; LLVM IR from karlkurzer/path_planner :: src/smoother.ll (ZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_)

; 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.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"class.HybridAStar::Vector2D" = type { float, float }
%class.anon = type { i8 }
%class.anon.10 = type { i8 }
%"class.HybridAStar::Smoother" = type { float, float, float, float, float, float, float, float, %"class.HybridAStar::DynamicVoronoi", i32, i32, %"class.std::vector.5" }
%"class.HybridAStar::DynamicVoronoi" = type { %"class.HybridAStar::BucketPrioQueue", %"class.std::queue", %"class.std::vector.3", %"class.std::vector.3", %"class.std::vector.3", i32, i32, ptr, ptr, i32, double, double }
%"class.HybridAStar::BucketPrioQueue" = type { i32, i32, %"class.std::vector" }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<std::queue<HybridAStar::IntPoint>, std::allocator<std::queue<HybridAStar::IntPoint>>>::_Vector_impl" }
%"struct.std::_Vector_base<std::queue<HybridAStar::IntPoint>, std::allocator<std::queue<HybridAStar::IntPoint>>>::_Vector_impl" = type { %"struct.std::_Vector_base<std::queue<HybridAStar::IntPoint>, std::allocator<std::queue<HybridAStar::IntPoint>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<std::queue<HybridAStar::IntPoint>, std::allocator<std::queue<HybridAStar::IntPoint>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::queue" = type { %"class.std::deque" }
%"class.std::deque" = type { %"class.std::_Deque_base" }
%"class.std::_Deque_base" = type { %"struct.std::_Deque_base<HybridAStar::IntPoint, std::allocator<HybridAStar::IntPoint>>::_Deque_impl" }
%"struct.std::_Deque_base<HybridAStar::IntPoint, std::allocator<HybridAStar::IntPoint>>::_Deque_impl" = type { %"struct.std::_Deque_base<HybridAStar::IntPoint, std::allocator<HybridAStar::IntPoint>>::_Deque_impl_data" }
%"struct.std::_Deque_base<HybridAStar::IntPoint, std::allocator<HybridAStar::IntPoint>>::_Deque_impl_data" = type { ptr, i64, %"struct.std::_Deque_iterator", %"struct.std::_Deque_iterator" }
%"struct.std::_Deque_iterator" = type { ptr, ptr, ptr, ptr }
%"class.std::vector.3" = type { %"struct.std::_Vector_base.4" }
%"struct.std::_Vector_base.4" = type { %"struct.std::_Vector_base<HybridAStar::IntPoint, std::allocator<HybridAStar::IntPoint>>::_Vector_impl" }
%"struct.std::_Vector_base<HybridAStar::IntPoint, std::allocator<HybridAStar::IntPoint>>::_Vector_impl" = type { %"struct.std::_Vector_base<HybridAStar::IntPoint, std::allocator<HybridAStar::IntPoint>>::_Vector_impl_data" }
%"struct.std::_Vector_base<HybridAStar::IntPoint, std::allocator<HybridAStar::IntPoint>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.5" = type { %"struct.std::_Vector_base.6" }
%"struct.std::_Vector_base.6" = type { %"struct.std::_Vector_base<HybridAStar::Node3D, std::allocator<HybridAStar::Node3D>>::_Vector_impl" }
%"struct.std::_Vector_base<HybridAStar::Node3D, std::allocator<HybridAStar::Node3D>>::_Vector_impl" = type { %"struct.std::_Vector_base<HybridAStar::Node3D, std::allocator<HybridAStar::Node3D>>::_Vector_impl_data" }
%"struct.std::_Vector_base<HybridAStar::Node3D, std::allocator<HybridAStar::Node3D>>::_Vector_impl_data" = type { ptr, ptr, ptr }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str = external hidden unnamed_addr constant [29 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [29 x i8], align 1

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN11HybridAStar8Vector2DC2Eff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZNK11HybridAStar8Vector2DmiERKS0_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #2 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #3

