; LLVM IR from shupx/swarm_sync_sim :: src/px4_rotor_sim/src/mavros_px4_quadrotor_sim/px4_modules/mc_pos_control/Positi_e6add6be (inputValidEv)

; 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.PositionControl = type { %"class.matrix::Vector3", %"class.matrix::Vector3", %"class.matrix::Vector3", %"class.matrix::Vector3", float, float, float, float, float, float, float, float, %"class.matrix::Vector3", %"class.matrix::Vector3", %"class.matrix::Vector3", %"class.matrix::Vector3", float, %"class.matrix::Vector3", %"class.matrix::Vector3", %"class.matrix::Vector3", %"class.matrix::Vector3", float, float }
%"class.matrix::Vector3" = type { %"class.matrix::Vector" }
%"class.matrix::Vector" = type { %"class.matrix::Matrix" }
%"class.matrix::Matrix" = type { [3 x [1 x float]] }

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12), i64 noundef) #0 align 2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN15PositionControl11_inputValidEv(ptr noundef nonnull align 4 dereferenceable(188) %0) #2 align 2 {
  %2 = alloca ptr, align 8
  %3 = alloca i8, align 1
  %4 = alloca i32, align 4
  %5 = alloca i32, align 4
  store ptr %0, ptr %2, align 8, !tbaa !5
  %6 = load ptr, ptr %2, align 8
  call void @llvm.lifetime.start.p0(i64 1, ptr %3) #3
  store i8 1, ptr %3, align 1, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %4) #3
  store i32 0, ptr %4, align 4, !tbaa !11
  br label %7

7:                                                ; preds = %40, %1
  %8 = load i32, ptr %4, align 4, !tbaa !11
  %9 = icmp sle i32 %8, 2
  br i1 %9, label %11, label %10

10:                                               ; preds = %7
  call void @llvm.lifetime.end.p0(i64 4, ptr %4) #3
  br label %43

11:                                               ; preds = %7
  %12 = load i8, ptr %3, align 1, !tbaa !9, !range !13, !noundef !14
  %13 = trunc i8 %12 to i1
  br i1 %13, label %14, label %37

14:                                               ; preds = %11
  %15 = getelementptr inbounds %class.PositionControl, ptr %6, i32 0, i32 17
  %16 = load i32, ptr %4, align 4, !tbaa !11
  %17 = sext i32 %16 to i64
  %18 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %15, i64 noundef %17)
  %19 = load float, ptr %18, align 4, !tbaa !15
  %20 = call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %19)
  br i1 %20, label %35, label %21

21:                                               ; preds = %14
  %22 = getelementptr inbounds %class.PositionControl, ptr %6, i32 0, i32 18
  %23 = load i32, ptr %4, align 4, !tbaa !11
  %24 = sext i32 %23 to i64
  %25 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %22, i64 noundef %24)
  %26 = load float, ptr %25, align 4, !tbaa !15
  %27 = call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %26)
  br i1 %27, label %35, label %28

28:                                               ; preds = %21
  %29 = getelementptr inbounds %class.PositionControl, ptr %6, i32 0, i32 19
  %30 = load i32, ptr %4, align 4, !tbaa !11
  %31 = sext i32 %30 to i64
  %32 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %29, i64 noundef %31)
  %33 = load float, ptr %32, align 4, !tbaa !15
  %34 = call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %33)
  br label %35

35:                                               ; preds = %28, %21, %14
  %36 = phi i1 [ true, %21 ], [ true, %14 ], [ %34, %28 ]
  br label %37

37:                                               ; preds = %35, %11
  %38 = phi i1 [ false, %11 ], [ %36, %35 ]
  %39 = zext i1 %38 to i8
  store i8 %39, ptr %3, align 1, !tbaa !9
  br label %40

40:                                               ; preds = %37
  %41 = load i32, ptr %4, align 4, !tbaa !11
  %42 = add nsw i32 %41, 1
  store i32 %42, ptr %4, align 4, !tbaa !11
  br label %7, !llvm.loop !17

43:                                               ; preds = %10
  %44 = load i8, ptr %3, align 1, !tbaa !9, !range !13, !noundef !14
  %45 = trunc i8 %44 to i1
  br i1 %45, label %46, label %58

