pn.pn, %200 ], [ %152, %151 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #5
  br label %202

202:                                              ; preds = %201, %149
  %.pn54.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn.pn.pn.pn.pn, %201 ], [ %150, %149 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #5
  br label %203

203:                                              ; preds = %202, %147
  %.pn54.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn.pn.pn.pn.pn.pn, %202 ], [ %148, %147 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #5
  br label %204

204:                                              ; preds = %203, %145, %143, %141
  %.pn54.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn.pn.pn.pn.pn.pn.pn, %203 ], [ %146, %145 ], [ %144, %143 ], [ %142, %141 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #5
  br label %205

205:                                              ; preds = %204, %139
  %.pn54.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn.pn.pn.pn.pn.pn.pn.pn, %204 ], [ %140, %139 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #5
  br label %206

206:                                              ; preds = %205, %137, %135
  %.pn54.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn54.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn, %205 ], [ %138, %137 ], [ %136, %135 ]
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %4) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %4) #5
  resume { ptr, i32 } %.pn54.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEE9push_backEOi(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELin1ELi1ELb0EEaSIS2_EERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE17bottomRightCornerEll(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEaSERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen9DenseBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE3rowEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block.184") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

declare void @_ZN5Tools17normalize_bearingERN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEaSINS1_IdLin1ELi1ELi0ELin1ELi1EEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEplIS4_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISC_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.209") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKNS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEES9_EEE5arrayEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::ArrayWrapper.203") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKNS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESA_EEEEE3cosEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.196") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_cos_opIdEEKNS_12ArrayWrapperIKNS_13CwiseBinaryOpINS4_13scalar_sum_opIdEEKNS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESE_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperIKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKNS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESA_EEEEE3sinEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp.218") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_12CwiseUnaryOpINS_8internal13scalar_sin_opIdEEKNS_12ArrayWrapperIKNS_13CwiseBinaryOpINS4_13scalar_sum_opIdEEKNS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEESE_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEE5arrayEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::ArrayWrapper.233") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9ArrayBaseINS_12ArrayWrapperINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEEmlINS1_INS_9TransposeINS3_IdLin1ELi1ELi0ELin1ELi1EEEEEEEEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNSE_6traitsIT_E6ScalarEEEKS6_KSH_EERKNS0_ISH_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.226") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZN5Eigen10MatrixBaseINS_9TransposeINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEEE5arrayEv(ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2INS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKNS_12ArrayWrapperINS_5BlockINS0_IdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEEKNS7_INS_9TransposeIS1_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEEEplINS_9TransposeINS2_IdLin1ELi1ELi0ELin1ELi1EEEEEEEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS4_KT_EERKNS0_ISF_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.250") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZN5Eigen5BlockINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1ELin1ELb0EEaSINS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS3_KNS_9TransposeINS1_IdLin1ELi1ELi0ELin1ELi1EEEEEEEEERS3_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(40), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

attributes #0 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { "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, !7, i64 0}
!6 = !{!"_ZTS12RadarReading", !7, i64 0, !10, i64 8, !10, i64 12}
!7 = !{!"long long", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"float", !8, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !8, i64 0}
!13 = !{!6, !10, i64 8}
!14 = !{!15, !15, i64 0}
!15 = !{!"double", !8, i64 0}
!16 = !{!6, !10, i64 12}


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