; LLVM IR from pms67/HadesFCS :: Firmware/F4Quad/Core/Src (KalmanRollPitchYaw)

; 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"

%struct.KalmanRollPitchYaw = type { float, float, float, [9 x float], [3 x float], float, float, [3 x float] }

; Function Attrs: nounwind uwtable
define dso_local void @KalmanRollPitchYaw_Predict(ptr noundef %0, ptr noundef %1, float noundef %2) #0 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca float, align 4
  %7 = alloca float, align 4
  %8 = alloca float, align 4
  %9 = alloca float, align 4
  %10 = alloca float, align 4
  %11 = alloca float, align 4
  %12 = alloca i32, align 4
  %13 = alloca float, align 4
  %14 = alloca float, align 4
  %15 = alloca float, align 4
  %16 = alloca [9 x float], align 16
  %17 = alloca [9 x float], align 16
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  store float %2, ptr %6, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #4
  %18 = load ptr, ptr %5, align 8, !tbaa !5
  %19 = getelementptr inbounds float, ptr %18, i64 0
  %20 = load float, ptr %19, align 4, !tbaa !9
  store float %20, ptr %7, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #4
  %21 = load ptr, ptr %5, align 8, !tbaa !5
  %22 = getelementptr inbounds float, ptr %21, i64 1
  %23 = load float, ptr %22, align 4, !tbaa !9
  store float %23, ptr %8, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #4
  %24 = load ptr, ptr %5, align 8, !tbaa !5
  %25 = getelementptr inbounds float, ptr %24, i64 2
  %26 = load float, ptr %25, align 4, !tbaa !9
  store float %26, ptr %9, align 4, !tbaa !9
  %27 = load ptr, ptr %5, align 8, !tbaa !5
  %28 = getelementptr inbounds float, ptr %27, i64 0
  %29 = load float, ptr %28, align 4, !tbaa !9
  %30 = load ptr, ptr %4, align 8, !tbaa !5
  %31 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %30, i32 0, i32 7
  %32 = getelementptr inbounds [3 x float], ptr %31, i64 0, i64 0
  store float %29, ptr %32, align 4, !tbaa !9
  %33 = load ptr, ptr %5, align 8, !tbaa !5
  %34 = getelementptr inbounds float, ptr %33, i64 1
  %35 = load float, ptr %34, align 4, !tbaa !9
  %36 = load ptr, ptr %4, align 8, !tbaa !5
  %37 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %36, i32 0, i32 7
  %38 = getelementptr inbounds [3 x float], ptr %37, i64 0, i64 1
  store float %35, ptr %38, align 4, !tbaa !9
  %39 = load ptr, ptr %5, align 8, !tbaa !5
  %40 = getelementptr inbounds float, ptr %39, i64 2
  %41 = load float, ptr %40, align 4, !tbaa !9
  %42 = load ptr, ptr %4, align 8, !tbaa !5
  %43 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %42, i32 0, i32 7
  %44 = getelementptr inbounds [3 x float], ptr %43, i64 0, i64 2
  store float %41, ptr %44, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #4
  %45 = load ptr, ptr %4, align 8, !tbaa !5
  %46 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %45, i32 0, i32 0
  %47 = load float, ptr %46, align 4, !tbaa !11
  %48 = fpext float %47 to double
  %49 = call double @sin(double noundef %48) #4
  %50 = fptrunc double %49 to float
  store float %50, ptr %10, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #4
  %51 = load ptr, ptr %4, align 8, !tbaa !5
  %52 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %51, i32 0, i32 0
  %53 = load float, ptr %52, align 4, !tbaa !11
  %54 = fpext float %53 to double
  %55 = call double @cos(double noundef %54) #4
  %56 = fptrunc double %55 to float
  store float %56, ptr %11, align 4, !tbaa !9
  %57 = load ptr, ptr %4, align 8, !tbaa !5
  %58 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %57, i32 0, i32 1
  %59 = load float, ptr %58, align 4, !tbaa !13
  %60 = fpext float %59 to double
  %61 = call double @llvm.fabs.f64(double %60)
  %62 = fcmp ogt double %61, 0x3FF945B9E0000000
  br i1 %62, label %70, label %63

63:                                               ; preds = %3
  %64 = load ptr, ptr %4, align 8, !tbaa !5
  %65 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %64, i32 0, i32 1
  %66 = load float, ptr %65, align 4, !tbaa !13
  %67 = fpext float %66 to double
  %68 = call double @llvm.fabs.f64(double %67)
  %69 = fcmp olt double %68, 0x3FF8FE3CC0000000
  br i1 %69, label %70, label %71

70:                                               ; preds = %63, %3
  store i32 1, ptr %12, align 4
  br label %533