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZNK11HybridAStar8Vector2DplERKS0_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local <2 x float> @_ZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(296) %0, <2 x float> %1, <2 x float> %2, <2 x float> %3, <2 x float> %4, <2 x float> %5) #4 align 2 {
  %7 = alloca %"class.HybridAStar::Vector2D", align 4
  %8 = alloca %"class.HybridAStar::Vector2D", align 4
  %9 = alloca %"class.HybridAStar::Vector2D", align 4
  %10 = alloca %"class.HybridAStar::Vector2D", align 4
  %11 = alloca %"class.HybridAStar::Vector2D", align 4
  %12 = alloca %"class.HybridAStar::Vector2D", align 4
  %13 = alloca ptr, align 8
  %14 = alloca %"class.HybridAStar::Vector2D", align 4
  %15 = alloca ptr, align 8
  %16 = alloca %"class.HybridAStar::Vector2D", align 4
  %17 = alloca ptr, align 8
  %18 = alloca %"class.HybridAStar::Vector2D", align 4
  %19 = alloca ptr, align 8
  %20 = alloca %"class.HybridAStar::Vector2D", align 4
  %21 = alloca ptr, align 8
  %22 = alloca %"class.HybridAStar::Vector2D", align 4
  %23 = alloca %class.anon, align 1
  %24 = alloca float, align 4
  %25 = alloca float, align 4
  %26 = alloca float, align 4
  %27 = alloca float, align 4
  %28 = alloca float, align 4
  %29 = alloca float, align 4
  %30 = alloca i32, align 4
  %31 = alloca %class.anon.10, align 1
  %32 = alloca ptr, align 8
  %33 = alloca float, align 4
  %34 = alloca ptr, align 8
  %35 = alloca %"class.HybridAStar::Vector2D", align 4
  %36 = alloca %"class.HybridAStar::Vector2D", align 4
  %37 = alloca %"class.HybridAStar::Vector2D", align 4
  %38 = alloca ptr, align 8
  %39 = alloca %"class.HybridAStar::Vector2D", align 4
  %40 = alloca ptr, align 8
  %41 = alloca %"class.HybridAStar::Vector2D", align 4
  %42 = alloca ptr, align 8
  %43 = alloca float, align 4
  %44 = alloca ptr, align 8
  %45 = alloca %"class.HybridAStar::Vector2D", align 4
  %46 = alloca %"class.HybridAStar::Vector2D", align 4
  %47 = alloca %"class.HybridAStar::Vector2D", align 4
  %48 = alloca %"class.HybridAStar::Vector2D", align 4
  %49 = alloca %"class.HybridAStar::Vector2D", align 4
  %50 = alloca %"class.HybridAStar::Vector2D", align 4
  %51 = alloca %"class.HybridAStar::Vector2D", align 4
  %52 = alloca ptr, align 8
  %53 = alloca %"class.HybridAStar::Vector2D", align 4
  %54 = alloca %"class.HybridAStar::Vector2D", align 4
  %55 = alloca %"class.HybridAStar::Vector2D", align 4
  %56 = alloca ptr, align 8
  %57 = alloca %"class.HybridAStar::Vector2D", align 4
  %58 = alloca ptr, align 8
  %59 = alloca float, align 4
  %60 = alloca ptr, align 8
  %61 = alloca %"class.HybridAStar::Vector2D", align 4
  %62 = alloca %"class.HybridAStar::Vector2D", align 4
  %63 = alloca %"class.HybridAStar::Vector2D", align 4
  %64 = alloca %"class.HybridAStar::Vector2D", align 4
  %65 = alloca ptr, align 8
  %66 = alloca %"class.HybridAStar::Vector2D", align 4
  %67 = alloca %"class.HybridAStar::Vector2D", align 4
  %68 = alloca %"class.HybridAStar::Vector2D", align 4
  %69 = alloca ptr, align 8
  %70 = alloca %"class.HybridAStar::Vector2D", align 4
  %71 = alloca %"class.HybridAStar::Vector2D", align 4
  %72 = alloca %"class.HybridAStar::Vector2D", align 4
  %73 = alloca %"class.HybridAStar::Vector2D", align 4
  %74 = alloca %"class.HybridAStar::Vector2D", align 4
  %75 = alloca %"class.HybridAStar::Vector2D", align 4
  %76 = alloca %"class.HybridAStar::Vector2D", align 4
  store <2 x float> %1, ptr %8, align 4
  store <2 x float> %2, ptr %9, align 4
  store <2 x float> %3, ptr %10, align 4
  store <2 x float> %4, ptr %11, align 4
  store <2 x float> %5, ptr %12, align 4
  store ptr %0, ptr %13, align 8, !tbaa !5
  %77 = load ptr, ptr %13, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #8
  call void @_ZN11HybridAStar8Vector2DC2Eff(ptr noundef nonnull align 4 dereferenceable(8) %14, float noundef 0.000000e+00, float noundef 0.000000e+00)
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #8
  %78 = call <2 x float> @_ZNK11HybridAStar8Vector2DmiERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %8)
  store <2 x float> %78, ptr %16, align 4
  store ptr %16, ptr %15, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #8
  %79 = call <2 x float> @_ZNK11HybridAStar8Vector2DmiERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %10, ptr noundef nonnull align 4 dereferenceable(8) %9)
  store <2 x float> %79, ptr %18, align 4
  store ptr %18, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #8
  %80 = call <2 x float> @_ZNK11HybridAStar8Vector2DmiERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %80, ptr %20, align 4
  store ptr %20, ptr %19, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #8
  %81 = call <2 x float> @_ZNK11HybridAStar8Vector2DmiERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %12, ptr noundef nonnull align 4 dereferenceable(8) %11)
  store <2 x float> %81, ptr %22, align 4
  store ptr %22, ptr %21, align 8, !tbaa !5
  %82 = load ptr, ptr %15, align 8, !tbaa !5
  %83 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %82)
  %84 = fcmp ogt float %83, 0.000000e+00
  br i1 %84, label %85, label %256

85:                                               ; preds = %6
  %86 = load ptr, ptr %17, align 8, !tbaa !5
  %87 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %86)
  %88 = fcmp ogt float %87, 0.000000e+00
  br i1 %88, label %89, label %256

89:                                               ; preds = %85
  %90 = load ptr, ptr %19, align 8, !tbaa !5
  %91 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %90)
  %92 = fcmp ogt float %91, 0.000000e+00
  br i1 %92, label %93, label %256

93:                                               ; preds = %89
  %94 = load ptr, ptr %21, align 8, !tbaa !5
  %95 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %94)
  %96 = fcmp ogt float %95, 0.000000e+00
  br i1 %96, label %97, label %256

97:                                               ; preds = %93
  call void @llvm.lifetime.start.p0(i64 1, ptr %23) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #8
  %98 = load ptr, ptr %15, align 8, !tbaa !5
  %99 = load ptr, ptr %17, align 8, !tbaa !5
  call void @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_0clERKS1_S4_RfS5_"(ptr noundef nonnull align 1 dereferenceable(1) %23, ptr noundef nonnull align 4 dereferenceable(8) %98, ptr noundef nonnull align 4 dereferenceable(8) %99, ptr noundef nonnull align 4 dereferenceable(4) %24, ptr noundef nonnull align 4 dereferenceable(4) %25)
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #8
  %100 = load ptr, ptr %17, align 8, !tbaa !5
  %101 = load ptr, ptr %19, align 8, !tbaa !5
  call void @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_0clERKS1_S4_RfS5_"(ptr noundef nonnull align 1 dereferenceable(1) %23, ptr noundef nonnull align 4 dereferenceable(8) %100, ptr noundef nonnull align 4 dereferenceable(8) %101, ptr noundef nonnull align 4 dereferenceable(4) %26, ptr noundef nonnull align 4 dereferenceable(4) %27)
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #8
  %102 = load ptr, ptr %19, align 8, !tbaa !5
  %103 = load ptr, ptr %21, align 8, !tbaa !5
  call void @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_0clERKS1_S4_RfS5_"(ptr noundef nonnull align 1 dereferenceable(1) %23, ptr noundef nonnull align 4 dereferenceable(8) %102, ptr noundef nonnull align 4 dereferenceable(8) %103, ptr noundef nonnull align 4 dereferenceable(4) %28, ptr noundef nonnull align 4 dereferenceable(4) %29)
  %104 = load float, ptr %27, align 4, !tbaa !9
  %105 = getelementptr inbounds %"class.HybridAStar::Smoother", ptr %77, i32 0, i32 0
  %106 = load float, ptr %105, align 8, !tbaa !11
  %107 = fcmp ole float %104, %106
  br i1 %107, label %108, label %109

108:                                              ; preds = %97
  call void @_ZN11HybridAStar8Vector2DC2Eff(ptr noundef nonnull align 4 dereferenceable(8) %7, float noundef 0.000000e+00, float noundef 0.000000e+00)
  store i32 1, ptr %30, align 4
  br label %255

