; LLVM IR from karlkurzer/path_planner :: src/smoother.ll (ZN11HybridAStar8Smoother12obstacleTermENS_8Vector2DE)

; 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.HybridAStar::Vector2D" = type { float, float }
%"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 }
%"struct.HybridAStar::DynamicVoronoi::dataCell" = type { float, i8, i8, i32, i32, i8, i32 }

; 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: mustprogress uwtable
define dso_local <2 x float> @_ZN11HybridAStar8Smoother12obstacleTermENS_8Vector2DE(ptr noundef nonnull align 8 dereferenceable(296) %0, <2 x float> %1) #2 align 2 {
  %3 = alloca %"class.HybridAStar::Vector2D", align 4
  %4 = alloca %"class.HybridAStar::Vector2D", align 4
  %5 = alloca ptr, align 8
  %6 = alloca %"class.HybridAStar::Vector2D", align 4
  %7 = alloca float, align 4
  %8 = alloca i32, align 4
  %9 = alloca i32, 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 i32, align 4
  store <2 x float> %1, ptr %4, align 4
  store ptr %0, ptr %5, align 8, !tbaa !5
  %14 = load ptr, ptr %5, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #6
  call void @_ZN11HybridAStar8Vector2DC2Eff(ptr noundef nonnull align 4 dereferenceable(8) %6, float noundef 0.000000e+00, float noundef 0.000000e+00)
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #6
  %15 = getelementptr inbounds %"class.HybridAStar::Smoother", ptr %14, i32 0, i32 8
  %16 = call noundef float @_ZN11HybridAStar8Vector2D4getXEv(ptr noundef nonnull align 4 dereferenceable(8) %4)
  %17 = fptosi float %16 to i32
  %18 = call noundef float @_ZN11HybridAStar8Vector2D4getYEv(ptr noundef nonnull align 4 dereferenceable(8) %4)
  %19 = fptosi float %18 to i32
  %20 = call noundef float @_ZNK11HybridAStar14DynamicVoronoi11getDistanceEii(ptr noundef nonnull align 8 dereferenceable(232) %15, i32 noundef %17, i32 noundef %19)
  store float %20, ptr %7, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #6
  %21 = call noundef float @_ZN11HybridAStar8Vector2D4getXEv(ptr noundef nonnull align 4 dereferenceable(8) %4)
  %22 = fptosi float %21 to i32
  store i32 %22, ptr %8, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #6
  %23 = call noundef float @_ZN11HybridAStar8Vector2D4getYEv(ptr noundef nonnull align 4 dereferenceable(8) %4)
  %24 = fptosi float %23 to i32
  store i32 %24, ptr %9, align 4, !tbaa !11
  %25 = load i32, ptr %8, align 4, !tbaa !11
  %26 = getelementptr inbounds %"class.HybridAStar::Smoother", ptr %14, i32 0, i32 9
  %27 = load i32, ptr %26, align 8, !tbaa !13
  %28 = icmp slt i32 %25, %27
  br i1 %28, label %29, label %96

29:                                               ; preds = %2
  %30 = load i32, ptr %8, align 4, !tbaa !11
  %31 = icmp sge i32 %30, 0
  br i1 %31, label %32, label %96

32:                                               ; preds = %29
  %33 = load i32, ptr %9, align 4, !tbaa !11
  %34 = getelementptr inbounds %"class.HybridAStar::Smoother", ptr %14, i32 0, i32 10
  %35 = load i32, ptr %34, align 4, !tbaa !37
  %36 = icmp slt i32 %33, %35
  br i1 %36, label %37, label %96

37:                                               ; preds = %32
  %38 = load i32, ptr %9, align 4, !tbaa !11
  %39 = icmp sge i32 %38, 0
  br i1 %39, label %40, label %96