71:                                               ; preds = %63
  %72 = load ptr, ptr %4, align 8, !tbaa !5
  %73 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %72, i32 0, i32 0
  %74 = load float, ptr %73, align 4, !tbaa !11
  %75 = fpext float %74 to double
  %76 = load float, ptr %6, align 4, !tbaa !9
  %77 = fpext float %76 to double
  %78 = load float, ptr %7, align 4, !tbaa !9
  %79 = fpext float %78 to double
  %80 = load ptr, ptr %4, align 8, !tbaa !5
  %81 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %80, i32 0, i32 1
  %82 = load float, ptr %81, align 4, !tbaa !13
  %83 = fpext float %82 to double
  %84 = call double @tan(double noundef %83) #4
  %85 = load float, ptr %8, align 4, !tbaa !9
  %86 = load float, ptr %10, align 4, !tbaa !9
  %87 = load float, ptr %9, align 4, !tbaa !9
  %88 = load float, ptr %11, align 4, !tbaa !9
  %89 = fmul float %87, %88
  %90 = call float @llvm.fmuladd.f32(float %85, float %86, float %89)
  %91 = fpext float %90 to double
  %92 = call double @llvm.fmuladd.f64(double %84, double %91, double %79)
  %93 = call double @llvm.fmuladd.f64(double %77, double %92, double %75)
  %94 = fptrunc double %93 to float
  %95 = load ptr, ptr %4, align 8, !tbaa !5
  %96 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %95, i32 0, i32 0
  store float %94, ptr %96, align 4, !tbaa !11
  %97 = load ptr, ptr %4, align 8, !tbaa !5
  %98 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %97, i32 0, i32 1
  %99 = load float, ptr %98, align 4, !tbaa !13
  %100 = load float, ptr %6, align 4, !tbaa !9
  %101 = load float, ptr %8, align 4, !tbaa !9
  %102 = load float, ptr %11, align 4, !tbaa !9
  %103 = load float, ptr %9, align 4, !tbaa !9
  %104 = load float, ptr %10, align 4, !tbaa !9
  %105 = fmul float %103, %104
  %106 = fneg float %105
  %107 = call float @llvm.fmuladd.f32(float %101, float %102, float %106)
  %108 = call float @llvm.fmuladd.f32(float %100, float %107, float %99)
  %109 = load ptr, ptr %4, align 8, !tbaa !5
  %110 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %109, i32 0, i32 1
  store float %108, ptr %110, align 4, !tbaa !13
  %111 = load ptr, ptr %4, align 8, !tbaa !5
  %112 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %111, i32 0, i32 2
  %113 = load float, ptr %112, align 4, !tbaa !14
  %114 = fpext float %113 to double
  %115 = load float, ptr %6, align 4, !tbaa !9
  %116 = load float, ptr %8, align 4, !tbaa !9
  %117 = load float, ptr %10, align 4, !tbaa !9
  %118 = load float, ptr %9, align 4, !tbaa !9
  %119 = load float, ptr %11, align 4, !tbaa !9
  %120 = fmul float %118, %119
  %121 = call float @llvm.fmuladd.f32(float %116, float %117, float %120)
  %122 = fmul float %115, %121
  %123 = fpext float %122 to double
  %124 = load ptr, ptr %4, align 8, !tbaa !5
  %125 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %124, i32 0, i32 1
  %126 = load float, ptr %125, align 4, !tbaa !13
  %127 = fpext float %126 to double
  %128 = call double @cos(double noundef %127) #4
  %129 = fdiv double %123, %128
  %130 = fadd double %114, %129
  %131 = fptrunc double %130 to float
  %132 = load ptr, ptr %4, align 8, !tbaa !5
  %133 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %132, i32 0, i32 2
  store float %131, ptr %133, align 4, !tbaa !14
  %134 = load ptr, ptr %4, align 8, !tbaa !5
  %135 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %134, i32 0, i32 1
  %136 = load float, ptr %135, align 4, !tbaa !13
  %137 = fpext float %136 to double
  %138 = call double @llvm.fabs.f64(double %137)
  %139 = fcmp ogt double %138, 0x3FF945B9E0000000
  br i1 %139, label %147, label %140

140:                                              ; preds = %71
  %141 = load ptr, ptr %4, align 8, !tbaa !5
  %142 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %141, i32 0, i32 1
  %143 = load float, ptr %142, align 4, !tbaa !13
  %144 = fpext float %143 to double
  %145 = call double @llvm.fabs.f64(double %144)
  %146 = fcmp olt double %145, 0x3FF8FE3CC0000000
  br i1 %146, label %147, label %148

147:                                              ; preds = %140, %71
  store i32 1, ptr %12, align 4
  br label %533