109:                                              ; preds = %97
  call void @llvm.lifetime.start.p0(i64 1, ptr %31) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #8
  %110 = load float, ptr %24, align 4, !tbaa !9
  %111 = call noundef double @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_1clEf"(ptr noundef nonnull align 1 dereferenceable(1) %31, float noundef %110)
  %112 = fptrunc double %111 to float
  store float %112, ptr %33, align 4, !tbaa !9
  store ptr %33, ptr %32, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #8
  %113 = load ptr, ptr %15, align 8, !tbaa !5
  %114 = load ptr, ptr %17, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %37, ptr align 4 %114, i64 8, i1 false), !tbaa.struct !36
  %115 = load <2 x float>, ptr %37, align 4
  %116 = call <2 x float> @_ZNK11HybridAStar8Vector2D3ortES0_(ptr noundef nonnull align 4 dereferenceable(8) %113, <2 x float> %115)
  store <2 x float> %116, ptr %36, align 4
  %117 = load ptr, ptr %15, align 8, !tbaa !5
  %118 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %117)
  %119 = load ptr, ptr %17, align 8, !tbaa !5
  %120 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %119)
  %121 = fmul float %118, %120
  %122 = call <2 x float> @_ZNK11HybridAStar8Vector2DdvEf(ptr noundef nonnull align 4 dereferenceable(8) %36, float noundef %121)
  store <2 x float> %122, ptr %35, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #8
  store ptr %35, ptr %34, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #8
  %123 = load ptr, ptr %15, align 8, !tbaa !5
  %124 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %123)
  %125 = fpext float %124 to double
  %126 = fdiv double 1.000000e+00, %125
  %127 = load ptr, ptr %32, align 8, !tbaa !5
  %128 = load float, ptr %127, align 4, !tbaa !9
  %129 = fpext float %128 to double
  %130 = fmul double %126, %129
  %131 = load ptr, ptr %34, align 8, !tbaa !5
  %132 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %130, ptr noundef nonnull align 4 dereferenceable(8) %131)
  store <2 x float> %132, ptr %39, align 4
  store ptr %39, ptr %38, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %41) #8
  %133 = load float, ptr %25, align 4, !tbaa !9
  %134 = getelementptr inbounds %"class.HybridAStar::Smoother", ptr %77, i32 0, i32 0
  %135 = load float, ptr %134, align 8, !tbaa !11
  %136 = fsub float %133, %135
  %137 = fpext float %136 to double
  %138 = fmul double 2.000000e+00, %137
  %139 = load ptr, ptr %38, align 8, !tbaa !5
  %140 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %138, ptr noundef nonnull align 4 dereferenceable(8) %139)
  store <2 x float> %140, ptr %41, align 4
  store ptr %41, ptr %40, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %42) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %43) #8
  %141 = load float, ptr %26, align 4, !tbaa !9
  %142 = call noundef double @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_1clEf"(ptr noundef nonnull align 1 dereferenceable(1) %31, float noundef %141)
  %143 = fptrunc double %142 to float
  store float %143, ptr %43, align 4, !tbaa !9
  store ptr %43, ptr %42, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %44) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %45) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #8
  %144 = load ptr, ptr %19, align 8, !tbaa !5
  %145 = load ptr, ptr %17, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %48, ptr align 4 %145, i64 8, i1 false), !tbaa.struct !36
  %146 = load <2 x float>, ptr %48, align 4
  %147 = call <2 x float> @_ZNK11HybridAStar8Vector2D3ortES0_(ptr noundef nonnull align 4 dereferenceable(8) %144, <2 x float> %146)
  store <2 x float> %147, ptr %47, align 4
  %148 = load ptr, ptr %19, align 8, !tbaa !5
  %149 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %148)
  %150 = load ptr, ptr %17, align 8, !tbaa !5
  %151 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %150)
  %152 = fmul float %149, %151
  %153 = call <2 x float> @_ZNK11HybridAStar8Vector2DdvEf(ptr noundef nonnull align 4 dereferenceable(8) %47, float noundef %152)
  store <2 x float> %153, ptr %46, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %49) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %50) #8
  %154 = load ptr, ptr %17, align 8, !tbaa !5
  %155 = load ptr, ptr %19, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %51, ptr align 4 %155, i64 8, i1 false), !tbaa.struct !36
  %156 = load <2 x float>, ptr %51, align 4
  %157 = call <2 x float> @_ZNK11HybridAStar8Vector2D3ortES0_(ptr noundef nonnull align 4 dereferenceable(8) %154, <2 x float> %156)
  store <2 x float> %157, ptr %50, align 4
  %158 = load ptr, ptr %17, align 8, !tbaa !5
  %159 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %158)
  %160 = load ptr, ptr %19, align 8, !tbaa !5
  %161 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %160)
  %162 = fmul float %159, %161
  %163 = call <2 x float> @_ZNK11HybridAStar8Vector2DdvEf(ptr noundef nonnull align 4 dereferenceable(8) %50, float noundef %162)
  store <2 x float> %163, ptr %49, align 4
  %164 = call <2 x float> @_ZNK11HybridAStar8Vector2DmiERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %46, ptr noundef nonnull align 4 dereferenceable(8) %49)
  store <2 x float> %164, ptr %45, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #8
  store ptr %45, ptr %44, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %52) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %53) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %54) #8
  %165 = load ptr, ptr %17, align 8, !tbaa !5
  %166 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %165)
  %167 = fpext float %166 to double
  %168 = fdiv double 1.000000e+00, %167
  %169 = load ptr, ptr %42, align 8, !tbaa !5
  %170 = load float, ptr %169, align 4, !tbaa !9
  %171 = fpext float %170 to double
  %172 = fmul double %168, %171
  %173 = load ptr, ptr %44, align 8, !tbaa !5
  %174 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %172, ptr noundef nonnull align 4 dereferenceable(8) %173)
  store <2 x float> %174, ptr %54, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %55) #8
  %175 = load float, ptr %26, align 4, !tbaa !9
  %176 = fpext float %175 to double
  %177 = load ptr, ptr %17, align 8, !tbaa !5
  %178 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %177)
  %179 = call noundef double @_ZSt3powIfiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(float noundef %178, i32 noundef 3)
  %180 = fdiv double %176, %179
  %181 = load ptr, ptr %17, align 8, !tbaa !5
  %182 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %180, ptr noundef nonnull align 4 dereferenceable(8) %181)
  store <2 x float> %182, ptr %55, align 4
  %183 = call <2 x float> @_ZNK11HybridAStar8Vector2DmiERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %54, ptr noundef nonnull align 4 dereferenceable(8) %55)
  store <2 x float> %183, ptr %53, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #8
  store ptr %53, ptr %52, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %56) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %57) #8
