; LLVM IR from cyberbotics/epuck_ros2 :: epuck_ros2_driver/src/mpu9250.ll (ZN7MPU925018getAngularVelocityEv)

; 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::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl" }
%"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl" = type { %"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl_data" }
%"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%class.MPU9250 = type { [3 x float], [3 x float], [3 x i16], [3 x i16], i32, %"class.std::shared_ptr" }
%"class.std::shared_ptr" = type { %"class.std::__shared_ptr" }
%"class.std::__shared_ptr" = type { ptr, %"class.std::__shared_count" }
%"class.std::__shared_count" = type { ptr }

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7MPU925018getAngularVelocityEv(ptr dead_on_unwind noalias writable sret(%"class.std::vector") align 8 %0, ptr noundef nonnull align 8 dereferenceable(56) %1) #0 align 2 personality ptr @__gxx_personality_v0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca i1, align 1
  %6 = alloca ptr, align 8
  %7 = alloca i32, align 4
  store ptr %0, ptr %3, align 8
  store ptr %1, ptr %4, align 8, !tbaa !5
  %8 = load ptr, ptr %4, align 8
  store i1 false, ptr %5, align 1
  call void @_ZNSt6vectorIfSaIfEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #2
  invoke void @_ZNSt6vectorIfSaIfEE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef 3)
          to label %9 unwind label %23

9:                                                ; preds = %2
  %10 = getelementptr inbounds %class.MPU9250, ptr %8, i32 0, i32 0
  %11 = getelementptr inbounds [3 x float], ptr %10, i64 0, i64 0
  %12 = load float, ptr %11, align 8, !tbaa !9
  %13 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIfSaIfEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef 0) #2
  store float %12, ptr %13, align 4, !tbaa !9
  %14 = getelementptr inbounds %class.MPU9250, ptr %8, i32 0, i32 0
  %15 = getelementptr inbounds [3 x float], ptr %14, i64 0, i64 1
  %16 = load float, ptr %15, align 4, !tbaa !9
  %17 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIfSaIfEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef 1) #2
  store float %16, ptr %17, align 4, !tbaa !9
  %18 = getelementptr inbounds %class.MPU9250, ptr %8, i32 0, i32 0
  %19 = getelementptr inbounds [3 x float], ptr %18, i64 0, i64 2
  %20 = load float, ptr %19, align 8, !tbaa !9
  %21 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIfSaIfEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef 2) #2
  store float %20, ptr %21, align 4, !tbaa !9
  store i1 true, ptr %5, align 1
  %22 = load i1, ptr %5, align 1
  br i1 %22, label %28, label %27

23:                                               ; preds = %2
  %24 = landingpad { ptr, i32 }
          cleanup
  %25 = extractvalue { ptr, i32 } %24, 0
  store ptr %25, ptr %6, align 8
  %26 = extractvalue { ptr, i32 } %24, 1
  store i32 %26, ptr %7, align 4
  call void @_ZNSt6vectorIfSaIfEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #2
  br label %29

27:                                               ; preds = %9
  call void @_ZNSt6vectorIfSaIfEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #2
  br label %28

28:                                               ; preds = %27, %9
  ret void

29:                                               ; preds = %23
  %30 = load ptr, ptr %6, align 8
  %31 = load i32, ptr %7, align 4
  %32 = insertvalue { ptr, i32 } poison, ptr %30, 0
  %33 = insertvalue { ptr, i32 } %32, i32 %31, 1
  resume { ptr, i32 } %33
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIfSaIfEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIfSaIfEE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #0 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIfSaIfEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIfSaIfEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

attributes #0 = { 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 = { 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 = { 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}


; 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::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl" }
%"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl" = type { %"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl_data" }
%"struct.std::_Vector_base<float, std::allocator<float>>::_Vector_impl_data" = type { ptr, ptr, ptr }

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7MPU925018getAngularVelocityEv(ptr dead_on_unwind noalias nonnull writable sret(%"class.std::vector") align 8 %0, ptr nocapture noundef nonnull readonly align 8 dereferenceable(56) %1) local_unnamed_addr #0 align 2 personality ptr @__gxx_personality_v0 {
  tail call void @_ZNSt6vectorIfSaIfEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #2
  invoke void @_ZNSt6vectorIfSaIfEE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef 3)
          to label %3 unwind label %12

3:                                                ; preds = %2
  %4 = load float, ptr %1, align 8, !tbaa !5
  %5 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIfSaIfEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef 0) #2
  store float %4, ptr %5, align 4, !tbaa !5
  %6 = getelementptr inbounds i8, ptr %1, i64 4
  %7 = load float, ptr %6, align 4, !tbaa !5
  %8 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIfSaIfEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef 1) #2
  store float %7, ptr %8, align 4, !tbaa !5
  %9 = getelementptr inbounds i8, ptr %1, i64 8
  %10 = load float, ptr %9, align 8, !tbaa !5
  %11 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIfSaIfEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef 2) #2
  store float %10, ptr %11, align 4, !tbaa !5
  ret void

12:                                               ; preds = %2
  %13 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZNSt6vectorIfSaIfEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #2
  resume { ptr, i32 } %13
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIfSaIfEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIfSaIfEE7reserveEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #0 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIfSaIfEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIfSaIfEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

attributes #0 = { 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 = { 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 = { 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"}


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