148:                                              ; preds = %140
  %149 = load ptr, ptr %4, align 8, !tbaa !5
  %150 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %149, i32 0, i32 0
  %151 = load float, ptr %150, align 4, !tbaa !11
  %152 = fpext float %151 to double
  %153 = call double @sin(double noundef %152) #4
  %154 = fptrunc double %153 to float
  store float %154, ptr %10, align 4, !tbaa !9
  %155 = load ptr, ptr %4, align 8, !tbaa !5
  %156 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %155, i32 0, i32 0
  %157 = load float, ptr %156, align 4, !tbaa !11
  %158 = fpext float %157 to double
  %159 = call double @cos(double noundef %158) #4
  %160 = fptrunc double %159 to float
  store float %160, ptr %11, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #4
  %161 = load ptr, ptr %4, align 8, !tbaa !5
  %162 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %161, i32 0, i32 1
  %163 = load float, ptr %162, align 4, !tbaa !13
  %164 = fpext float %163 to double
  %165 = call double @sin(double noundef %164) #4
  %166 = fptrunc double %165 to float
  store float %166, ptr %13, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #4
  %167 = load ptr, ptr %4, align 8, !tbaa !5
  %168 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %167, i32 0, i32 1
  %169 = load float, ptr %168, align 4, !tbaa !13
  %170 = fpext float %169 to double
  %171 = call double @cos(double noundef %170) #4
  %172 = fptrunc double %171 to float
  store float %172, ptr %14, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #4
  %173 = load float, ptr %13, align 4, !tbaa !9
  %174 = load float, ptr %14, align 4, !tbaa !9
  %175 = fdiv float %173, %174
  store float %175, ptr %15, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 36, ptr %16) #4
  %176 = load float, ptr %15, align 4, !tbaa !9
  %177 = load float, ptr %8, align 4, !tbaa !9
  %178 = load float, ptr %11, align 4, !tbaa !9
  %179 = load float, ptr %9, align 4, !tbaa !9
  %180 = load float, ptr %10, align 4, !tbaa !9
  %181 = fmul float %179, %180
  %182 = fneg float %181
  %183 = call float @llvm.fmuladd.f32(float %177, float %178, float %182)
  %184 = fmul float %176, %183
  store float %184, ptr %16, align 4, !tbaa !9
  %185 = getelementptr inbounds float, ptr %16, i64 1
  %186 = load float, ptr %9, align 4, !tbaa !9
  %187 = load float, ptr %11, align 4, !tbaa !9
  %188 = load float, ptr %8, align 4, !tbaa !9
  %189 = load float, ptr %10, align 4, !tbaa !9
  %190 = fmul float %188, %189
  %191 = call float @llvm.fmuladd.f32(float %186, float %187, float %190)
  %192 = load float, ptr %15, align 4, !tbaa !9
  %193 = load float, ptr %15, align 4, !tbaa !9
  %194 = call float @llvm.fmuladd.f32(float %192, float %193, float 1.000000e+00)
  %195 = fmul float %191, %194
  store float %195, ptr %185, align 4, !tbaa !9
  %196 = getelementptr inbounds float, ptr %16, i64 2
  %197 = load float, ptr %9, align 4, !tbaa !9
  %198 = load float, ptr %11, align 4, !tbaa !9
  %199 = load float, ptr %8, align 4, !tbaa !9
  %200 = load float, ptr %10, align 4, !tbaa !9
  %201 = fmul float %199, %200
  %202 = call float @llvm.fmuladd.f32(float %197, float %198, float %201)
  %203 = fsub float 0.000000e+00, %202
  store float %203, ptr %196, align 4, !tbaa !9
  %204 = getelementptr inbounds float, ptr %16, i64 3
  store float 0.000000e+00, ptr %204, align 4, !tbaa !9
  %205 = getelementptr inbounds float, ptr %16, i64 4
  store float 0.000000e+00, ptr %205, align 4, !tbaa !9
  %206 = getelementptr inbounds float, ptr %16, i64 5
  %207 = load float, ptr %8, align 4, !tbaa !9
  %208 = load float, ptr %11, align 4, !tbaa !9
  %209 = load float, ptr %9, align 4, !tbaa !9
  %210 = load float, ptr %10, align 4, !tbaa !9
  %211 = fmul float %209, %210
  %212 = fneg float %211
  %213 = call float @llvm.fmuladd.f32(float %207, float %208, float %212)
  %214 = load float, ptr %14, align 4, !tbaa !9
  %215 = fdiv float %213, %214
  store float %215, ptr %206, align 4, !tbaa !9
  %216 = getelementptr inbounds float, ptr %16, i64 6
  %217 = load float, ptr %8, align 4, !tbaa !9
  %218 = load float, ptr %10, align 4, !tbaa !9
  %219 = load float, ptr %9, align 4, !tbaa !9
  %220 = load float, ptr %11, align 4, !tbaa !9
  %221 = fmul float %219, %220
  %222 = call float @llvm.fmuladd.f32(float %217, float %218, float %221)
  %223 = load float, ptr %13, align 4, !tbaa !9
  %224 = fmul float %222, %223
  %225 = load float, ptr %14, align 4, !tbaa !9
  %226 = load float, ptr %14, align 4, !tbaa !9
  %227 = fmul float %225, %226
  %228 = fdiv float %224, %227
  store float %228, ptr %216, align 4, !tbaa !9
  %229 = getelementptr inbounds float, ptr %16, i64 7
  store float 0.000000e+00, ptr %229, align 4, !tbaa !9
  %230 = getelementptr inbounds float, ptr %16, i64 8
  %231 = getelementptr inbounds float, ptr %16, i64 9
  br label %232

232:                                              ; preds = %232, %148
  %233 = phi ptr [ %230, %148 ], [ %234, %232 ]
  store float 0.000000e+00, ptr %233, align 4, !tbaa !9
  %234 = getelementptr inbounds float, ptr %233, i64 1
  %235 = icmp eq ptr %234, %231
  br i1 %235, label %236, label %232