  %184 = load float, ptr %27, align 4, !tbaa !9
  %185 = getelementptr inbounds %"class.HybridAStar::Smoother", ptr %77, i32 0, i32 0
  %186 = load float, ptr %185, align 8, !tbaa !11
  %187 = fsub float %184, %186
  %188 = fpext float %187 to double
  %189 = fmul double 2.000000e+00, %188
  %190 = load ptr, ptr %52, align 8, !tbaa !5
  %191 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %189, ptr noundef nonnull align 4 dereferenceable(8) %190)
  store <2 x float> %191, ptr %57, align 4
  store ptr %57, ptr %56, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %58) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %59) #8
  %192 = load float, ptr %28, align 4, !tbaa !9
  %193 = call noundef double @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_1clEf"(ptr noundef nonnull align 1 dereferenceable(1) %31, float noundef %192)
  %194 = fptrunc double %193 to float
  store float %194, ptr %59, align 4, !tbaa !9
  store ptr %59, ptr %58, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %60) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %61) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %62) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %63) #8
  %195 = load ptr, ptr %21, align 8, !tbaa !5
  %196 = load ptr, ptr %19, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %64, ptr align 4 %196, i64 8, i1 false), !tbaa.struct !36
  %197 = load <2 x float>, ptr %64, align 4
  %198 = call <2 x float> @_ZNK11HybridAStar8Vector2D3ortES0_(ptr noundef nonnull align 4 dereferenceable(8) %195, <2 x float> %197)
  store <2 x float> %198, ptr %63, align 4
  %199 = call <2 x float> @_ZNK11HybridAStar8Vector2DngEv(ptr noundef nonnull align 4 dereferenceable(8) %63)
  store <2 x float> %199, ptr %62, align 4
  %200 = load ptr, ptr %21, align 8, !tbaa !5
  %201 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %200)
  %202 = load ptr, ptr %19, align 8, !tbaa !5
  %203 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %202)
  %204 = fmul float %201, %203
  %205 = call <2 x float> @_ZNK11HybridAStar8Vector2DdvEf(ptr noundef nonnull align 4 dereferenceable(8) %62, float noundef %204)
  store <2 x float> %205, ptr %61, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %63) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %62) #8
  store ptr %61, ptr %60, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %65) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %66) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %67) #8
  %206 = load ptr, ptr %19, align 8, !tbaa !5
  %207 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %206)
  %208 = fpext float %207 to double
  %209 = fdiv double 1.000000e+00, %208
  %210 = load ptr, ptr %58, align 8, !tbaa !5
  %211 = load float, ptr %210, align 4, !tbaa !9
  %212 = fpext float %211 to double
  %213 = fmul double %209, %212
  %214 = load ptr, ptr %60, align 8, !tbaa !5
  %215 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %213, ptr noundef nonnull align 4 dereferenceable(8) %214)
  store <2 x float> %215, ptr %67, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %68) #8
  %216 = load float, ptr %28, align 4, !tbaa !9
  %217 = fpext float %216 to double
  %218 = load ptr, ptr %19, align 8, !tbaa !5
  %219 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %218)
  %220 = call noundef double @_ZSt3powIfiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(float noundef %219, i32 noundef 3)
  %221 = fdiv double %217, %220
  %222 = load ptr, ptr %19, align 8, !tbaa !5
  %223 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %221, ptr noundef nonnull align 4 dereferenceable(8) %222)
  store <2 x float> %223, ptr %68, align 4
  %224 = call <2 x float> @_ZNK11HybridAStar8Vector2DplERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %67, ptr noundef nonnull align 4 dereferenceable(8) %68)
  store <2 x float> %224, ptr %66, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %68) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %67) #8
  store ptr %66, ptr %65, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %69) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %70) #8
  %225 = load float, ptr %29, align 4, !tbaa !9
  %226 = getelementptr inbounds %"class.HybridAStar::Smoother", ptr %77, i32 0, i32 0
  %227 = load float, ptr %226, align 8, !tbaa !11
  %228 = fsub float %225, %227
  %229 = fpext float %228 to double
  %230 = fmul double 2.000000e+00, %229
  %231 = load ptr, ptr %65, align 8, !tbaa !5
  %232 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %230, ptr noundef nonnull align 4 dereferenceable(8) %231)
  store <2 x float> %232, ptr %70, align 4
  store ptr %70, ptr %69, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %71) #8
  %233 = getelementptr inbounds %"class.HybridAStar::Smoother", ptr %77, i32 0, i32 6
  %234 = load float, ptr %233, align 8, !tbaa !37
  %235 = fpext float %234 to double
  call void @llvm.lifetime.start.p0(i64 8, ptr %72) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %73) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %74) #8
  %236 = load ptr, ptr %40, align 8, !tbaa !5
  %237 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef 2.500000e-01, ptr noundef nonnull align 4 dereferenceable(8) %236)
  store <2 x float> %237, ptr %74, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %75) #8
  %238 = load ptr, ptr %56, align 8, !tbaa !5
  %239 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef 5.000000e-01, ptr noundef nonnull align 4 dereferenceable(8) %238)
  store <2 x float> %239, ptr %75, align 4
  %240 = call <2 x float> @_ZNK11HybridAStar8Vector2DplERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %74, ptr noundef nonnull align 4 dereferenceable(8) %75)
  store <2 x float> %240, ptr %73, align 4
  call void @llvm.lifetime.start.p0(i64 8, ptr %76) #8
  %241 = load ptr, ptr %69, align 8, !tbaa !5
  %242 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef 2.500000e-01, ptr noundef nonnull align 4 dereferenceable(8) %241)
  store <2 x float> %242, ptr %76, align 4
  %243 = call <2 x float> @_ZNK11HybridAStar8Vector2DplERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %73, ptr noundef nonnull align 4 dereferenceable(8) %76)
  store <2 x float> %243, ptr %72, align 4
  %244 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %235, ptr noundef nonnull align 4 dereferenceable(8) %72)
  store <2 x float> %244, ptr %71, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %14, ptr align 4 %71, i64 8, i1 false), !tbaa.struct !36
  call void @llvm.lifetime.end.p0(i64 8, ptr %76) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %75) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %74) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %73) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %72) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %71) #8
  %245 = call noundef float @_ZN11HybridAStar8Vector2D4getXEv(ptr noundef nonnull align 4 dereferenceable(8) %14)
  %246 = call noundef zeroext i1 @_ZSt5isnanf(float noundef %245)
  br i1 %246, label %250, label %247