40:                                               ; preds = %37
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #6
  %41 = call noundef float @_ZN11HybridAStar8Vector2D4getXEv(ptr noundef nonnull align 4 dereferenceable(8) %4)
  %42 = getelementptr inbounds %"class.HybridAStar::Smoother", ptr %14, i32 0, i32 8
  %43 = getelementptr inbounds %"class.HybridAStar::DynamicVoronoi", ptr %42, i32 0, i32 7
  %44 = load ptr, ptr %43, align 8, !tbaa !38
  %45 = call noundef float @_ZN11HybridAStar8Vector2D4getXEv(ptr noundef nonnull align 4 dereferenceable(8) %4)
  %46 = fptosi float %45 to i32
  %47 = sext i32 %46 to i64
  %48 = getelementptr inbounds ptr, ptr %44, i64 %47
  %49 = load ptr, ptr %48, align 8, !tbaa !5
  %50 = call noundef float @_ZN11HybridAStar8Vector2D4getYEv(ptr noundef nonnull align 4 dereferenceable(8) %4)
  %51 = fptosi float %50 to i32
  %52 = sext i32 %51 to i64
  %53 = getelementptr inbounds %"struct.HybridAStar::DynamicVoronoi::dataCell", ptr %49, i64 %52
  %54 = getelementptr inbounds %"struct.HybridAStar::DynamicVoronoi::dataCell", ptr %53, i32 0, i32 3
  %55 = load i32, ptr %54, align 4, !tbaa !39
  %56 = sitofp i32 %55 to float
  %57 = fsub float %41, %56
  %58 = call noundef float @_ZN11HybridAStar8Vector2D4getYEv(ptr noundef nonnull align 4 dereferenceable(8) %4)
  %59 = getelementptr inbounds %"class.HybridAStar::Smoother", ptr %14, i32 0, i32 8
  %60 = getelementptr inbounds %"class.HybridAStar::DynamicVoronoi", ptr %59, i32 0, i32 7
  %61 = load ptr, ptr %60, align 8, !tbaa !38
  %62 = call noundef float @_ZN11HybridAStar8Vector2D4getXEv(ptr noundef nonnull align 4 dereferenceable(8) %4)
  %63 = fptosi float %62 to i32
  %64 = sext i32 %63 to i64
  %65 = getelementptr inbounds ptr, ptr %61, i64 %64
  %66 = load ptr, ptr %65, align 8, !tbaa !5
  %67 = call noundef float @_ZN11HybridAStar8Vector2D4getYEv(ptr noundef nonnull align 4 dereferenceable(8) %4)
  %68 = fptosi float %67 to i32
  %69 = sext i32 %68 to i64
  %70 = getelementptr inbounds %"struct.HybridAStar::DynamicVoronoi::dataCell", ptr %66, i64 %69
  %71 = getelementptr inbounds %"struct.HybridAStar::DynamicVoronoi::dataCell", ptr %70, i32 0, i32 4
  %72 = load i32, ptr %71, align 4, !tbaa !42
  %73 = sitofp i32 %72 to float
  %74 = fsub float %58, %73
  call void @_ZN11HybridAStar8Vector2DC2Eff(ptr noundef nonnull align 4 dereferenceable(8) %10, float noundef %57, float noundef %74)
  %75 = load float, ptr %7, align 4, !tbaa !9
  %76 = getelementptr inbounds %"class.HybridAStar::Smoother", ptr %14, i32 0, i32 1
  %77 = load float, ptr %76, align 4, !tbaa !43
  %78 = fcmp olt float %75, %77
  br i1 %78, label %79, label %92

79:                                               ; preds = %40
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #6
  %80 = getelementptr inbounds %"class.HybridAStar::Smoother", ptr %14, i32 0, i32 4
  %81 = load float, ptr %80, align 8, !tbaa !44
  %82 = fmul float %81, 2.000000e+00
  %83 = load float, ptr %7, align 4, !tbaa !9
  %84 = getelementptr inbounds %"class.HybridAStar::Smoother", ptr %14, i32 0, i32 1
  %85 = load float, ptr %84, align 4, !tbaa !43
  %86 = fsub float %83, %85
  %87 = fmul float %82, %86
  %88 = fpext float %87 to double
  %89 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %88, ptr noundef nonnull align 4 dereferenceable(8) %10)
  store <2 x float> %89, ptr %12, align 4
  %90 = load float, ptr %7, align 4, !tbaa !9
  %91 = call <2 x float> @_ZNK11HybridAStar8Vector2DdvEf(ptr noundef nonnull align 4 dereferenceable(8) %12, float noundef %90)
  store <2 x float> %91, ptr %11, align 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %6, ptr align 4 %11, i64 8, i1 false), !tbaa.struct !45
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %3, ptr align 4 %6, i64 8, i1 false), !tbaa.struct !45
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #6
  store i32 1, ptr %13, align 4
  br label %93

