; LLVM IR from karlkurzer/path_planner :: src/node3d.ll (ZN11HybridAStar6Node3D15createSuccessorEi)

; 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::Node3D" = type { float, float, float, float, float, i32, i8, i8, i32, ptr }

@_ZN11HybridAStar6Node3D2dyE = external dso_local constant [3 x float], align 4
@_ZN11HybridAStar6Node3D2dxE = external dso_local constant [3 x float], align 4
@_ZN11HybridAStar6Node3D2dtE = external dso_local constant [3 x float], align 4

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

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

; Function Attrs: mustprogress uwtable
define dso_local noundef ptr @_ZN11HybridAStar6Node3D15createSuccessorEi(ptr noundef nonnull align 8 dereferenceable(40) %0, i32 noundef %1) #1 align 2 personality ptr @__gxx_personality_v0 {
  %3 = alloca ptr, align 8
  %4 = alloca i32, align 4
  %5 = alloca float, align 4
  %6 = alloca float, align 4
  %7 = alloca float, align 4
  %8 = alloca ptr, align 8
  %9 = alloca i32, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store i32 %1, ptr %4, align 4, !tbaa !9
  %10 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #8
  %11 = load i32, ptr %4, align 4, !tbaa !9
  %12 = icmp slt i32 %11, 3
  br i1 %12, label %13, label %71

13:                                               ; preds = %2
  %14 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 0
  %15 = load float, ptr %14, align 8, !tbaa !11
  %16 = fpext float %15 to double
  %17 = load i32, ptr %4, align 4, !tbaa !9
  %18 = sext i32 %17 to i64
  %19 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dxE, i64 0, i64 %18
  %20 = load float, ptr %19, align 4, !tbaa !15
  %21 = fpext float %20 to double
  %22 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 2
  %23 = load float, ptr %22, align 8, !tbaa !16
  %24 = fpext float %23 to double
  %25 = call double @cos(double noundef %24) #8
  %26 = call double @llvm.fmuladd.f64(double %21, double %25, double %16)
  %27 = load i32, ptr %4, align 4, !tbaa !9
  %28 = sext i32 %27 to i64
  %29 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dyE, i64 0, i64 %28
  %30 = load float, ptr %29, align 4, !tbaa !15
  %31 = fpext float %30 to double
  %32 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 2
  %33 = load float, ptr %32, align 8, !tbaa !16
  %34 = fpext float %33 to double
  %35 = call double @sin(double noundef %34) #8
  %36 = fneg double %31
  %37 = call double @llvm.fmuladd.f64(double %36, double %35, double %26)
  %38 = fptrunc double %37 to float
  store float %38, ptr %5, align 4, !tbaa !15
  %39 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 1
  %40 = load float, ptr %39, align 4, !tbaa !17
  %41 = fpext float %40 to double
  %42 = load i32, ptr %4, align 4, !tbaa !9
  %43 = sext i32 %42 to i64
  %44 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dxE, i64 0, i64 %43
  %45 = load float, ptr %44, align 4, !tbaa !15
  %46 = fpext float %45 to double
  %47 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 2
  %48 = load float, ptr %47, align 8, !tbaa !16
  %49 = fpext float %48 to double
  %50 = call double @sin(double noundef %49) #8
  %51 = call double @llvm.fmuladd.f64(double %46, double %50, double %41)
  %52 = load i32, ptr %4, align 4, !tbaa !9
  %53 = sext i32 %52 to i64
  %54 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dyE, i64 0, i64 %53
  %55 = load float, ptr %54, align 4, !tbaa !15
  %56 = fpext float %55 to double
  %57 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 2
  %58 = load float, ptr %57, align 8, !tbaa !16
  %59 = fpext float %58 to double
  %60 = call double @cos(double noundef %59) #8
  %61 = call double @llvm.fmuladd.f64(double %56, double %60, double %51)
  %62 = fptrunc double %61 to float
  store float %62, ptr %6, align 4, !tbaa !15
  %63 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 2
  %64 = load float, ptr %63, align 8, !tbaa !16
  %65 = load i32, ptr %4, align 4, !tbaa !9
  %66 = sext i32 %65 to i64
  %67 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dtE, i64 0, i64 %66
  %68 = load float, ptr %67, align 4, !tbaa !15
  %69 = fadd float %64, %68
  %70 = call noundef float @_ZN11HybridAStar6HelperL19normalizeHeadingRadEf(float noundef %69)
  store float %70, ptr %7, align 4, !tbaa !15
  br label %136