247:                                              ; preds = %109
  %248 = call noundef float @_ZN11HybridAStar8Vector2D4getYEv(ptr noundef nonnull align 4 dereferenceable(8) %14)
  %249 = call noundef zeroext i1 @_ZSt5isnanf(float noundef %248)
  br i1 %249, label %250, label %253

250:                                              ; preds = %247, %109
  %251 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str)
  %252 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %251, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @_ZN11HybridAStar8Vector2DC2Eff(ptr noundef nonnull align 4 dereferenceable(8) %7, float noundef 0.000000e+00, float noundef 0.000000e+00)
  store i32 1, ptr %30, align 4
  br label %254

253:                                              ; preds = %247
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %7, ptr align 4 %14, i64 8, i1 false), !tbaa.struct !36
  store i32 1, ptr %30, align 4
  br label %254

254:                                              ; preds = %253, %250
  call void @llvm.lifetime.end.p0(i64 8, ptr %70) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %69) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %66) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %65) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %61) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %60) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %59) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %58) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %56) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %53) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %43) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %42) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %41) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %31) #8
  br label %255

255:                                              ; preds = %254, %108
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #8
  call void @llvm.lifetime.end.p0(i64 1, ptr %23) #8
  br label %259

256:                                              ; preds = %93, %89, %85, %6
  %257 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.3)
  %258 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %257, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @_ZN11HybridAStar8Vector2DC2Eff(ptr noundef nonnull align 4 dereferenceable(8) %7, float noundef 0.000000e+00, float noundef 0.000000e+00)
  store i32 1, ptr %30, align 4
  br label %259

259:                                              ; preds = %256, %255
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #8
  %260 = load <2 x float>, ptr %7, align 4
  ret <2 x float> %260
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef, ptr noundef nonnull align 4 dereferenceable(8)) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZNK11HybridAStar8Vector2DdvEf(ptr noundef nonnull align 4 dereferenceable(8), float noundef) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZN11HybridAStar8Vector2D4getXEv(ptr noundef nonnull align 4 dereferenceable(8)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZN11HybridAStar8Vector2D4getYEv(ptr noundef nonnull align 4 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare hidden void @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_0clERKS1_S4_RfS5_"(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare hidden noundef double @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_1clEf"(ptr noundef nonnull align 1 dereferenceable(1), float noundef) #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZNK11HybridAStar8Vector2D3ortES0_(ptr noundef nonnull align 4 dereferenceable(8), <2 x float>) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZSt3powIfiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(float noundef, i32 noundef) #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZNK11HybridAStar8Vector2DngEv(ptr noundef nonnull align 4 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZSt5isnanf(float noundef) #7

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #6

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #6

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { inlinehint mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { mustprogress 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 #6 = { 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 #7 = { 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 #8 = { 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 = !{!"float", !7, i64 0}
!11 = !{!12, !10, i64 0}
!12 = !{!"_ZTSN11HybridAStar8SmootherE", !10, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !13, i64 32, !15, i64 264, !15, i64 268, !32, i64 272}
!13 = !{!"_ZTSN11HybridAStar14DynamicVoronoiE", !14, i64 0, !20, i64 32, !27, i64 112, !27, i64 136, !27, i64 160, !15, i64 184, !15, i64 188, !6, i64 192, !6, i64 200, !15, i64 208, !31, i64 216, !31, i64 224}
!14 = !{!"_ZTSN11HybridAStar15BucketPrioQueueE", !15, i64 0, !15, i64 4, !16, i64 8}
!15 = !{!"int", !7, i64 0}
!16 = !{!"_ZTSSt6vectorISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE", !17, i64 0}
!17 = !{!"_ZTSSt12_Vector_baseISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE12_Vector_implE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!20 = !{!"_ZTSSt5queueIN11HybridAStar8IntPointESt5dequeIS1_SaIS1_EEE", !21, i64 0}
!21 = !{!"_ZTSSt5dequeIN11HybridAStar8IntPointESaIS1_EE", !22, i64 0}
!22 = !{!"_ZTSSt11_Deque_baseIN11HybridAStar8IntPointESaIS1_EE", !23, i64 0}
!23 = !{!"_ZTSNSt11_Deque_baseIN11HybridAStar8IntPointESaIS1_EE11_Deque_implE", !24, i64 0}
!24 = !{!"_ZTSNSt11_Deque_baseIN11HybridAStar8IntPointESaIS1_EE16_Deque_impl_dataE", !6, i64 0, !25, i64 8, !26, i64 16, !26, i64 48}
!25 = !{!"long", !7, i64 0}
!26 = !{!"_ZTSSt15_Deque_iteratorIN11HybridAStar8IntPointERS1_PS1_E", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!27 = !{!"_ZTSSt6vectorIN11HybridAStar8IntPointESaIS1_EE", !28, i64 0}
!28 = !{!"_ZTSSt12_Vector_baseIN11HybridAStar8IntPointESaIS1_EE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar8IntPointESaIS1_EE12_Vector_implE", !30, i64 0}
!30 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar8IntPointESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!31 = !{!"double", !7, i64 0}
!32 = !{!"_ZTSSt6vectorIN11HybridAStar6Node3DESaIS1_EE", !33, i64 0}
!33 = !{!"_ZTSSt12_Vector_baseIN11HybridAStar6Node3DESaIS1_EE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar6Node3DESaIS1_EE12_Vector_implE", !35, i64 0}
!35 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar6Node3DESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!36 = !{i64 0, i64 4, !9, i64 4, i64 4, !9}
!37 = !{!12, !10, i64 24}


; 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.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%"class.HybridAStar::Vector2D" = type { float, float }
%class.anon = type { i8 }
%class.anon.10 = type { i8 }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str = external hidden unnamed_addr constant [29 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [29 x i8], align 1