236:                                              ; preds = %232
  call void @llvm.lifetime.start.p0(i64 36, ptr %17) #4
  %237 = load ptr, ptr %4, align 8, !tbaa !5
  %238 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %237, i32 0, i32 4
  %239 = getelementptr inbounds [3 x float], ptr %238, i64 0, i64 0
  %240 = load float, ptr %239, align 4, !tbaa !9
  %241 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 0
  %242 = load float, ptr %241, align 16, !tbaa !9
  %243 = fmul float 2.000000e+00, %242
  %244 = load ptr, ptr %4, align 8, !tbaa !5
  %245 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %244, i32 0, i32 3
  %246 = getelementptr inbounds [9 x float], ptr %245, i64 0, i64 0
  %247 = load float, ptr %246, align 4, !tbaa !9
  %248 = call float @llvm.fmuladd.f32(float %243, float %247, float %240)
  %249 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 1
  %250 = load float, ptr %249, align 4, !tbaa !9
  %251 = load ptr, ptr %4, align 8, !tbaa !5
  %252 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %251, i32 0, i32 3
  %253 = getelementptr inbounds [9 x float], ptr %252, i64 0, i64 1
  %254 = load float, ptr %253, align 4, !tbaa !9
  %255 = call float @llvm.fmuladd.f32(float %250, float %254, float %248)
  %256 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 1
  %257 = load float, ptr %256, align 4, !tbaa !9
  %258 = load ptr, ptr %4, align 8, !tbaa !5
  %259 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %258, i32 0, i32 3
  %260 = getelementptr inbounds [9 x float], ptr %259, i64 0, i64 3
  %261 = load float, ptr %260, align 4, !tbaa !9
  %262 = call float @llvm.fmuladd.f32(float %257, float %261, float %255)
  store float %262, ptr %17, align 4, !tbaa !9
  %263 = getelementptr inbounds float, ptr %17, i64 1
  %264 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 0
  %265 = load float, ptr %264, align 16, !tbaa !9
  %266 = load ptr, ptr %4, align 8, !tbaa !5
  %267 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %266, i32 0, i32 3
  %268 = getelementptr inbounds [9 x float], ptr %267, i64 0, i64 1
  %269 = load float, ptr %268, align 4, !tbaa !9
  %270 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 3
  %271 = load float, ptr %270, align 4, !tbaa !9
  %272 = load ptr, ptr %4, align 8, !tbaa !5
  %273 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %272, i32 0, i32 3
  %274 = getelementptr inbounds [9 x float], ptr %273, i64 0, i64 0
  %275 = load float, ptr %274, align 4, !tbaa !9
  %276 = fmul float %271, %275
  %277 = call float @llvm.fmuladd.f32(float %265, float %269, float %276)
  %278 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 1
  %279 = load float, ptr %278, align 4, !tbaa !9
  %280 = load ptr, ptr %4, align 8, !tbaa !5
  %281 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %280, i32 0, i32 3
  %282 = getelementptr inbounds [9 x float], ptr %281, i64 0, i64 4
  %283 = load float, ptr %282, align 4, !tbaa !9
  %284 = call float @llvm.fmuladd.f32(float %279, float %283, float %277)
  store float %284, ptr %263, align 4, !tbaa !9
  %285 = getelementptr inbounds float, ptr %17, i64 2
  %286 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 0
  %287 = load float, ptr %286, align 16, !tbaa !9
  %288 = load ptr, ptr %4, align 8, !tbaa !5
  %289 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %288, i32 0, i32 3
  %290 = getelementptr inbounds [9 x float], ptr %289, i64 0, i64 2
  %291 = load float, ptr %290, align 4, !tbaa !9
  %292 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 1
  %293 = load float, ptr %292, align 4, !tbaa !9
  %294 = load ptr, ptr %4, align 8, !tbaa !5
  %295 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %294, i32 0, i32 3
  %296 = getelementptr inbounds [9 x float], ptr %295, i64 0, i64 5
  %297 = load float, ptr %296, align 4, !tbaa !9
  %298 = fmul float %293, %297
  %299 = call float @llvm.fmuladd.f32(float %287, float %291, float %298)
  %300 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 6
  %301 = load float, ptr %300, align 8, !tbaa !9
  %302 = load ptr, ptr %4, align 8, !tbaa !5
  %303 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %302, i32 0, i32 3
  %304 = getelementptr inbounds [9 x float], ptr %303, i64 0, i64 0
  %305 = load float, ptr %304, align 4, !tbaa !9
  %306 = call float @llvm.fmuladd.f32(float %301, float %305, float %299)
  %307 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 7
  %308 = load float, ptr %307, align 4, !tbaa !9
  %309 = load ptr, ptr %4, align 8, !tbaa !5
  %310 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %309, i32 0, i32 3
  %311 = getelementptr inbounds [9 x float], ptr %310, i64 0, i64 1
  %312 = load float, ptr %311, align 4, !tbaa !9
  %313 = call float @llvm.fmuladd.f32(float %308, float %312, float %306)
  store float %313, ptr %285, align 4, !tbaa !9
  %314 = getelementptr inbounds float, ptr %17, i64 3
  %315 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 0
  %316 = load float, ptr %315, align 16, !tbaa !9
  %317 = load ptr, ptr %4, align 8, !tbaa !5
  %318 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %317, i32 0, i32 3
  %319 = getelementptr inbounds [9 x float], ptr %318, i64 0, i64 3
  %320 = load float, ptr %319, align 4, !tbaa !9
  %321 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 3
  %322 = load float, ptr %321, align 4, !tbaa !9
  %323 = load ptr, ptr %4, align 8, !tbaa !5
  %324 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %323, i32 0, i32 3
  %325 = getelementptr inbounds [9 x float], ptr %324, i64 0, i64 0
  %326 = load float, ptr %325, align 4, !tbaa !9
  %327 = fmul float %322, %326
  %328 = call float @llvm.fmuladd.f32(float %316, float %320, float %327)
  %329 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 1
  %330 = load float, ptr %329, align 4, !tbaa !9
  %331 = load ptr, ptr %4, align 8, !tbaa !5
  %332 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %331, i32 0, i32 3
  %333 = getelementptr inbounds [9 x float], ptr %332, i64 0, i64 4
  %334 = load float, ptr %333, align 4, !tbaa !9
  %335 = call float @llvm.fmuladd.f32(float %330, float %334, float %328)
  store float %335, ptr %314, align 4, !tbaa !9
  %336 = getelementptr inbounds float, ptr %17, i64 4
  %337 = load ptr, ptr %4, align 8, !tbaa !5