71:                                               ; preds = %2
  %72 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 0
  %73 = load float, ptr %72, align 8, !tbaa !11
  %74 = fpext float %73 to double
  %75 = load i32, ptr %4, align 4, !tbaa !9
  %76 = sub nsw i32 %75, 3
  %77 = sext i32 %76 to i64
  %78 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dxE, i64 0, i64 %77
  %79 = load float, ptr %78, align 4, !tbaa !15
  %80 = fpext float %79 to double
  %81 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 2
  %82 = load float, ptr %81, align 8, !tbaa !16
  %83 = fpext float %82 to double
  %84 = call double @cos(double noundef %83) #8
  %85 = fneg double %80
  %86 = call double @llvm.fmuladd.f64(double %85, double %84, double %74)
  %87 = load i32, ptr %4, align 4, !tbaa !9
  %88 = sub nsw i32 %87, 3
  %89 = sext i32 %88 to i64
  %90 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dyE, i64 0, i64 %89
  %91 = load float, ptr %90, align 4, !tbaa !15
  %92 = fpext float %91 to double
  %93 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 2
  %94 = load float, ptr %93, align 8, !tbaa !16
  %95 = fpext float %94 to double
  %96 = call double @sin(double noundef %95) #8
  %97 = fneg double %92
  %98 = call double @llvm.fmuladd.f64(double %97, double %96, double %86)
  %99 = fptrunc double %98 to float
  store float %99, ptr %5, align 4, !tbaa !15
  %100 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 1
  %101 = load float, ptr %100, align 4, !tbaa !17
  %102 = fpext float %101 to double
  %103 = load i32, ptr %4, align 4, !tbaa !9
  %104 = sub nsw i32 %103, 3
  %105 = sext i32 %104 to i64
  %106 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dxE, i64 0, i64 %105
  %107 = load float, ptr %106, align 4, !tbaa !15
  %108 = fpext float %107 to double
  %109 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 2
  %110 = load float, ptr %109, align 8, !tbaa !16
  %111 = fpext float %110 to double
  %112 = call double @sin(double noundef %111) #8
  %113 = fneg double %108
  %114 = call double @llvm.fmuladd.f64(double %113, double %112, double %102)
  %115 = load i32, ptr %4, align 4, !tbaa !9
  %116 = sub nsw i32 %115, 3
  %117 = sext i32 %116 to i64
  %118 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dyE, i64 0, i64 %117
  %119 = load float, ptr %118, align 4, !tbaa !15
  %120 = fpext float %119 to double
  %121 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 2
  %122 = load float, ptr %121, align 8, !tbaa !16
  %123 = fpext float %122 to double
  %124 = call double @cos(double noundef %123) #8
  %125 = call double @llvm.fmuladd.f64(double %120, double %124, double %114)
  %126 = fptrunc double %125 to float
  store float %126, ptr %6, align 4, !tbaa !15
  %127 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 2
  %128 = load float, ptr %127, align 8, !tbaa !16
  %129 = load i32, ptr %4, align 4, !tbaa !9
  %130 = sub nsw i32 %129, 3
  %131 = sext i32 %130 to i64
  %132 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dtE, i64 0, i64 %131
  %133 = load float, ptr %132, align 4, !tbaa !15
  %134 = fsub float %128, %133
  %135 = call noundef float @_ZN11HybridAStar6HelperL19normalizeHeadingRadEf(float noundef %134)
  store float %135, ptr %7, align 4, !tbaa !15
  br label %136