46:                                               ; preds = %43
  %47 = getelementptr inbounds %class.PositionControl, ptr %6, i32 0, i32 17
  %48 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %47, i64 noundef 0)
  %49 = load float, ptr %48, align 4, !tbaa !15
  %50 = call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %49)
  %51 = zext i1 %50 to i32
  %52 = getelementptr inbounds %class.PositionControl, ptr %6, i32 0, i32 17
  %53 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %52, i64 noundef 1)
  %54 = load float, ptr %53, align 4, !tbaa !15
  %55 = call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %54)
  %56 = zext i1 %55 to i32
  %57 = icmp eq i32 %51, %56
  br label %58

58:                                               ; preds = %46, %43
  %59 = phi i1 [ false, %43 ], [ %57, %46 ]
  %60 = zext i1 %59 to i8
  store i8 %60, ptr %3, align 1, !tbaa !9
  %61 = load i8, ptr %3, align 1, !tbaa !9, !range !13, !noundef !14
  %62 = trunc i8 %61 to i1
  br i1 %62, label %63, label %75

63:                                               ; preds = %58
  %64 = getelementptr inbounds %class.PositionControl, ptr %6, i32 0, i32 18
  %65 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %64, i64 noundef 0)
  %66 = load float, ptr %65, align 4, !tbaa !15
  %67 = call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %66)
  %68 = zext i1 %67 to i32
  %69 = getelementptr inbounds %class.PositionControl, ptr %6, i32 0, i32 18
  %70 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %69, i64 noundef 1)
  %71 = load float, ptr %70, align 4, !tbaa !15
  %72 = call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %71)
  %73 = zext i1 %72 to i32
  %74 = icmp eq i32 %68, %73
  br label %75

75:                                               ; preds = %63, %58
  %76 = phi i1 [ false, %58 ], [ %74, %63 ]
  %77 = zext i1 %76 to i8
  store i8 %77, ptr %3, align 1, !tbaa !9
  %78 = load i8, ptr %3, align 1, !tbaa !9, !range !13, !noundef !14
  %79 = trunc i8 %78 to i1
  br i1 %79, label %80, label %92

80:                                               ; preds = %75
  %81 = getelementptr inbounds %class.PositionControl, ptr %6, i32 0, i32 19
  %82 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %81, i64 noundef 0)
  %83 = load float, ptr %82, align 4, !tbaa !15
  %84 = call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %83)
  %85 = zext i1 %84 to i32
  %86 = getelementptr inbounds %class.PositionControl, ptr %6, i32 0, i32 19
  %87 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %86, i64 noundef 1)
  %88 = load float, ptr %87, align 4, !tbaa !15
  %89 = call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %88)
  %90 = zext i1 %89 to i32
  %91 = icmp eq i32 %85, %90
  br label %92

92:                                               ; preds = %80, %75
  %93 = phi i1 [ false, %75 ], [ %91, %80 ]
  %94 = zext i1 %93 to i8
  store i8 %94, ptr %3, align 1, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #3
  store i32 0, ptr %5, align 4, !tbaa !11
  br label %95

95:                                               ; preds = %147, %92
  %96 = load i32, ptr %5, align 4, !tbaa !11
  %97 = icmp sle i32 %96, 2
  br i1 %97, label %99, label %98

98:                                               ; preds = %95
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #3
  br label %150

99:                                               ; preds = %95
  %100 = getelementptr inbounds %class.PositionControl, ptr %6, i32 0, i32 17
  %101 = load i32, ptr %5, align 4, !tbaa !11
  %102 = sext i32 %101 to i64
  %103 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %100, i64 noundef %102)
  %104 = load float, ptr %103, align 4, !tbaa !15
  %105 = call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %104)
  br i1 %105, label %106, label %119

106:                                              ; preds = %99
  %107 = load i8, ptr %3, align 1, !tbaa !9, !range !13, !noundef !14
  %108 = trunc i8 %107 to i1
  br i1 %108, label %109, label %116

109:                                              ; preds = %106
  %110 = getelementptr inbounds %class.PositionControl, ptr %6, i32 0, i32 12
  %111 = load i32, ptr %5, align 4, !tbaa !11
  %112 = sext i32 %111 to i64
  %113 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %110, i64 noundef %112)
  %114 = load float, ptr %113, align 4, !tbaa !15
  %115 = call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %114)
  br label %116

