; LLVM IR from ethz-adrl/towr :: towr/src/gait_generator.ll (ZNK4towr13GaitGenerator17GetPhaseDurationsEdj)

; 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<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }

; 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 void @_ZNK4towr13GaitGenerator17GetPhaseDurationsEdj(ptr dead_on_unwind noalias writable sret(%"class.std::vector") align 8 %0, ptr noundef nonnull align 8 dereferenceable(56) %1, double noundef %2, i32 noundef %3) #1 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca double, align 8
  %8 = alloca i32, align 4
  %9 = alloca i1, align 1
  %10 = alloca ptr, align 8
  %11 = alloca %"class.std::vector", align 8
  %12 = alloca ptr, align 8
  %13 = alloca i32, align 4
  %14 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %15 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %16 = alloca double, align 8
  %17 = alloca double, align 8
  store ptr %0, ptr %5, align 8
  store ptr %1, ptr %6, align 8, !tbaa !5
  store double %2, ptr %7, align 8, !tbaa !9
  store i32 %3, ptr %8, align 4, !tbaa !11
  %18 = load ptr, ptr %6, align 8
  store i1 false, ptr %9, align 1
  call void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #4
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr %11) #4
  %19 = load i32, ptr %8, align 4, !tbaa !11
  invoke void @_ZNK4towr13GaitGenerator27GetNormalizedPhaseDurationsEj(ptr dead_on_unwind writable sret(%"class.std::vector") align 8 %11, ptr noundef nonnull align 8 dereferenceable(56) %18, i32 noundef %19)
          to label %20 unwind label %30

20:                                               ; preds = %4
  store ptr %11, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #4
  %21 = load ptr, ptr %10, align 8, !tbaa !5
  %22 = call ptr @_ZNSt6vectorIdSaIdEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %21) #4
  %23 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %14, i32 0, i32 0
  store ptr %22, ptr %23, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #4
  %24 = load ptr, ptr %10, align 8, !tbaa !5
  %25 = call ptr @_ZNSt6vectorIdSaIdEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %24) #4
  %26 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %15, i32 0, i32 0
  store ptr %25, ptr %26, align 8
  br label %27

27:                                               ; preds = %41, %20
  %28 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPdSt6vectorIdSaIdEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8) %14, ptr noundef nonnull align 8 dereferenceable(8) %15) #4
  br i1 %28, label %34, label %29

29:                                               ; preds = %27
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #4
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %11) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #4
  br label %48

30:                                               ; preds = %4
  %31 = landingpad { ptr, i32 }
          cleanup
  %32 = extractvalue { ptr, i32 } %31, 0
  store ptr %32, ptr %12, align 8
  %33 = extractvalue { ptr, i32 } %31, 1
  store i32 %33, ptr %13, align 4
  br label %47

34:                                               ; preds = %27
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #4
  %35 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %14) #4
  %36 = load double, ptr %35, align 8, !tbaa !9
  store double %36, ptr %16, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #4
  %37 = load double, ptr %16, align 8, !tbaa !9
  %38 = load double, ptr %7, align 8, !tbaa !9
  %39 = fmul double %37, %38
  store double %39, ptr %17, align 8, !tbaa !9
  invoke void @_ZNSt6vectorIdSaIdEE9push_backEOd(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 8 dereferenceable(8) %17)
          to label %40 unwind label %43

40:                                               ; preds = %34
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #4
  br label %41

41:                                               ; preds = %40
  %42 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %14) #4
  br label %27

43:                                               ; preds = %34
  %44 = landingpad { ptr, i32 }
          cleanup
  %45 = extractvalue { ptr, i32 } %44, 0
  store ptr %45, ptr %12, align 8
  %46 = extractvalue { ptr, i32 } %44, 1
  store i32 %46, ptr %13, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #4
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr %11) #4
  br label %47

47:                                               ; preds = %43, %30
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #4
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #4
  br label %52

48:                                               ; preds = %29
  store i1 true, ptr %9, align 1
  %49 = load i1, ptr %9, align 1
  br i1 %49, label %51, label %50

50:                                               ; preds = %48
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #4
  br label %51

