; LLVM IR from csviragh/robotsim :: src/utilities (math_utils)

; 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"

@SigmoidLin.vel = external hidden global double, align 8

; Function Attrs: nounwind uwtable
define dso_local double @SigmoidLin(double noundef %0, double noundef %1, double noundef %2, double noundef %3) #0 {
  %5 = alloca double, align 8
  %6 = alloca double, align 8
  %7 = alloca double, align 8
  %8 = alloca double, align 8
  %9 = alloca double, align 8
  store double %0, ptr %6, align 8, !tbaa !5
  store double %1, ptr %7, align 8, !tbaa !5
  store double %2, ptr %8, align 8, !tbaa !5
  store double %3, ptr %9, align 8, !tbaa !5
  %10 = load double, ptr %9, align 8, !tbaa !5
  %11 = load double, ptr %6, align 8, !tbaa !5
  %12 = fsub double %10, %11
  %13 = load double, ptr %7, align 8, !tbaa !5
  %14 = fmul double %12, %13
  store double %14, ptr @SigmoidLin.vel, align 8, !tbaa !5
  %15 = load double, ptr %7, align 8, !tbaa !5
  %16 = fcmp ole double %15, 0.000000e+00
  br i1 %16, label %20, label %17

17:                                               ; preds = %4
  %18 = load double, ptr @SigmoidLin.vel, align 8, !tbaa !5
  %19 = fcmp ole double %18, 0.000000e+00
  br i1 %19, label %20, label %21

20:                                               ; preds = %17, %4
  store double 0.000000e+00, ptr %5, align 8
  br label %29

21:                                               ; preds = %17
  %22 = load double, ptr @SigmoidLin.vel, align 8, !tbaa !5
  %23 = load double, ptr %8, align 8, !tbaa !5
  %24 = fcmp oge double %22, %23
  br i1 %24, label %25, label %27

25:                                               ; preds = %21
  %26 = load double, ptr %8, align 8, !tbaa !5
  store double %26, ptr %5, align 8
  br label %29

27:                                               ; preds = %21
  %28 = load double, ptr @SigmoidLin.vel, align 8, !tbaa !5
  store double %28, ptr %5, align 8
  br label %29

29:                                               ; preds = %27, %25, %20
  %30 = load double, ptr %5, align 8
  ret double %30
}

attributes #0 = { 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" }

!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 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}


; 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"

@SigmoidLin.vel = external hidden local_unnamed_addr global double, align 8

; Function Attrs: mustprogress nofree norecurse nosync nounwind willreturn memory(write, argmem: none, inaccessiblemem: none) uwtable
define dso_local noundef double @SigmoidLin(double noundef %0, double noundef %1, double noundef %2, double noundef %3) local_unnamed_addr #0 {
  %5 = fsub double %3, %0
  %6 = fmul double %5, %1
  store double %6, ptr @SigmoidLin.vel, align 8, !tbaa !5
  %7 = fcmp ole double %1, 0.000000e+00
  %8 = fcmp ole double %6, 0.000000e+00
  %or.cond = or i1 %7, %8
  %.inv = fcmp oge double %6, %2
  %. = select i1 %.inv, double %2, double %6
  %.0 = select i1 %or.cond, double 0.000000e+00, double %.
  ret double %.0
}

attributes #0 = { mustprogress nofree norecurse nosync nounwind willreturn memory(write, argmem: none, inaccessiblemem: none) 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" }

!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 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}


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