92:                                               ; preds = %40
  store i32 0, ptr %13, align 4
  br label %93

93:                                               ; preds = %92, %79
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #6
  %94 = load i32, ptr %13, align 4
  switch i32 %94, label %97 [
    i32 0, label %95
  ]

95:                                               ; preds = %93
  br label %96

96:                                               ; preds = %95, %37, %32, %29, %2
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %3, ptr align 4 %6, i64 8, i1 false), !tbaa.struct !45
  store i32 1, ptr %13, align 4
  br label %97

97:                                               ; preds = %96, %93
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #6
  %98 = load <2 x float>, ptr %3, align 4
  ret <2 x float> %98
}

; 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> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef, ptr noundef nonnull align 4 dereferenceable(8)) #4

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

declare noundef float @_ZNK11HybridAStar14DynamicVoronoi11getDistanceEii(ptr noundef nonnull align 8 dereferenceable(232), i32 noundef, i32 noundef) #5

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 = { 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 = { 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 #5 = { "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 = { 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, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!14, !12, i64 264}
!14 = !{!"_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, !15, i64 32, !12, i64 264, !12, i64 268, !33, i64 272}
!15 = !{!"_ZTSN11HybridAStar14DynamicVoronoiE", !16, i64 0, !21, i64 32, !28, i64 112, !28, i64 136, !28, i64 160, !12, i64 184, !12, i64 188, !6, i64 192, !6, i64 200, !12, i64 208, !32, i64 216, !32, i64 224}
!16 = !{!"_ZTSN11HybridAStar15BucketPrioQueueE", !12, i64 0, !12, i64 4, !17, i64 8}
!17 = !{!"_ZTSSt6vectorISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE", !18, i64 0}
!18 = !{!"_ZTSSt12_Vector_baseISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE12_Vector_implE", !20, i64 0}
!20 = !{!"_ZTSNSt12_Vector_baseISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!21 = !{!"_ZTSSt5queueIN11HybridAStar8IntPointESt5dequeIS1_SaIS1_EEE", !22, i64 0}
!22 = !{!"_ZTSSt5dequeIN11HybridAStar8IntPointESaIS1_EE", !23, i64 0}
!23 = !{!"_ZTSSt11_Deque_baseIN11HybridAStar8IntPointESaIS1_EE", !24, i64 0}
!24 = !{!"_ZTSNSt11_Deque_baseIN11HybridAStar8IntPointESaIS1_EE11_Deque_implE", !25, i64 0}
!25 = !{!"_ZTSNSt11_Deque_baseIN11HybridAStar8IntPointESaIS1_EE16_Deque_impl_dataE", !6, i64 0, !26, i64 8, !27, i64 16, !27, i64 48}
!26 = !{!"long", !7, i64 0}
!27 = !{!"_ZTSSt15_Deque_iteratorIN11HybridAStar8IntPointERS1_PS1_E", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!28 = !{!"_ZTSSt6vectorIN11HybridAStar8IntPointESaIS1_EE", !29, i64 0}
!29 = !{!"_ZTSSt12_Vector_baseIN11HybridAStar8IntPointESaIS1_EE", !30, i64 0}
!30 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar8IntPointESaIS1_EE12_Vector_implE", !31, i64 0}
!31 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar8IntPointESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!32 = !{!"double", !7, i64 0}
!33 = !{!"_ZTSSt6vectorIN11HybridAStar6Node3DESaIS1_EE", !34, i64 0}
!34 = !{!"_ZTSSt12_Vector_baseIN11HybridAStar6Node3DESaIS1_EE", !35, i64 0}
!35 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar6Node3DESaIS1_EE12_Vector_implE", !36, i64 0}
!36 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar6Node3DESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!37 = !{!14, !12, i64 268}
!38 = !{!14, !6, i64 224}
!39 = !{!40, !12, i64 8}
!40 = !{!"_ZTSN11HybridAStar14DynamicVoronoi8dataCellE", !10, i64 0, !7, i64 4, !7, i64 5, !12, i64 8, !12, i64 12, !41, i64 16, !12, i64 20}
!41 = !{!"bool", !7, i64 0}
!42 = !{!40, !12, i64 12}
!43 = !{!14, !10, i64 4}
!44 = !{!14, !10, i64 16}
!45 = !{i64 0, i64 4, !9, i64 4, i64 4, !9}