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN11HybridAStar8Vector2DC2Eff(ptr noundef nonnull align 4 dereferenceable(8), float noundef, float noundef) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZNK11HybridAStar8Vector2DmiERKS0_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #2 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZNK11HybridAStar8Vector2DplERKS0_(ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local <2 x float> @_ZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_(ptr nocapture noundef nonnull readonly align 8 dereferenceable(296) %0, <2 x float> %1, <2 x float> %2, <2 x float> %3, <2 x float> %4, <2 x float> %5) local_unnamed_addr #3 align 2 {
  %7 = alloca %"class.HybridAStar::Vector2D", align 8
  %8 = alloca %"class.HybridAStar::Vector2D", align 8
  %9 = alloca %"class.HybridAStar::Vector2D", align 8
  %10 = alloca %"class.HybridAStar::Vector2D", align 8
  %11 = alloca %"class.HybridAStar::Vector2D", align 8
  %12 = alloca %"class.HybridAStar::Vector2D", align 8
  %13 = alloca %"class.HybridAStar::Vector2D", align 8
  %14 = alloca %"class.HybridAStar::Vector2D", align 8
  %15 = alloca %"class.HybridAStar::Vector2D", align 8
  %16 = alloca %"class.HybridAStar::Vector2D", align 8
  %17 = alloca %"class.HybridAStar::Vector2D", align 8
  %18 = alloca %class.anon, align 1
  %19 = alloca float, align 4
  %20 = alloca float, align 4
  %21 = alloca float, align 4
  %22 = alloca float, align 4
  %23 = alloca float, align 4
  %24 = alloca float, align 4
  %25 = alloca %class.anon.10, align 1
  %26 = alloca %"class.HybridAStar::Vector2D", align 8
  %27 = alloca %"class.HybridAStar::Vector2D", align 8
  %28 = alloca %"class.HybridAStar::Vector2D", align 8
  %29 = alloca %"class.HybridAStar::Vector2D", align 8
  %30 = alloca %"class.HybridAStar::Vector2D", align 8
  %31 = alloca %"class.HybridAStar::Vector2D", align 8
  %32 = alloca %"class.HybridAStar::Vector2D", align 8
  %33 = alloca %"class.HybridAStar::Vector2D", align 8
  %34 = alloca %"class.HybridAStar::Vector2D", align 8
  %35 = alloca %"class.HybridAStar::Vector2D", align 8
  %36 = alloca %"class.HybridAStar::Vector2D", align 8
  %37 = alloca %"class.HybridAStar::Vector2D", align 8
  %38 = alloca %"class.HybridAStar::Vector2D", align 8
  %39 = alloca %"class.HybridAStar::Vector2D", align 8
  %40 = alloca %"class.HybridAStar::Vector2D", align 8
  %41 = alloca %"class.HybridAStar::Vector2D", align 8
  %42 = alloca %"class.HybridAStar::Vector2D", align 8
  %43 = alloca %"class.HybridAStar::Vector2D", align 8
  %44 = alloca %"class.HybridAStar::Vector2D", align 8
  %45 = alloca %"class.HybridAStar::Vector2D", align 8
  %46 = alloca %"class.HybridAStar::Vector2D", align 8
  %47 = alloca %"class.HybridAStar::Vector2D", align 8
  %48 = alloca %"class.HybridAStar::Vector2D", align 8
  %49 = alloca %"class.HybridAStar::Vector2D", align 8
  %50 = alloca %"class.HybridAStar::Vector2D", align 8
  store <2 x float> %1, ptr %8, align 8
  store <2 x float> %2, ptr %9, align 8
  store <2 x float> %3, ptr %10, align 8
  store <2 x float> %4, ptr %11, align 8
  store <2 x float> %5, ptr %12, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #7
  call void @_ZN11HybridAStar8Vector2DC2Eff(ptr noundef nonnull align 4 dereferenceable(8) %13, float noundef 0.000000e+00, float noundef 0.000000e+00)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #7
  %51 = call <2 x float> @_ZNK11HybridAStar8Vector2DmiERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %9, ptr noundef nonnull align 4 dereferenceable(8) %8)
  store <2 x float> %51, ptr %14, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #7
  %52 = call <2 x float> @_ZNK11HybridAStar8Vector2DmiERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %10, ptr noundef nonnull align 4 dereferenceable(8) %9)
  store <2 x float> %52, ptr %15, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #7
  %53 = call <2 x float> @_ZNK11HybridAStar8Vector2DmiERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %11, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %53, ptr %16, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #7
  %54 = call <2 x float> @_ZNK11HybridAStar8Vector2DmiERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %12, ptr noundef nonnull align 4 dereferenceable(8) %11)
  store <2 x float> %54, ptr %17, align 8
  %55 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %14)
  %56 = fcmp ogt float %55, 0.000000e+00
  br i1 %56, label %57, label %174

57:                                               ; preds = %6
  %58 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %15)
  %59 = fcmp ogt float %58, 0.000000e+00
  br i1 %59, label %60, label %174

60:                                               ; preds = %57
  %61 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %16)
  %62 = fcmp ogt float %61, 0.000000e+00
  br i1 %62, label %63, label %174

63:                                               ; preds = %60
  %64 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %17)
  %65 = fcmp ogt float %64, 0.000000e+00
  br i1 %65, label %66, label %174

66:                                               ; preds = %63
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %18) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %19) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %20) #7
  call void @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_0clERKS1_S4_RfS5_"(ptr noundef nonnull align 1 dereferenceable(1) %18, ptr noundef nonnull align 4 dereferenceable(8) %14, ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(4) %19, ptr noundef nonnull align 4 dereferenceable(4) %20)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %21) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %22) #7
  call void @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_0clERKS1_S4_RfS5_"(ptr noundef nonnull align 1 dereferenceable(1) %18, ptr noundef nonnull align 4 dereferenceable(8) %15, ptr noundef nonnull align 4 dereferenceable(8) %16, ptr noundef nonnull align 4 dereferenceable(4) %21, ptr noundef nonnull align 4 dereferenceable(4) %22)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %23) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %24) #7
  call void @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_0clERKS1_S4_RfS5_"(ptr noundef nonnull align 1 dereferenceable(1) %18, ptr noundef nonnull align 4 dereferenceable(8) %16, ptr noundef nonnull align 4 dereferenceable(8) %17, ptr noundef nonnull align 4 dereferenceable(4) %23, ptr noundef nonnull align 4 dereferenceable(4) %24)
  %67 = load float, ptr %22, align 4, !tbaa !5
  %68 = load float, ptr %0, align 8, !tbaa !9
  %69 = fcmp ugt float %67, %68
  br i1 %69, label %71, label %70

70:                                               ; preds = %66
  call void @_ZN11HybridAStar8Vector2DC2Eff(ptr noundef nonnull align 4 dereferenceable(8) %7, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %173