  %338 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %337, i32 0, i32 4
  %339 = getelementptr inbounds [3 x float], ptr %338, i64 0, i64 1
  %340 = load float, ptr %339, align 4, !tbaa !9
  %341 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 3
  %342 = load float, ptr %341, align 4, !tbaa !9
  %343 = load ptr, ptr %4, align 8, !tbaa !5
  %344 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %343, i32 0, i32 3
  %345 = getelementptr inbounds [9 x float], ptr %344, i64 0, i64 1
  %346 = load float, ptr %345, align 4, !tbaa !9
  %347 = call float @llvm.fmuladd.f32(float %342, float %346, float %340)
  %348 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 3
  %349 = load float, ptr %348, align 4, !tbaa !9
  %350 = load ptr, ptr %4, align 8, !tbaa !5
  %351 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %350, i32 0, i32 3
  %352 = getelementptr inbounds [9 x float], ptr %351, i64 0, i64 3
  %353 = load float, ptr %352, align 4, !tbaa !9
  %354 = call float @llvm.fmuladd.f32(float %349, float %353, float %347)
  store float %354, ptr %336, align 4, !tbaa !9
  %355 = getelementptr inbounds float, ptr %17, i64 5
  %356 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 3
  %357 = load float, ptr %356, align 4, !tbaa !9
  %358 = load ptr, ptr %4, align 8, !tbaa !5
  %359 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %358, i32 0, i32 3
  %360 = getelementptr inbounds [9 x float], ptr %359, i64 0, i64 2
  %361 = load float, ptr %360, align 4, !tbaa !9
  %362 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 6
  %363 = load float, ptr %362, align 8, !tbaa !9
  %364 = load ptr, ptr %4, align 8, !tbaa !5
  %365 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %364, i32 0, i32 3
  %366 = getelementptr inbounds [9 x float], ptr %365, i64 0, i64 3
  %367 = load float, ptr %366, align 4, !tbaa !9
  %368 = fmul float %363, %367
  %369 = call float @llvm.fmuladd.f32(float %357, float %361, float %368)
  %370 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 7
  %371 = load float, ptr %370, align 4, !tbaa !9
  %372 = load ptr, ptr %4, align 8, !tbaa !5
  %373 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %372, i32 0, i32 3
  %374 = getelementptr inbounds [9 x float], ptr %373, i64 0, i64 4
  %375 = load float, ptr %374, align 4, !tbaa !9
  %376 = call float @llvm.fmuladd.f32(float %371, float %375, float %369)
  store float %376, ptr %355, align 4, !tbaa !9
  %377 = getelementptr inbounds float, ptr %17, i64 6
  %378 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 0
  %379 = load float, ptr %378, align 16, !tbaa !9
  %380 = load ptr, ptr %4, align 8, !tbaa !5
  %381 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %380, i32 0, i32 3
  %382 = getelementptr inbounds [9 x float], ptr %381, i64 0, i64 6
  %383 = load float, ptr %382, align 4, !tbaa !9
  %384 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 6
  %385 = load float, ptr %384, align 8, !tbaa !9
  %386 = load ptr, ptr %4, align 8, !tbaa !5
  %387 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %386, i32 0, i32 3
  %388 = getelementptr inbounds [9 x float], ptr %387, i64 0, i64 0
  %389 = load float, ptr %388, align 4, !tbaa !9
  %390 = fmul float %385, %389
  %391 = call float @llvm.fmuladd.f32(float %379, float %383, float %390)
  %392 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 1
  %393 = load float, ptr %392, align 4, !tbaa !9
  %394 = load ptr, ptr %4, align 8, !tbaa !5
  %395 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %394, i32 0, i32 3
  %396 = getelementptr inbounds [9 x float], ptr %395, i64 0, i64 7
  %397 = load float, ptr %396, align 4, !tbaa !9
  %398 = call float @llvm.fmuladd.f32(float %393, float %397, float %391)
  %399 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 7
  %400 = load float, ptr %399, align 4, !tbaa !9
  %401 = load ptr, ptr %4, align 8, !tbaa !5
  %402 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %401, i32 0, i32 3
  %403 = getelementptr inbounds [9 x float], ptr %402, i64 0, i64 3
  %404 = load float, ptr %403, align 4, !tbaa !9
  %405 = call float @llvm.fmuladd.f32(float %400, float %404, float %398)
  store float %405, ptr %377, align 4, !tbaa !9
  %406 = getelementptr inbounds float, ptr %17, i64 7
  %407 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 6
  %408 = load float, ptr %407, align 8, !tbaa !9
  %409 = load ptr, ptr %4, align 8, !tbaa !5
  %410 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %409, i32 0, i32 3
  %411 = getelementptr inbounds [9 x float], ptr %410, i64 0, i64 1
  %412 = load float, ptr %411, align 4, !tbaa !9
  %413 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 3
  %414 = load float, ptr %413, align 4, !tbaa !9
  %415 = load ptr, ptr %4, align 8, !tbaa !5
  %416 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %415, i32 0, i32 3
  %417 = getelementptr inbounds [9 x float], ptr %416, i64 0, i64 6
  %418 = load float, ptr %417, align 4, !tbaa !9
  %419 = fmul float %414, %418
  %420 = call float @llvm.fmuladd.f32(float %408, float %412, float %419)
  %421 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 7
  %422 = load float, ptr %421, align 4, !tbaa !9
  %423 = load ptr, ptr %4, align 8, !tbaa !5
  %424 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %423, i32 0, i32 3
  %425 = getelementptr inbounds [9 x float], ptr %424, i64 0, i64 4
  %426 = load float, ptr %425, align 4, !tbaa !9
  %427 = call float @llvm.fmuladd.f32(float %422, float %426, float %420)
  store float %427, ptr %406, align 4, !tbaa !9
  %428 = getelementptr inbounds float, ptr %17, i64 8
  %429 = load ptr, ptr %4, align 8, !tbaa !5
  %430 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %429, i32 0, i32 4
  %431 = getelementptr inbounds [3 x float], ptr %430, i64 0, i64 2
  %432 = load float, ptr %431, align 4, !tbaa !9
  %433 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 6
  %434 = load float, ptr %433, align 8, !tbaa !9
  %435 = load ptr, ptr %4, align 8, !tbaa !5
  %436 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %435, i32 0, i32 3
  %437 = getelementptr inbounds [9 x float], ptr %436, i64 0, i64 2
  %438 = load float, ptr %437, align 4, !tbaa !9
  %439 = call float @llvm.fmuladd.f32(float %434, float %438, float %432)