; 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.HybridAStar::Vector2D" = type { float, float }
%"struct.HybridAStar::DynamicVoronoi::dataCell" = type { float, i8, i8, i32, i32, i8, i32 }

; 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: mustprogress uwtable
define dso_local <2 x float> @_ZN11HybridAStar8Smoother12obstacleTermENS_8Vector2DE(ptr noundef nonnull align 8 dereferenceable(296) %0, <2 x float> %1) local_unnamed_addr #2 align 2 {
  %3 = alloca %"class.HybridAStar::Vector2D", align 8
  %4 = alloca %"class.HybridAStar::Vector2D", align 8
  %5 = alloca %"class.HybridAStar::Vector2D", align 4
  %6 = alloca %"class.HybridAStar::Vector2D", align 8
  store <2 x float> %1, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #5
  call void @_ZN11HybridAStar8Vector2DC2Eff(ptr noundef nonnull align 4 dereferenceable(8) %4, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %7 = getelementptr inbounds i8, ptr %0, i64 32
  %8 = call noundef float @_ZN11HybridAStar8Vector2D4getXEv(ptr noundef nonnull align 4 dereferenceable(8) %3)
  %9 = fptosi float %8 to i32
  %10 = call noundef float @_ZN11HybridAStar8Vector2D4getYEv(ptr noundef nonnull align 4 dereferenceable(8) %3)
  %11 = fptosi float %10 to i32
  %12 = call noundef float @_ZNK11HybridAStar14DynamicVoronoi11getDistanceEii(ptr noundef nonnull align 8 dereferenceable(232) %7, i32 noundef %9, i32 noundef %11)
  %13 = call noundef float @_ZN11HybridAStar8Vector2D4getXEv(ptr noundef nonnull align 4 dereferenceable(8) %3)
  %14 = fptosi float %13 to i32
  %15 = call noundef float @_ZN11HybridAStar8Vector2D4getYEv(ptr noundef nonnull align 4 dereferenceable(8) %3)
  %16 = getelementptr inbounds i8, ptr %0, i64 264
  %17 = load i32, ptr %16, align 8, !tbaa !5
  %18 = icmp sgt i32 %17, %14
  %19 = icmp sgt i32 %14, -1
  %or.cond = and i1 %19, %18
  br i1 %or.cond, label %20, label %68

20:                                               ; preds = %2
  %21 = fptosi float %15 to i32
  %22 = getelementptr inbounds i8, ptr %0, i64 268
  %23 = load i32, ptr %22, align 4, !tbaa !34
  %24 = icmp sgt i32 %23, %21
  %25 = icmp sgt i32 %21, -1
  %or.cond3 = and i1 %25, %24
  br i1 %or.cond3, label %26, label %68