51:                                               ; preds = %50, %48
  ret void

52:                                               ; preds = %47
  %53 = load ptr, ptr %12, align 8
  %54 = load i32, ptr %13, align 4
  %55 = insertvalue { ptr, i32 } poison, ptr %53, 0
  %56 = insertvalue { ptr, i32 } %55, i32 %54, 1
  resume { ptr, i32 } %56
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4towr13GaitGenerator27GetNormalizedPhaseDurationsEj(ptr dead_on_unwind noalias writable sret(%"class.std::vector") align 8, ptr noundef nonnull align 8 dereferenceable(56), i32 noundef) #1 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIdSaIdEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIdSaIdEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPdSt6vectorIdSaIdEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEE9push_backEOd(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

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 = { 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 = { 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 #4 = { 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 = !{!"double", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !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<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }

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

; Function Attrs: mustprogress 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 void @_ZNK4towr13GaitGenerator17GetPhaseDurationsEdj(ptr dead_on_unwind noalias nonnull writable sret(%"class.std::vector") align 8 %0, ptr noundef nonnull align 8 dereferenceable(56) %1, double noundef %2, i32 noundef %3) local_unnamed_addr #1 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca %"class.std::vector", align 8
  %6 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %7 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %8 = alloca double, align 8
  tail call void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %5) #4
  invoke void @_ZNK4towr13GaitGenerator27GetNormalizedPhaseDurationsEj(ptr dead_on_unwind nonnull writable sret(%"class.std::vector") align 8 %5, ptr noundef nonnull align 8 dereferenceable(56) %1, i32 noundef %3)
          to label %9 unwind label %13

9:                                                ; preds = %4
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #4
  %10 = call ptr @_ZNSt6vectorIdSaIdEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #4
  store ptr %10, ptr %6, align 8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #4
  %11 = call ptr @_ZNSt6vectorIdSaIdEE3endEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #4
  store ptr %11, ptr %7, align 8
  %12 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPdSt6vectorIdSaIdEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8) %6, ptr noundef nonnull align 8 dereferenceable(8) %7) #4
  br i1 %12, label %.lr.ph, label %._crit_edge

._crit_edge:                                      ; preds = %18, %9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #4
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #4
  ret void

13:                                               ; preds = %4
  %14 = landingpad { ptr, i32 }
          cleanup
  br label %23

.lr.ph:                                           ; preds = %9, %18
  %15 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %6) #4
  %16 = load double, ptr %15, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #4
  %17 = fmul double %16, %2
  store double %17, ptr %8, align 8, !tbaa !5
  invoke void @_ZNSt6vectorIdSaIdEE9push_backEOd(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 8 dereferenceable(8) %8)
          to label %18 unwind label %21

18:                                               ; preds = %.lr.ph
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #4
  %19 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEppEv(ptr noundef nonnull align 8 dereferenceable(8) %6) #4
  %20 = call noundef zeroext i1 @_ZN9__gnu_cxxneIPdSt6vectorIdSaIdEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8) %6, ptr noundef nonnull align 8 dereferenceable(8) %7) #4
  br i1 %20, label %.lr.ph, label %._crit_edge

21:                                               ; preds = %.lr.ph
  %22 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #4
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #4
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #4
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #4
  br label %23

23:                                               ; preds = %21, %13
  %.pn = phi { ptr, i32 } [ %22, %21 ], [ %14, %13 ]
  call void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %0) #4
  resume { ptr, i32 } %.pn
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK4towr13GaitGenerator27GetNormalizedPhaseDurationsEj(ptr dead_on_unwind noalias writable sret(%"class.std::vector") align 8, ptr noundef nonnull align 8 dereferenceable(56), i32 noundef) local_unnamed_addr #1 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIdSaIdEE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIdSaIdEE3endEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZN9__gnu_cxxneIPdSt6vectorIdSaIdEEEEbRKNS_17__normal_iteratorIT_T0_EESA_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEE9push_backEOd(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9__gnu_cxx17__normal_iteratorIPdSt6vectorIdSaIdEEEppEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2 align 2

attributes #0 = { mustprogress 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 = { 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 = { 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 #4 = { 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 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,ReassociatePass,SROAPass,SimplifyCFGPass,TailCallElimPass