  %440 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 6
  %441 = load float, ptr %440, align 8, !tbaa !9
  %442 = load ptr, ptr %4, align 8, !tbaa !5
  %443 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %442, i32 0, i32 3
  %444 = getelementptr inbounds [9 x float], ptr %443, i64 0, i64 6
  %445 = load float, ptr %444, align 4, !tbaa !9
  %446 = call float @llvm.fmuladd.f32(float %441, float %445, float %439)
  %447 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 7
  %448 = load float, ptr %447, align 4, !tbaa !9
  %449 = load ptr, ptr %4, align 8, !tbaa !5
  %450 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %449, i32 0, i32 3
  %451 = getelementptr inbounds [9 x float], ptr %450, i64 0, i64 5
  %452 = load float, ptr %451, align 4, !tbaa !9
  %453 = call float @llvm.fmuladd.f32(float %448, float %452, float %446)
  %454 = getelementptr inbounds [9 x float], ptr %16, i64 0, i64 7
  %455 = load float, ptr %454, align 4, !tbaa !9
  %456 = load ptr, ptr %4, align 8, !tbaa !5
  %457 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %456, i32 0, i32 3
  %458 = getelementptr inbounds [9 x float], ptr %457, i64 0, i64 7
  %459 = load float, ptr %458, align 4, !tbaa !9
  %460 = call float @llvm.fmuladd.f32(float %455, float %459, float %453)
  store float %460, ptr %428, align 4, !tbaa !9
  %461 = load float, ptr %6, align 4, !tbaa !9
  %462 = getelementptr inbounds [9 x float], ptr %17, i64 0, i64 0
  %463 = load float, ptr %462, align 16, !tbaa !9
  %464 = load ptr, ptr %4, align 8, !tbaa !5
  %465 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %464, i32 0, i32 3
  %466 = getelementptr inbounds [9 x float], ptr %465, i64 0, i64 0
  %467 = load float, ptr %466, align 4, !tbaa !9
  %468 = call float @llvm.fmuladd.f32(float %461, float %463, float %467)
  store float %468, ptr %466, align 4, !tbaa !9
  %469 = load float, ptr %6, align 4, !tbaa !9
  %470 = getelementptr inbounds [9 x float], ptr %17, i64 0, i64 1
  %471 = load float, ptr %470, align 4, !tbaa !9
  %472 = load ptr, ptr %4, align 8, !tbaa !5
  %473 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %472, i32 0, i32 3
  %474 = getelementptr inbounds [9 x float], ptr %473, i64 0, i64 1
  %475 = load float, ptr %474, align 4, !tbaa !9
  %476 = call float @llvm.fmuladd.f32(float %469, float %471, float %475)
  store float %476, ptr %474, align 4, !tbaa !9
  %477 = load float, ptr %6, align 4, !tbaa !9
  %478 = getelementptr inbounds [9 x float], ptr %17, i64 0, i64 2
  %479 = load float, ptr %478, align 8, !tbaa !9
  %480 = load ptr, ptr %4, align 8, !tbaa !5
  %481 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %480, i32 0, i32 3
  %482 = getelementptr inbounds [9 x float], ptr %481, i64 0, i64 2
  %483 = load float, ptr %482, align 4, !tbaa !9
  %484 = call float @llvm.fmuladd.f32(float %477, float %479, float %483)
  store float %484, ptr %482, align 4, !tbaa !9
  %485 = load float, ptr %6, align 4, !tbaa !9
  %486 = getelementptr inbounds [9 x float], ptr %17, i64 0, i64 3
  %487 = load float, ptr %486, align 4, !tbaa !9
  %488 = load ptr, ptr %4, align 8, !tbaa !5
  %489 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %488, i32 0, i32 3
  %490 = getelementptr inbounds [9 x float], ptr %489, i64 0, i64 3
  %491 = load float, ptr %490, align 4, !tbaa !9
  %492 = call float @llvm.fmuladd.f32(float %485, float %487, float %491)
  store float %492, ptr %490, align 4, !tbaa !9
  %493 = load float, ptr %6, align 4, !tbaa !9
  %494 = getelementptr inbounds [9 x float], ptr %17, i64 0, i64 4
  %495 = load float, ptr %494, align 16, !tbaa !9
  %496 = load ptr, ptr %4, align 8, !tbaa !5
  %497 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %496, i32 0, i32 3
  %498 = getelementptr inbounds [9 x float], ptr %497, i64 0, i64 4
  %499 = load float, ptr %498, align 4, !tbaa !9
  %500 = call float @llvm.fmuladd.f32(float %493, float %495, float %499)
  store float %500, ptr %498, align 4, !tbaa !9
  %501 = load float, ptr %6, align 4, !tbaa !9
  %502 = getelementptr inbounds [9 x float], ptr %17, i64 0, i64 5
  %503 = load float, ptr %502, align 4, !tbaa !9
  %504 = load ptr, ptr %4, align 8, !tbaa !5
  %505 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %504, i32 0, i32 3
  %506 = getelementptr inbounds [9 x float], ptr %505, i64 0, i64 5
  %507 = load float, ptr %506, align 4, !tbaa !9
  %508 = call float @llvm.fmuladd.f32(float %501, float %503, float %507)
  store float %508, ptr %506, align 4, !tbaa !9
  %509 = load float, ptr %6, align 4, !tbaa !9
  %510 = getelementptr inbounds [9 x float], ptr %17, i64 0, i64 6
  %511 = load float, ptr %510, align 8, !tbaa !9
  %512 = load ptr, ptr %4, align 8, !tbaa !5
  %513 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %512, i32 0, i32 3
  %514 = getelementptr inbounds [9 x float], ptr %513, i64 0, i64 6
  %515 = load float, ptr %514, align 4, !tbaa !9
  %516 = call float @llvm.fmuladd.f32(float %509, float %511, float %515)
  store float %516, ptr %514, align 4, !tbaa !9
  %517 = load float, ptr %6, align 4, !tbaa !9
  %518 = getelementptr inbounds [9 x float], ptr %17, i64 0, i64 7
  %519 = load float, ptr %518, align 4, !tbaa !9
  %520 = load ptr, ptr %4, align 8, !tbaa !5
  %521 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %520, i32 0, i32 3
  %522 = getelementptr inbounds [9 x float], ptr %521, i64 0, i64 7
  %523 = load float, ptr %522, align 4, !tbaa !9
  %524 = call float @llvm.fmuladd.f32(float %517, float %519, float %523)
  store float %524, ptr %522, align 4, !tbaa !9
  %525 = load float, ptr %6, align 4, !tbaa !9
  %526 = getelementptr inbounds [9 x float], ptr %17, i64 0, i64 8
  %527 = load float, ptr %526, align 16, !tbaa !9
  %528 = load ptr, ptr %4, align 8, !tbaa !5
  %529 = getelementptr inbounds %struct.KalmanRollPitchYaw, ptr %528, i32 0, i32 3
  %530 = getelementptr inbounds [9 x float], ptr %529, i64 0, i64 8
  %531 = load float, ptr %530, align 4, !tbaa !9
  %532 = call float @llvm.fmuladd.f32(float %525, float %527, float %531)
  store float %532, ptr %530, align 4, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 36, ptr %17) #4
  call void @llvm.lifetime.end.p0(i64 36, ptr %16) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #4
  store i32 0, ptr %12, align 4
  br label %533