116:                                              ; preds = %109, %106
  %117 = phi i1 [ false, %106 ], [ %115, %109 ]
  %118 = zext i1 %117 to i8
  store i8 %118, ptr %3, align 1, !tbaa !9
  br label %119

119:                                              ; preds = %116, %99
  %120 = getelementptr inbounds %class.PositionControl, ptr %6, i32 0, i32 18
  %121 = load i32, ptr %5, align 4, !tbaa !11
  %122 = sext i32 %121 to i64
  %123 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %120, i64 noundef %122)
  %124 = load float, ptr %123, align 4, !tbaa !15
  %125 = call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %124)
  br i1 %125, label %126, label %146

126:                                              ; preds = %119
  %127 = load i8, ptr %3, align 1, !tbaa !9, !range !13, !noundef !14
  %128 = trunc i8 %127 to i1
  br i1 %128, label %129, label %143

129:                                              ; preds = %126
  %130 = getelementptr inbounds %class.PositionControl, ptr %6, i32 0, i32 13
  %131 = load i32, ptr %5, align 4, !tbaa !11
  %132 = sext i32 %131 to i64
  %133 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %130, i64 noundef %132)
  %134 = load float, ptr %133, align 4, !tbaa !15
  %135 = call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %134)
  br i1 %135, label %136, label %143

136:                                              ; preds = %129
  %137 = getelementptr inbounds %class.PositionControl, ptr %6, i32 0, i32 14
  %138 = load i32, ptr %5, align 4, !tbaa !11
  %139 = sext i32 %138 to i64
  %140 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %137, i64 noundef %139)
  %141 = load float, ptr %140, align 4, !tbaa !15
  %142 = call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %141)
  br label %143

143:                                              ; preds = %136, %129, %126
  %144 = phi i1 [ false, %129 ], [ false, %126 ], [ %142, %136 ]
  %145 = zext i1 %144 to i8
  store i8 %145, ptr %3, align 1, !tbaa !9
  br label %146

146:                                              ; preds = %143, %119
  br label %147

147:                                              ; preds = %146
  %148 = load i32, ptr %5, align 4, !tbaa !11
  %149 = add nsw i32 %148, 1
  store i32 %149, ptr %5, align 4, !tbaa !11
  br label %95, !llvm.loop !19

150:                                              ; preds = %98
  %151 = load i8, ptr %3, align 1, !tbaa !9, !range !13, !noundef !14
  %152 = trunc i8 %151 to i1
  call void @llvm.lifetime.end.p0(i64 1, ptr %3) #3
  ret i1 %152
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare hidden noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef) #0

attributes #0 = { 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 #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { 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 = !{!"bool", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{i8 0, i8 2}
!14 = !{}
!15 = !{!16, !16, i64 0}
!16 = !{!"float", !7, i64 0}
!17 = distinct !{!17, !18}
!18 = !{!"llvm.loop.mustprogress"}
!19 = distinct !{!19, !18}


; 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"

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12), i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
define dso_local noundef zeroext i1 @_ZN15PositionControl11_inputValidEv(ptr noundef nonnull align 4 dereferenceable(188) %0) local_unnamed_addr #1 align 2 {
  %2 = getelementptr inbounds i8, ptr %0, i64 132
  %3 = getelementptr inbounds i8, ptr %0, i64 144
  %4 = getelementptr inbounds i8, ptr %0, i64 156
  %5 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %2, i64 noundef 0)
  %6 = load float, ptr %5, align 4, !tbaa !5
  %7 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %6)
  br i1 %7, label %.thread, label %8

8:                                                ; preds = %1
  %9 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %3, i64 noundef 0)
  %10 = load float, ptr %9, align 4, !tbaa !5
  %11 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %10)
  br i1 %11, label %.thread, label %12

12:                                               ; preds = %8
  %13 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %4, i64 noundef 0)
  %14 = load float, ptr %13, align 4, !tbaa !5
  %15 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %14)
  br i1 %15, label %.thread, label %.critedge21

.thread:                                          ; preds = %1, %8, %12
  %16 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %2, i64 noundef 1)
  %17 = load float, ptr %16, align 4, !tbaa !5
  %18 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %17)
  br i1 %18, label %.thread27, label %19