26:                                               ; preds = %20
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #5
  %27 = call noundef float @_ZN11HybridAStar8Vector2D4getXEv(ptr noundef nonnull align 4 dereferenceable(8) %3)
  %28 = getelementptr inbounds i8, ptr %0, i64 224
  %29 = load ptr, ptr %28, align 8, !tbaa !35
  %30 = call noundef float @_ZN11HybridAStar8Vector2D4getXEv(ptr noundef nonnull align 4 dereferenceable(8) %3)
  %31 = fptosi float %30 to i32
  %32 = sext i32 %31 to i64
  %33 = getelementptr inbounds ptr, ptr %29, i64 %32
  %34 = load ptr, ptr %33, align 8, !tbaa !36
  %35 = call noundef float @_ZN11HybridAStar8Vector2D4getYEv(ptr noundef nonnull align 4 dereferenceable(8) %3)
  %36 = fptosi float %35 to i32
  %37 = sext i32 %36 to i64
  %38 = getelementptr inbounds %"struct.HybridAStar::DynamicVoronoi::dataCell", ptr %34, i64 %37, i32 3
  %39 = load i32, ptr %38, align 4, !tbaa !37
  %40 = sitofp i32 %39 to float
  %41 = fsub float %27, %40
  %42 = call noundef float @_ZN11HybridAStar8Vector2D4getYEv(ptr noundef nonnull align 4 dereferenceable(8) %3)
  %43 = load ptr, ptr %28, align 8, !tbaa !35
  %44 = call noundef float @_ZN11HybridAStar8Vector2D4getXEv(ptr noundef nonnull align 4 dereferenceable(8) %3)
  %45 = fptosi float %44 to i32
  %46 = sext i32 %45 to i64
  %47 = getelementptr inbounds ptr, ptr %43, i64 %46
  %48 = load ptr, ptr %47, align 8, !tbaa !36
  %49 = call noundef float @_ZN11HybridAStar8Vector2D4getYEv(ptr noundef nonnull align 4 dereferenceable(8) %3)
  %50 = fptosi float %49 to i32
  %51 = sext i32 %50 to i64
  %52 = getelementptr inbounds %"struct.HybridAStar::DynamicVoronoi::dataCell", ptr %48, i64 %51, i32 4
  %53 = load i32, ptr %52, align 4, !tbaa !40
  %54 = sitofp i32 %53 to float
  %55 = fsub float %42, %54
  call void @_ZN11HybridAStar8Vector2DC2Eff(ptr noundef nonnull align 4 dereferenceable(8) %5, float noundef %41, float noundef %55)
  %56 = getelementptr inbounds i8, ptr %0, i64 4
  %57 = load float, ptr %56, align 4, !tbaa !41
  %58 = fcmp uge float %12, %57
  br i1 %58, label %.thread, label %59

.thread:                                          ; preds = %26
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #5
  br label %68

59:                                               ; preds = %26
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #5
  %60 = getelementptr inbounds i8, ptr %0, i64 16
  %61 = load float, ptr %60, align 8, !tbaa !42
  %62 = fmul float %61, 2.000000e+00
  %63 = fsub float %12, %57
  %64 = fmul float %63, %62
  %65 = fpext float %64 to double
  %66 = call <2 x float> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef %65, ptr noundef nonnull align 4 dereferenceable(8) %5)
  store <2 x float> %66, ptr %6, align 8
  %67 = call <2 x float> @_ZNK11HybridAStar8Vector2DdvEf(ptr noundef nonnull align 4 dereferenceable(8) %6, float noundef %12)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #5
  br label %69

68:                                               ; preds = %.thread, %20, %2
  %.sroa.011.0.copyload12 = load <2 x float>, ptr %4, align 8
  br label %69

69:                                               ; preds = %59, %68
  %.sroa.011.1 = phi <2 x float> [ %.sroa.011.0.copyload12, %68 ], [ %67, %59 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #5
  ret <2 x float> %.sroa.011.1
}

; 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> @_ZN11HybridAStarmlEdRKNS_8Vector2DE(double noundef, ptr noundef nonnull align 4 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local <2 x float> @_ZNK11HybridAStar8Vector2DdvEf(ptr noundef nonnull align 4 dereferenceable(8), float noundef) local_unnamed_addr #3 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

declare noundef float @_ZNK11HybridAStar14DynamicVoronoi11getDistanceEii(ptr noundef nonnull align 8 dereferenceable(232), i32 noundef, i32 noundef) local_unnamed_addr #4