136:                                              ; preds = %71, %13
  %137 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 40) #9
  %138 = load float, ptr %5, align 4, !tbaa !15
  %139 = load float, ptr %6, align 4, !tbaa !15
  %140 = load float, ptr %7, align 4, !tbaa !15
  %141 = getelementptr inbounds %"class.HybridAStar::Node3D", ptr %10, i32 0, i32 3
  %142 = load float, ptr %141, align 4, !tbaa !18
  %143 = load i32, ptr %4, align 4, !tbaa !9
  invoke void @_ZN11HybridAStar6Node3DC2EfffffPKS0_i(ptr noundef nonnull align 8 dereferenceable(40) %137, float noundef %138, float noundef %139, float noundef %140, float noundef %142, float noundef 0.000000e+00, ptr noundef %10, i32 noundef %143)
          to label %144 unwind label %145

144:                                              ; preds = %136
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #8
  ret ptr %137

145:                                              ; preds = %136
  %146 = landingpad { ptr, i32 }
          cleanup
  %147 = extractvalue { ptr, i32 } %146, 0
  store ptr %147, ptr %8, align 8
  %148 = extractvalue { ptr, i32 } %146, 1
  store i32 %148, ptr %9, align 4
  call void @_ZdlPvm(ptr noundef %137, i64 noundef 40) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #8
  br label %149

149:                                              ; preds = %145
  %150 = load ptr, ptr %8, align 8
  %151 = load i32, ptr %9, align 4
  %152 = insertvalue { ptr, i32 } poison, ptr %150, 0
  %153 = insertvalue { ptr, i32 } %152, i32 %151, 1
  resume { ptr, i32 } %153
}

; Function Attrs: nounwind
declare double @cos(double noundef) #2

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #3

; Function Attrs: nounwind
declare double @sin(double noundef) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare hidden noundef float @_ZN11HybridAStar6HelperL19normalizeHeadingRadEf(float noundef) #4

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN11HybridAStar6Node3DC2EfffffPKS0_i(ptr noundef nonnull align 8 dereferenceable(40), float noundef, float noundef, float noundef, float noundef, float noundef, ptr noundef, i32 noundef) unnamed_addr #6 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #7

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { nounwind "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 nosync nounwind speculatable willreturn memory(none) }
attributes #4 = { 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 #5 = { nobuiltin allocsize(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 = { nobuiltin nounwind "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 }
attributes #9 = { builtin allocsize(0) }
attributes #10 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !13, i64 0}
!12 = !{!"_ZTSN11HybridAStar6Node3DE", !13, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !13, i64 16, !10, i64 20, !14, i64 24, !14, i64 25, !10, i64 28, !6, i64 32}
!13 = !{!"float", !7, i64 0}
!14 = !{!"bool", !7, i64 0}
!15 = !{!13, !13, i64 0}
!16 = !{!12, !13, i64 8}
!17 = !{!12, !13, i64 4}
!18 = !{!12, !13, i64 12}


; Optimized IR (opt -passes='default<O3>'):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

@_ZN11HybridAStar6Node3D2dyE = external dso_local local_unnamed_addr constant [3 x float], align 4
@_ZN11HybridAStar6Node3D2dxE = external dso_local local_unnamed_addr constant [3 x float], align 4
@_ZN11HybridAStar6Node3D2dtE = external dso_local local_unnamed_addr constant [3 x float], align 4

; Function Attrs: mustprogress uwtable
define dso_local noundef nonnull ptr @_ZN11HybridAStar6Node3D15createSuccessorEi(ptr noundef nonnull align 8 dereferenceable(40) %0, i32 noundef %1) local_unnamed_addr #0 align 2 personality ptr @__gxx_personality_v0 {
  %3 = icmp slt i32 %1, 3
  %4 = load float, ptr %0, align 8, !tbaa !5
  %5 = fpext float %4 to double
  br i1 %3, label %6, label %47