19:                                               ; preds = %.thread
  %20 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %3, i64 noundef 1)
  %21 = load float, ptr %20, align 4, !tbaa !5
  %22 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %21)
  br i1 %22, label %.thread27, label %23

23:                                               ; preds = %19
  %24 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %4, i64 noundef 1)
  %25 = load float, ptr %24, align 4, !tbaa !5
  %26 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %25)
  br i1 %26, label %.thread27, label %.critedge21

.thread27:                                        ; preds = %.thread, %19, %23
  %27 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %2, i64 noundef 2)
  %28 = load float, ptr %27, align 4, !tbaa !5
  %29 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %28)
  br i1 %29, label %.thread30, label %30

30:                                               ; preds = %.thread27
  %31 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %3, i64 noundef 2)
  %32 = load float, ptr %31, align 4, !tbaa !5
  %33 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %32)
  br i1 %33, label %.thread30, label %34

34:                                               ; preds = %30
  %35 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %4, i64 noundef 2)
  %36 = load float, ptr %35, align 4, !tbaa !5
  %37 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %36)
  br i1 %37, label %.thread30, label %.critedge21

.thread30:                                        ; preds = %.thread27, %30, %34
  %38 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %2, i64 noundef 0)
  %39 = load float, ptr %38, align 4, !tbaa !5
  %40 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %39)
  %41 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %2, i64 noundef 1)
  %42 = load float, ptr %41, align 4, !tbaa !5
  %43 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %42)
  %44 = xor i1 %40, %43
  br i1 %44, label %.critedge21, label %.critedge

.critedge:                                        ; preds = %.thread30
  %45 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %3, i64 noundef 0)
  %46 = load float, ptr %45, align 4, !tbaa !5
  %47 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %46)
  %48 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %3, i64 noundef 1)
  %49 = load float, ptr %48, align 4, !tbaa !5
  %50 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %49)
  %51 = xor i1 %47, %50
  br i1 %51, label %.critedge21, label %52

52:                                               ; preds = %.critedge
  %53 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %4, i64 noundef 0)
  %54 = load float, ptr %53, align 4, !tbaa !5
  %55 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %54)
  %56 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %4, i64 noundef 1)
  %57 = load float, ptr %56, align 4, !tbaa !5
  %58 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %57)
  %59 = xor i1 %55, %58
  %60 = xor i1 %59, true
  %61 = zext i1 %60 to i8
  br label %.critedge21

.critedge21:                                      ; preds = %12, %23, %.thread30, %34, %52, %.critedge
  %62 = phi i8 [ 0, %.critedge ], [ %61, %52 ], [ 0, %34 ], [ 0, %.thread30 ], [ 0, %23 ], [ 0, %12 ]
  %63 = getelementptr inbounds i8, ptr %0, i64 80
  %64 = getelementptr inbounds i8, ptr %0, i64 92
  %65 = getelementptr inbounds i8, ptr %0, i64 104
  %66 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %2, i64 noundef 0)
  %67 = load float, ptr %66, align 4, !tbaa !5
  %68 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %67)
  br i1 %68, label %69, label %76

69:                                               ; preds = %.critedge21
  %70 = trunc nuw i8 %62 to i1
  br i1 %70, label %71, label %76

71:                                               ; preds = %69
  %72 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %63, i64 noundef 0)
  %73 = load float, ptr %72, align 4, !tbaa !5
  %74 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %73)
  %75 = zext i1 %74 to i8
  br label %76

76:                                               ; preds = %69, %71, %.critedge21
  %.2 = phi i8 [ %62, %.critedge21 ], [ 0, %69 ], [ %75, %71 ]
  %77 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %3, i64 noundef 0)
  %78 = load float, ptr %77, align 4, !tbaa !5
  %79 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %78)
  br i1 %79, label %80, label %91

80:                                               ; preds = %76
  %81 = trunc nuw i8 %.2 to i1
  br i1 %81, label %82, label %91

82:                                               ; preds = %80
  %83 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %64, i64 noundef 0)
  %84 = load float, ptr %83, align 4, !tbaa !5
  %85 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %84)
  br i1 %85, label %86, label %91