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 = { 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 = { 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 #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, !12, i64 264}
!6 = !{!"_ZTSN11HybridAStar8SmootherE", !7, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !7, i64 16, !7, i64 20, !7, i64 24, !7, i64 28, !10, i64 32, !12, i64 264, !12, i64 268, !30, i64 272}
!7 = !{!"float", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"_ZTSN11HybridAStar14DynamicVoronoiE", !11, i64 0, !18, i64 32, !25, i64 112, !25, i64 136, !25, i64 160, !12, i64 184, !12, i64 188, !17, i64 192, !17, i64 200, !12, i64 208, !29, i64 216, !29, i64 224}
!11 = !{!"_ZTSN11HybridAStar15BucketPrioQueueE", !12, i64 0, !12, i64 4, !13, i64 8}
!12 = !{!"int", !8, i64 0}
!13 = !{!"_ZTSSt6vectorISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE", !14, i64 0}
!14 = !{!"_ZTSSt12_Vector_baseISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE", !15, i64 0}
!15 = !{!"_ZTSNSt12_Vector_baseISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE12_Vector_implE", !16, i64 0}
!16 = !{!"_ZTSNSt12_Vector_baseISt5queueIN11HybridAStar8IntPointESt5dequeIS2_SaIS2_EEESaIS6_EE17_Vector_impl_dataE", !17, i64 0, !17, i64 8, !17, i64 16}
!17 = !{!"any pointer", !8, i64 0}
!18 = !{!"_ZTSSt5queueIN11HybridAStar8IntPointESt5dequeIS1_SaIS1_EEE", !19, i64 0}
!19 = !{!"_ZTSSt5dequeIN11HybridAStar8IntPointESaIS1_EE", !20, i64 0}
!20 = !{!"_ZTSSt11_Deque_baseIN11HybridAStar8IntPointESaIS1_EE", !21, i64 0}
!21 = !{!"_ZTSNSt11_Deque_baseIN11HybridAStar8IntPointESaIS1_EE11_Deque_implE", !22, i64 0}
!22 = !{!"_ZTSNSt11_Deque_baseIN11HybridAStar8IntPointESaIS1_EE16_Deque_impl_dataE", !17, i64 0, !23, i64 8, !24, i64 16, !24, i64 48}
!23 = !{!"long", !8, i64 0}
!24 = !{!"_ZTSSt15_Deque_iteratorIN11HybridAStar8IntPointERS1_PS1_E", !17, i64 0, !17, i64 8, !17, i64 16, !17, i64 24}
!25 = !{!"_ZTSSt6vectorIN11HybridAStar8IntPointESaIS1_EE", !26, i64 0}
!26 = !{!"_ZTSSt12_Vector_baseIN11HybridAStar8IntPointESaIS1_EE", !27, i64 0}
!27 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar8IntPointESaIS1_EE12_Vector_implE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar8IntPointESaIS1_EE17_Vector_impl_dataE", !17, i64 0, !17, i64 8, !17, i64 16}
!29 = !{!"double", !8, i64 0}
!30 = !{!"_ZTSSt6vectorIN11HybridAStar6Node3DESaIS1_EE", !31, i64 0}
!31 = !{!"_ZTSSt12_Vector_baseIN11HybridAStar6Node3DESaIS1_EE", !32, i64 0}
!32 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar6Node3DESaIS1_EE12_Vector_implE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN11HybridAStar6Node3DESaIS1_EE17_Vector_impl_dataE", !17, i64 0, !17, i64 8, !17, i64 16}
!34 = !{!6, !12, i64 268}
!35 = !{!6, !17, i64 224}
!36 = !{!17, !17, i64 0}
!37 = !{!38, !12, i64 8}
!38 = !{!"_ZTSN11HybridAStar14DynamicVoronoi8dataCellE", !7, i64 0, !8, i64 4, !8, i64 5, !12, i64 8, !12, i64 12, !39, i64 16, !12, i64 20}
!39 = !{!"bool", !8, i64 0}
!40 = !{!38, !12, i64 12}
!41 = !{!6, !7, i64 4}
!42 = !{!6, !7, i64 16}


; Effective O3 passes: DSEPass,EarlyCSEPass,GlobalOptPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,ReassociatePass,SROAPass,SimplifyCFGPass