6:                                                ; preds = %2
  %7 = sext i32 %1 to i64
  %8 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dxE, i64 0, i64 %7
  %9 = load float, ptr %8, align 4, !tbaa !13
  %10 = fpext float %9 to double
  %11 = getelementptr inbounds i8, ptr %0, i64 8
  %12 = load float, ptr %11, align 8, !tbaa !14
  %13 = fpext float %12 to double
  %14 = tail call double @cos(double noundef %13) #6
  %15 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dyE, i64 0, i64 %7
  %16 = load float, ptr %15, align 4, !tbaa !13
  %17 = fpext float %16 to double
  %18 = load float, ptr %11, align 8, !tbaa !14
  %19 = fpext float %18 to double
  %20 = tail call double @sin(double noundef %19) #6
  %21 = fneg double %17
  %22 = getelementptr inbounds i8, ptr %0, i64 4
  %23 = load float, ptr %22, align 4, !tbaa !15
  %24 = fpext float %23 to double
  %25 = load float, ptr %11, align 8, !tbaa !14
  %26 = fpext float %25 to double
  %27 = tail call double @sin(double noundef %26) #6
  %28 = insertelement <2 x double> poison, double %10, i64 0
  %29 = shufflevector <2 x double> %28, <2 x double> poison, <2 x i32> zeroinitializer
  %30 = insertelement <2 x double> poison, double %14, i64 0
  %31 = insertelement <2 x double> %30, double %27, i64 1
  %32 = insertelement <2 x double> poison, double %5, i64 0
  %33 = insertelement <2 x double> %32, double %24, i64 1
  %34 = tail call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %29, <2 x double> %31, <2 x double> %33)
  %35 = load float, ptr %11, align 8, !tbaa !14
  %36 = fpext float %35 to double
  %37 = tail call double @cos(double noundef %36) #6
  %38 = insertelement <2 x double> poison, double %21, i64 0
  %39 = insertelement <2 x double> %38, double %17, i64 1
  %40 = insertelement <2 x double> poison, double %20, i64 0
  %41 = insertelement <2 x double> %40, double %37, i64 1
  %42 = tail call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %39, <2 x double> %41, <2 x double> %34)
  %43 = load float, ptr %11, align 8, !tbaa !14
  %44 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dtE, i64 0, i64 %7
  %45 = load float, ptr %44, align 4, !tbaa !13
  %46 = fadd float %43, %45
  br label %90

47:                                               ; preds = %2
  %48 = add nsw i32 %1, -3
  %49 = zext nneg i32 %48 to i64
  %50 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dxE, i64 0, i64 %49
  %51 = load float, ptr %50, align 4, !tbaa !13
  %52 = fpext float %51 to double
  %53 = getelementptr inbounds i8, ptr %0, i64 8
  %54 = load float, ptr %53, align 8, !tbaa !14
  %55 = fpext float %54 to double
  %56 = tail call double @cos(double noundef %55) #6
  %57 = fneg double %52
  %58 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dyE, i64 0, i64 %49
  %59 = load float, ptr %58, align 4, !tbaa !13
  %60 = fpext float %59 to double
  %61 = load float, ptr %53, align 8, !tbaa !14
  %62 = fpext float %61 to double
  %63 = tail call double @sin(double noundef %62) #6
  %64 = fneg double %60
  %65 = getelementptr inbounds i8, ptr %0, i64 4
  %66 = load float, ptr %65, align 4, !tbaa !15
  %67 = fpext float %66 to double
  %68 = load float, ptr %53, align 8, !tbaa !14
  %69 = fpext float %68 to double
  %70 = tail call double @sin(double noundef %69) #6
  %71 = insertelement <2 x double> poison, double %57, i64 0
  %72 = shufflevector <2 x double> %71, <2 x double> poison, <2 x i32> zeroinitializer
  %73 = insertelement <2 x double> poison, double %56, i64 0
  %74 = insertelement <2 x double> %73, double %70, i64 1
  %75 = insertelement <2 x double> poison, double %5, i64 0
  %76 = insertelement <2 x double> %75, double %67, i64 1
  %77 = tail call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %72, <2 x double> %74, <2 x double> %76)
  %78 = load float, ptr %53, align 8, !tbaa !14
  %79 = fpext float %78 to double
  %80 = tail call double @cos(double noundef %79) #6
  %81 = insertelement <2 x double> poison, double %64, i64 0
  %82 = insertelement <2 x double> %81, double %60, i64 1
  %83 = insertelement <2 x double> poison, double %63, i64 0
  %84 = insertelement <2 x double> %83, double %80, i64 1
  %85 = tail call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %82, <2 x double> %84, <2 x double> %77)
  %86 = load float, ptr %53, align 8, !tbaa !14
  %87 = getelementptr inbounds [3 x float], ptr @_ZN11HybridAStar6Node3D2dtE, i64 0, i64 %49
  %88 = load float, ptr %87, align 4, !tbaa !13
  %89 = fsub float %86, %88
  br label %90