71:                                               ; preds = %66
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %25) #7
  %72 = load float, ptr %19, align 4, !tbaa !5
  %73 = call noundef double @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_1clEf"(ptr noundef nonnull align 1 dereferenceable(1) %25, float noundef %72)
  %74 = fptrunc double %73 to float
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %27) #7
  %.sroa.013.0.copyload = load <2 x float>, ptr %15, align 8
  %75 = call <2 x float> @_ZNK11HybridAStar8Vector2D3ortES0_(ptr noundef nonnull align 4 dereferenceable(8) %14, <2 x float> %.sroa.013.0.copyload)
  store <2 x float> %75, ptr %27, align 8
  %76 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %14)
  %77 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %15)
  %78 = fmul float %76, %77
  %79 = call <2 x float> @_ZNK11HybridAStar8Vector2DdvEf(ptr noundef nonnull align 4 dereferenceable(8) %27, float noundef %78)
  store <2 x float> %79, ptr %26, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %28) #7
  %80 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %14)
  %81 = fpext float %80 to double
  %82 = fdiv double 1.000000e+00, %81
  %83 = fpext float %74 to double
  %84 = fmul double %82, %83
  %85 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %84, ptr noundef nonnull align 4 dereferenceable(8) %26)
  store <2 x float> %85, ptr %28, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %29) #7
  %86 = load float, ptr %20, align 4, !tbaa !5
  %87 = load float, ptr %0, align 8, !tbaa !9
  %88 = fsub float %86, %87
  %89 = fpext float %88 to double
  %90 = fmul double %89, 2.000000e+00
  %91 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %90, ptr noundef nonnull align 4 dereferenceable(8) %28)
  store <2 x float> %91, ptr %29, align 8
  %92 = load float, ptr %21, align 4, !tbaa !5
  %93 = call noundef double @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_1clEf"(ptr noundef nonnull align 1 dereferenceable(1) %25, float noundef %92)
  %94 = fptrunc double %93 to float
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %30) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %31) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %32) #7
  %.sroa.08.0.copyload = load <2 x float>, ptr %15, align 8
  %95 = call <2 x float> @_ZNK11HybridAStar8Vector2D3ortES0_(ptr noundef nonnull align 4 dereferenceable(8) %16, <2 x float> %.sroa.08.0.copyload)
  store <2 x float> %95, ptr %32, align 8
  %96 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %16)
  %97 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %15)
  %98 = fmul float %96, %97
  %99 = call <2 x float> @_ZNK11HybridAStar8Vector2DdvEf(ptr noundef nonnull align 4 dereferenceable(8) %32, float noundef %98)
  store <2 x float> %99, ptr %31, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %33) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %34) #7
  %.sroa.07.0.copyload = load <2 x float>, ptr %16, align 8
  %100 = call <2 x float> @_ZNK11HybridAStar8Vector2D3ortES0_(ptr noundef nonnull align 4 dereferenceable(8) %15, <2 x float> %.sroa.07.0.copyload)
  store <2 x float> %100, ptr %34, align 8
  %101 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %15)
  %102 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %16)
  %103 = fmul float %101, %102
  %104 = call <2 x float> @_ZNK11HybridAStar8Vector2DdvEf(ptr noundef nonnull align 4 dereferenceable(8) %34, float noundef %103)
  store <2 x float> %104, ptr %33, align 8
  %105 = call <2 x float> @_ZNK11HybridAStar8Vector2DmiERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %31, ptr noundef nonnull align 4 dereferenceable(8) %33)
  store <2 x float> %105, ptr %30, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %34) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %33) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %32) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %35) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %36) #7
  %106 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %15)
  %107 = fpext float %106 to double
  %108 = fdiv double 1.000000e+00, %107
  %109 = fpext float %94 to double
  %110 = fmul double %108, %109
  %111 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %110, ptr noundef nonnull align 4 dereferenceable(8) %30)
  store <2 x float> %111, ptr %36, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %37) #7
  %112 = load float, ptr %21, align 4, !tbaa !5
  %113 = fpext float %112 to double
  %114 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %15)
  %115 = call noundef double @_ZSt3powIfiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(float noundef %114, i32 noundef 3)
  %116 = fdiv double %113, %115
  %117 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %116, ptr noundef nonnull align 4 dereferenceable(8) %15)
  store <2 x float> %117, ptr %37, align 8
  %118 = call <2 x float> @_ZNK11HybridAStar8Vector2DmiERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %36, ptr noundef nonnull align 4 dereferenceable(8) %37)
  store <2 x float> %118, ptr %35, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %37) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %36) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %38) #7
  %119 = load float, ptr %22, align 4, !tbaa !5
  %120 = load float, ptr %0, align 8, !tbaa !9
  %121 = fsub float %119, %120
  %122 = fpext float %121 to double
  %123 = fmul double %122, 2.000000e+00
  %124 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %123, ptr noundef nonnull align 4 dereferenceable(8) %35)
  store <2 x float> %124, ptr %38, align 8
  %125 = load float, ptr %23, align 4, !tbaa !5
  %126 = call noundef double @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_1clEf"(ptr noundef nonnull align 1 dereferenceable(1) %25, float noundef %125)
  %127 = fptrunc double %126 to float
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %39) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %40) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %41) #7
  %.sroa.02.0.copyload = load <2 x float>, ptr %16, align 8
  %128 = call <2 x float> @_ZNK11HybridAStar8Vector2D3ortES0_(ptr noundef nonnull align 4 dereferenceable(8) %17, <2 x float> %.sroa.02.0.copyload)
  store <2 x float> %128, ptr %41, align 8
  %129 = call <2 x float> @_ZNK11HybridAStar8Vector2DngEv(ptr noundef nonnull align 4 dereferenceable(8) %41)
  store <2 x float> %129, ptr %40, align 8
  %130 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %17)
  %131 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %16)
  %132 = fmul float %130, %131
  %133 = call <2 x float> @_ZNK11HybridAStar8Vector2DdvEf(ptr noundef nonnull align 4 dereferenceable(8) %40, float noundef %132)
  store <2 x float> %133, ptr %39, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %41) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %40) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %42) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %43) #7
  %134 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %16)
  %135 = fpext float %134 to double
  %136 = fdiv double 1.000000e+00, %135
  %137 = fpext float %127 to double
  %138 = fmul double %136, %137
  %139 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %138, ptr noundef nonnull align 4 dereferenceable(8) %39)
  store <2 x float> %139, ptr %43, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %44) #7
  %140 = load float, ptr %23, align 4, !tbaa !5
  %141 = fpext float %140 to double
  %142 = call noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8) %16)
  %143 = call noundef double @_ZSt3powIfiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(float noundef %142, i32 noundef 3)
  %144 = fdiv double %141, %143
  %145 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %144, ptr noundef nonnull align 4 dereferenceable(8) %16)
  store <2 x float> %145, ptr %44, align 8
  %146 = call <2 x float> @_ZNK11HybridAStar8Vector2DplERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %43, ptr noundef nonnull align 4 dereferenceable(8) %44)
  store <2 x float> %146, ptr %42, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %44) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %43) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %45) #7
  %147 = load float, ptr %24, align 4, !tbaa !5
  %148 = load float, ptr %0, align 8, !tbaa !9
  %149 = fsub float %147, %148
  %150 = fpext float %149 to double
  %151 = fmul double %150, 2.000000e+00
  %152 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %151, ptr noundef nonnull align 4 dereferenceable(8) %42)
  store <2 x float> %152, ptr %45, align 8
  %153 = getelementptr inbounds i8, ptr %0, i64 24
  %154 = load float, ptr %153, align 8, !tbaa !35
  %155 = fpext float %154 to double
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %46) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %47) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %48) #7
  %156 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef 2.500000e-01, ptr noundef nonnull align 4 dereferenceable(8) %29)
  store <2 x float> %156, ptr %48, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %49) #7
  %157 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef 5.000000e-01, ptr noundef nonnull align 4 dereferenceable(8) %38)
  store <2 x float> %157, ptr %49, align 8
  %158 = call <2 x float> @_ZNK11HybridAStar8Vector2DplERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %48, ptr noundef nonnull align 4 dereferenceable(8) %49)
  store <2 x float> %158, ptr %47, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %50) #7
  %159 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef 2.500000e-01, ptr noundef nonnull align 4 dereferenceable(8) %45)
  store <2 x float> %159, ptr %50, align 8
  %160 = call <2 x float> @_ZNK11HybridAStar8Vector2DplERKS0_(ptr noundef nonnull align 4 dereferenceable(8) %47, ptr noundef nonnull align 4 dereferenceable(8) %50)
  store <2 x float> %160, ptr %46, align 8
  %161 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %155, ptr noundef nonnull align 4 dereferenceable(8) %46)
  store <2 x float> %161, ptr %13, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %50) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %49) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %48) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %47) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %46) #7
  %162 = call noundef float @_ZN11HybridAStar8Vector2D4getXEv(ptr noundef nonnull align 4 dereferenceable(8) %13)
  %163 = call noundef zeroext i1 @_ZSt5isnanf(float noundef %162)
  br i1 %163, label %167, label %164