533:                                              ; preds = %236, %147, %70
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #4
  %534 = load i32, ptr %12, align 4
  switch i32 %534, label %536 [
    i32 0, label %535
    i32 1, label %535
  ]

535:                                              ; preds = %533, %533
  ret void

536:                                              ; preds = %533
  unreachable
}

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

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

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

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

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

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #3

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

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

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" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { 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/C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"float", !7, i64 0}
!11 = !{!12, !10, i64 0}
!12 = !{!"", !10, i64 0, !10, i64 4, !10, i64 8, !7, i64 12, !7, i64 48, !10, i64 60, !10, i64 64, !7, i64 68}
!13 = !{!12, !10, i64 4}
!14 = !{!12, !10, i64 8}


; 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: mustprogress nofree nounwind willreturn memory(write, argmem: readwrite) uwtable
define dso_local void @KalmanRollPitchYaw_Predict(ptr nocapture noundef %0, ptr nocapture noundef readonly %1, float noundef %2) local_unnamed_addr #0 {
  %4 = load float, ptr %1, align 4, !tbaa !5
  %5 = getelementptr inbounds i8, ptr %1, i64 4
  %6 = getelementptr inbounds i8, ptr %1, i64 8
  %7 = load <2 x float>, ptr %5, align 4, !tbaa !5
  %8 = shufflevector <2 x float> %7, <2 x float> poison, <2 x i32> <i32 1, i32 0>
  %9 = getelementptr inbounds i8, ptr %0, i64 68
  store float %4, ptr %9, align 4, !tbaa !5
  %10 = load float, ptr %5, align 4, !tbaa !5
  %11 = getelementptr inbounds i8, ptr %0, i64 72
  store float %10, ptr %11, align 4, !tbaa !5
  %12 = load float, ptr %6, align 4, !tbaa !5
  %13 = getelementptr inbounds i8, ptr %0, i64 76
  store float %12, ptr %13, align 4, !tbaa !5
  %14 = load float, ptr %0, align 4, !tbaa !9
  %15 = fpext float %14 to double
  %16 = tail call double @sin(double noundef %15) #4
  %17 = load float, ptr %0, align 4, !tbaa !9
  %18 = fpext float %17 to double
  %19 = tail call double @cos(double noundef %18) #4
  %20 = getelementptr inbounds i8, ptr %0, i64 4
  %21 = load float, ptr %20, align 4, !tbaa !11
  %22 = fpext float %21 to double
  %23 = tail call double @llvm.fabs.f64(double %22)
  %24 = fcmp ogt double %23, 0x3FF945B9E0000000
  %25 = fcmp olt double %23, 0x3FF8FE3CC0000000
  %or.cond = or i1 %24, %25
  br i1 %or.cond, label %166, label %26

26:                                               ; preds = %3
  %27 = fptrunc double %19 to float
  %28 = fptrunc double %16 to float
  %29 = load float, ptr %0, align 4, !tbaa !9
  %30 = fpext float %29 to double
  %31 = fpext float %2 to double
  %32 = fpext float %4 to double
  %33 = tail call double @tan(double noundef %22) #4
  %34 = extractelement <2 x float> %7, i64 1
  %35 = fmul float %34, %27
  %36 = extractelement <2 x float> %7, i64 0
  %37 = tail call float @llvm.fmuladd.f32(float %36, float %28, float %35)
  %38 = fpext float %37 to double
  %39 = tail call double @llvm.fmuladd.f64(double %33, double %38, double %32)
  %40 = tail call double @llvm.fmuladd.f64(double %31, double %39, double %30)
  %41 = fptrunc double %40 to float
  store float %41, ptr %0, align 4, !tbaa !9
  %42 = load float, ptr %20, align 4, !tbaa !11
  %43 = fneg float %34
  %44 = fmul float %43, %28
  %45 = tail call float @llvm.fmuladd.f32(float %36, float %27, float %44)
  %46 = tail call float @llvm.fmuladd.f32(float %2, float %45, float %42)
  store float %46, ptr %20, align 4, !tbaa !11
  %47 = getelementptr inbounds i8, ptr %0, i64 8
  %48 = load float, ptr %47, align 4, !tbaa !12
  %49 = fpext float %48 to double
  %50 = fmul float %37, %2
  %51 = fpext float %50 to double
  %52 = fpext float %46 to double
  %53 = tail call double @cos(double noundef %52) #4
  %54 = fdiv double %51, %53
  %55 = fadd double %54, %49
  %56 = fptrunc double %55 to float
  store float %56, ptr %47, align 4, !tbaa !12
  %57 = load float, ptr %20, align 4, !tbaa !11
  %58 = tail call float @llvm.fabs.f32(float %57)
  %59 = fcmp ogt float %58, 0x3FF945B9E0000000
  %60 = fcmp olt float %58, 0x3FF8FE3CC0000000
  %or.cond125 = or i1 %59, %60
  br i1 %or.cond125, label %166, label %61