86:                                               ; preds = %82
  %87 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %65, i64 noundef 0)
  %88 = load float, ptr %87, align 4, !tbaa !5
  %89 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %88)
  %90 = zext i1 %89 to i8
  br label %91

91:                                               ; preds = %80, %82, %86, %76
  %.3 = phi i8 [ %.2, %76 ], [ 0, %82 ], [ 0, %80 ], [ %90, %86 ]
  %92 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %2, i64 noundef 1)
  %93 = load float, ptr %92, align 4, !tbaa !5
  %94 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %93)
  br i1 %94, label %95, label %102

95:                                               ; preds = %91
  %96 = trunc nuw i8 %.3 to i1
  br i1 %96, label %97, label %102

97:                                               ; preds = %95
  %98 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %63, i64 noundef 1)
  %99 = load float, ptr %98, align 4, !tbaa !5
  %100 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %99)
  %101 = zext i1 %100 to i8
  br label %102

102:                                              ; preds = %95, %97, %91
  %.2.1 = phi i8 [ %.3, %91 ], [ 0, %95 ], [ %101, %97 ]
  %103 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %3, i64 noundef 1)
  %104 = load float, ptr %103, align 4, !tbaa !5
  %105 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %104)
  br i1 %105, label %106, label %117

106:                                              ; preds = %102
  %107 = trunc nuw i8 %.2.1 to i1
  br i1 %107, label %108, label %117

108:                                              ; preds = %106
  %109 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %64, i64 noundef 1)
  %110 = load float, ptr %109, align 4, !tbaa !5
  %111 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %110)
  br i1 %111, label %112, label %117

112:                                              ; preds = %108
  %113 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %65, i64 noundef 1)
  %114 = load float, ptr %113, align 4, !tbaa !5
  %115 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %114)
  %116 = zext i1 %115 to i8
  br label %117

117:                                              ; preds = %106, %108, %112, %102
  %.3.1 = phi i8 [ %.2.1, %102 ], [ 0, %108 ], [ 0, %106 ], [ %116, %112 ]
  %118 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %2, i64 noundef 2)
  %119 = load float, ptr %118, align 4, !tbaa !5
  %120 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %119)
  br i1 %120, label %121, label %128

121:                                              ; preds = %117
  %122 = trunc nuw i8 %.3.1 to i1
  br i1 %122, label %123, label %128

123:                                              ; preds = %121
  %124 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %63, i64 noundef 2)
  %125 = load float, ptr %124, align 4, !tbaa !5
  %126 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %125)
  %127 = zext i1 %126 to i8
  br label %128

128:                                              ; preds = %121, %123, %117
  %.2.2 = phi i8 [ %.3.1, %117 ], [ 0, %121 ], [ %127, %123 ]
  %129 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %3, i64 noundef 2)
  %130 = load float, ptr %129, align 4, !tbaa !5
  %131 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %130)
  br i1 %131, label %132, label %143

132:                                              ; preds = %128
  %133 = trunc nuw i8 %.2.2 to i1
  br i1 %133, label %134, label %143

134:                                              ; preds = %132
  %135 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %64, i64 noundef 2)
  %136 = load float, ptr %135, align 4, !tbaa !5
  %137 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %136)
  br i1 %137, label %138, label %143

138:                                              ; preds = %134
  %139 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZN6matrix6VectorIfLm3EEclEm(ptr noundef nonnull align 4 dereferenceable(12) %65, i64 noundef 2)
  %140 = load float, ptr %139, align 4, !tbaa !5
  %141 = tail call noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef %140)
  %142 = zext i1 %141 to i8
  br label %143

143:                                              ; preds = %132, %134, %138, %128
  %.3.2 = phi i8 [ %.2.2, %128 ], [ 0, %134 ], [ 0, %132 ], [ %142, %138 ]
  %144 = trunc nuw i8 %.3.2 to i1
  ret i1 %144
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare hidden noundef zeroext i1 @_ZL12PX4_ISFINITEf(float noundef) local_unnamed_addr #0

attributes #0 = { 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 #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" }

!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,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LCSSAPass,LICMPass,LoopRotatePass,PostOrderFunctionAttrsPass,SCCPPass,SROAPass,SimplifyCFGPass,TailCallElimPass