164:                                              ; preds = %71
  %165 = call noundef float @_ZN11HybridAStar8Vector2D4getYEv(ptr noundef nonnull align 4 dereferenceable(8) %13)
  %166 = call noundef zeroext i1 @_ZSt5isnanf(float noundef %165)
  br i1 %166, label %167, label %170

167:                                              ; preds = %164, %71
  %168 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str)
  %169 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %168, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @_ZN11HybridAStar8Vector2DC2Eff(ptr noundef nonnull align 4 dereferenceable(8) %7, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %172

170:                                              ; preds = %164
  %171 = load i64, ptr %13, align 8
  store i64 %171, ptr %7, align 8
  br label %172

172:                                              ; preds = %170, %167
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %45) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %42) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %39) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %38) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %35) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %30) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %25) #7
  br label %173

173:                                              ; preds = %172, %70
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %24) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %23) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %22) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %21) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %20) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %19) #7
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %18) #7
  br label %177

174:                                              ; preds = %63, %60, %57, %6
  %175 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.3)
  %176 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %175, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @_ZN11HybridAStar8Vector2DC2Eff(ptr noundef nonnull align 4 dereferenceable(8) %7, float noundef 0.000000e+00, float noundef 0.000000e+00)
  br label %177

177:                                              ; preds = %174, %173
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #7
  %178 = load <2 x float>, ptr %7, align 8
  ret <2 x float> %178
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef, ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZNK11HybridAStar8Vector2DdvEf(ptr noundef nonnull align 4 dereferenceable(8), float noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZN11HybridAStar8Vector2D4getXEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZN11HybridAStar8Vector2D4getYEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef float @_ZNK11HybridAStar8Vector2D6lengthEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare hidden void @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_0clERKS1_S4_RfS5_"(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare hidden noundef double @"_ZZN11HybridAStar8Smoother13curvatureTermENS_8Vector2DES1_S1_S1_S1_ENK3$_1clEf"(ptr noundef nonnull align 1 dereferenceable(1), float noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZNK11HybridAStar8Vector2D3ortES0_(ptr noundef nonnull align 4 dereferenceable(8), <2 x float>) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZSt3powIfiEN9__gnu_cxx9__promoteIDTplcvNS1_IT_Xsr3std12__is_integerIS2_EE7__valueEE6__typeELi0EcvNS1_IT0_Xsr3std12__is_integerIS5_EE7__valueEE6__typeELi0EEXsr3std12__is_integerIS8_EE7__valueEE6__typeES2_S5_(float noundef, i32 noundef) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZNK11HybridAStar8Vector2DngEv(ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZSt5isnanf(float noundef) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #5

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { inlinehint mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="64" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #6 = { 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 #7 = { 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 = !{!"float", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !6, i64 0}
!10 = !{!"_ZTSN11HybridAStar8SmootherE", !6, i64 0, !6, i64 4, !6, i64 8, !6, i64 12, !6, i64 16, !6, i64 20, !6, i64 24, !6, i64 28, !11, i64 32, !13, i64 264, !13, i64 268, !31, i64 272}
!11 = !{!"_ZTSN11HybridAStar14DynamicVoronoiE", !12, i64 0, !19, i64 32, !26, i64 112, !26, i64 136, !26, i64 160, !13, i64 184, !13, i64 188, !18, i64 192, !18, i64 200, !13, i64 208, !30, i64 216, !30, i64 224}
!12 = !{!"_ZTSN11HybridAStar15BucketPrioQueueE", !13, i64 0, !13, i64 4, !14, i64 8}
!13 = !{!"int", !7, i64 0}
!14 = !{!"_ZTSSt6vectorISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE", !15, i64 0}
!15 = !{!"_ZTSSt12_Vector_baseISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE12_Vector_implE", !17, i64 0}
!17 = !{!"_ZTSNSt12_Vector_baseISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE17_Vector_impl_dataE", !18, i64 0, !18, i64 8, !18, i64 16}
!18 = !{!"any pointer", !7, i64 0}
!19 = !{!"_ZTSSt5queueIN11HybridAStar8IntPointESt5dequeIS1_SaIS1_EEE", !20, i64 0}
!20 = !{!"_ZTSSt5dequeIN11HybridAStar8IntPointESaIS1_EE", !21, i64 0}
!21 = !{!"_ZTSSt11_Deque_baseIN11HybridAStar8IntPointESaIS1_EE", !22, i64 0}
!22 = !{!"_ZTSNSt11_Deque_baseIN11HybridAStar8IntPointESaIS1_EE11_Deque_implE", !23, i64 0}
!23 = !{!"_ZTSNSt11_Deque_baseIN11HybridAStar8IntPointESaIS1_EE16_Deque_impl_dataE", !18, i64 0, !24, i64 8, !25, i64 16, !25, i64 48}
!24 = !{!"long", !7, i64 0}
!25 = !{!"_ZTSSt15_Deque_iteratorIN11HybridAStar8IntPointERS1_PS1_E", !18, i64 0, !18, i64 8, !18, i64 16, !18, i64 24}
!26 = !{!"_ZTSSt6vectorIN11HybridAStar8IntPointESaIS1_EE", !27, i64 0}
!27 = !{!"_ZTSSt12_Vector_baseIN11HybridAStar8IntPointESaIS1_EE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar8IntPointESaIS1_EE12_Vector_implE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar8IntPointESaIS1_EE17_Vector_impl_dataE", !18, i64 0, !18, i64 8, !18, i64 16}
!30 = !{!"double", !7, i64 0}
!31 = !{!"_ZTSSt6vectorIN11HybridAStar6Node3DESaIS1_EE", !32, i64 0}
!32 = !{!"_ZTSSt12_Vector_baseIN11HybridAStar6Node3DESaIS1_EE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar6Node3DESaIS1_EE12_Vector_implE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar6Node3DESaIS1_EE17_Vector_impl_dataE", !18, i64 0, !18, i64 8, !18, i64 16}
!35 = !{!10, !6, i64 24}


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