90:                                               ; preds = %47, %6
  %.sink = phi float [ %89, %47 ], [ %46, %6 ]
  %91 = phi <2 x double> [ %85, %47 ], [ %42, %6 ]
  %92 = tail call noundef float @_ZN11HybridAStar6HelperL19normalizeHeadingRadEf(float noundef %.sink)
  %93 = extractelement <2 x double> %91, i64 1
  %.015 = fptrunc double %93 to float
  %94 = extractelement <2 x double> %91, i64 0
  %.016 = fptrunc double %94 to float
  %95 = tail call noalias noundef nonnull dereferenceable(40) ptr @_Znwm(i64 noundef 40) #7
  %96 = getelementptr inbounds i8, ptr %0, i64 12
  %97 = load float, ptr %96, align 4, !tbaa !16
  tail call void @_ZN11HybridAStar6Node3DC2EfffffPKS0_i(ptr noundef nonnull align 8 dereferenceable(40) %95, float noundef %.016, float noundef %.015, float noundef %92, float noundef %97, float noundef 0.000000e+00, ptr noundef nonnull %0, i32 noundef %1)
  ret ptr %95
}

; Function Attrs: mustprogress nofree nounwind willreturn memory(write)
declare double @cos(double noundef) local_unnamed_addr #1

; Function Attrs: mustprogress nofree nounwind willreturn memory(write)
declare double @sin(double noundef) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare hidden noundef float @_ZN11HybridAStar6HelperL19normalizeHeadingRadEf(float noundef) local_unnamed_addr #2

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN11HybridAStar6Node3DC2EfffffPKS0_i(ptr noundef nonnull align 8 dereferenceable(40), float noundef, float noundef, float noundef, float noundef, float noundef, ptr noundef, i32 noundef) unnamed_addr #4 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare <2 x double> @llvm.fmuladd.v2f64(<2 x double>, <2 x double>, <2 x double>) #5

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 nofree nounwind willreturn memory(write) "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 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 #3 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { 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 #5 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #6 = { nounwind }
attributes #7 = { builtin allocsize(0) }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !7, i64 0}
!6 = !{!"_ZTSN11HybridAStar6Node3DE", !7, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !7, i64 16, !10, i64 20, !11, i64 24, !11, i64 25, !10, i64 28, !12, i64 32}
!7 = !{!"float", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"int", !8, i64 0}
!11 = !{!"bool", !8, i64 0}
!12 = !{!"any pointer", !8, i64 0}
!13 = !{!7, !7, i64 0}
!14 = !{!6, !7, i64 8}
!15 = !{!6, !7, i64 4}
!16 = !{!6, !7, i64 12}


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