61:                                               ; preds = %26
  %62 = load float, ptr %0, align 4, !tbaa !9
  %63 = fpext float %62 to double
  %64 = tail call double @sin(double noundef %63) #4
  %65 = fptrunc double %64 to float
  %66 = load float, ptr %0, align 4, !tbaa !9
  %67 = fpext float %66 to double
  %68 = tail call double @cos(double noundef %67) #4
  %69 = fptrunc double %68 to float
  %70 = load float, ptr %20, align 4, !tbaa !11
  %71 = fpext float %70 to double
  %72 = tail call double @sin(double noundef %71) #4
  %73 = fptrunc double %72 to float
  %74 = load float, ptr %20, align 4, !tbaa !11
  %75 = fpext float %74 to double
  %76 = tail call double @cos(double noundef %75) #4
  %77 = fptrunc double %76 to float
  %78 = fdiv float %73, %77
  %79 = tail call float @llvm.fmuladd.f32(float %78, float %78, float 1.000000e+00)
  %80 = fmul float %34, %69
  %81 = tail call float @llvm.fmuladd.f32(float %36, float %65, float %80)
  %82 = fmul float %81, %73
  %83 = fmul float %77, %77
  %84 = fdiv float %82, %83
  %85 = getelementptr inbounds i8, ptr %0, i64 48
  %86 = load float, ptr %85, align 4, !tbaa !5
  %87 = getelementptr inbounds i8, ptr %0, i64 12
  %88 = getelementptr inbounds i8, ptr %0, i64 28
  %89 = getelementptr inbounds i8, ptr %0, i64 52
  %90 = load float, ptr %89, align 4, !tbaa !5
  %91 = getelementptr inbounds i8, ptr %0, i64 56
  %92 = load float, ptr %91, align 4, !tbaa !5
  %93 = load <4 x float>, ptr %87, align 4, !tbaa !5
  %94 = extractelement <4 x float> %93, i64 0
  %95 = fmul float %94, 0.000000e+00
  %96 = extractelement <4 x float> %93, i64 2
  %97 = insertelement <4 x float> poison, float %84, i64 0
  %98 = shufflevector <4 x float> %93, <4 x float> poison, <4 x i32> <i32 0, i32 1, i32 1, i32 3>
  %99 = shufflevector <4 x float> %93, <4 x float> poison, <4 x i32> <i32 1, i32 3, i32 poison, i32 poison>
  %100 = extractelement <4 x float> %93, i64 3
  %101 = fmul float %100, %84
  %102 = fmul float %94, %84
  %103 = tail call float @llvm.fmuladd.f32(float %84, float %96, float %92)
  %104 = insertelement <4 x float> poison, float %2, i64 0
  %105 = shufflevector <4 x float> %104, <4 x float> poison, <4 x i32> zeroinitializer
  %106 = load <4 x float>, ptr %88, align 4, !tbaa !5
  %107 = extractelement <4 x float> %106, i64 1
  %108 = extractelement <4 x float> %106, i64 2
  %109 = fmul float %108, 0.000000e+00
  %110 = insertelement <2 x float> %7, float %43, i64 1
  %111 = insertelement <2 x float> poison, float %65, i64 0
  %112 = shufflevector <2 x float> %111, <2 x float> poison, <2 x i32> zeroinitializer
  %113 = fmul <2 x float> %110, %112
  %114 = insertelement <2 x float> poison, float %69, i64 0
  %115 = shufflevector <2 x float> %114, <2 x float> poison, <2 x i32> zeroinitializer
  %116 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %8, <2 x float> %115, <2 x float> %113)
  %117 = insertelement <2 x float> poison, float %79, i64 0
  %118 = insertelement <2 x float> %117, float %78, i64 1
  %119 = fmul <2 x float> %116, %118
  %120 = extractelement <2 x float> %119, i64 0
  %121 = fmul float %120, %107
  %122 = extractelement <2 x float> %119, i64 1
  %123 = fmul float %122, 2.000000e+00
  %124 = shufflevector <2 x float> %119, <2 x float> poison, <4 x i32> <i32 0, i32 1, i32 poison, i32 poison>
  %125 = shufflevector <4 x float> %97, <4 x float> %124, <4 x i32> <i32 0, i32 4, i32 5, i32 poison>
  %126 = shufflevector <4 x float> %125, <4 x float> poison, <4 x i32> <i32 0, i32 1, i32 2, i32 2>
  %127 = shufflevector <4 x float> %125, <4 x float> <float poison, float 0.000000e+00, float poison, float poison>, <4 x i32> <i32 5, i32 1, i32 1, i32 1>
  %128 = shufflevector <2 x float> %119, <2 x float> poison, <2 x i32> <i32 1, i32 poison>
  %129 = insertelement <2 x float> %128, float %123, i64 1
  %130 = shufflevector <4 x float> %93, <4 x float> poison, <2 x i32> <i32 2, i32 0>
  %131 = insertelement <2 x float> poison, float %121, i64 0
  %132 = insertelement <2 x float> %131, float %86, i64 1
  %133 = tail call <2 x float> @llvm.fmuladd.v2f32(<2 x float> %129, <2 x float> %130, <2 x float> %132)
  %134 = shufflevector <2 x float> %133, <2 x float> poison, <4 x i32> <i32 0, i32 1, i32 poison, i32 poison>
  %135 = insertelement <4 x float> %134, float %95, i64 2
  %136 = shufflevector <4 x float> %135, <4 x float> poison, <4 x i32> <i32 0, i32 1, i32 2, i32 2>
  %137 = tail call <4 x float> @llvm.fmuladd.v4f32(<4 x float> %126, <4 x float> %98, <4 x float> %136)
  %138 = shufflevector <4 x float> %99, <4 x float> %106, <4 x i32> <i32 0, i32 1, i32 4, i32 poison>
  %139 = shufflevector <4 x float> %138, <4 x float> poison, <4 x i32> <i32 0, i32 1, i32 2, i32 2>
  %140 = tail call <4 x float> @llvm.fmuladd.v4f32(<4 x float> %127, <4 x float> %139, <4 x float> %137)
  %141 = shufflevector <4 x float> %140, <4 x float> poison, <4 x i32> <i32 1, i32 2, i32 0, i32 3>
  %142 = tail call float @llvm.fmuladd.f32(float %122, float %108, float %102)
  %143 = shufflevector <4 x float> %93, <4 x float> poison, <4 x i32> <i32 1, i32 2, i32 poison, i32 poison>
  %144 = shufflevector <4 x float> %143, <4 x float> %124, <4 x i32> <i32 0, i32 1, i32 4, i32 poison>
  %145 = insertelement <4 x float> %144, float %84, i64 3
  %146 = shufflevector <4 x float> %93, <4 x float> <float 0.000000e+00, float 0.000000e+00, float poison, float poison>, <4 x i32> <i32 4, i32 5, i32 poison, i32 1>
  %147 = shufflevector <4 x float> %146, <4 x float> %106, <4 x i32> <i32 0, i32 1, i32 7, i32 3>
  %148 = insertelement <4 x float> poison, float %90, i64 0
  %149 = insertelement <4 x float> %148, float %101, i64 1
  %150 = insertelement <4 x float> %149, float %142, i64 2
  %151 = insertelement <4 x float> %150, float %109, i64 3
  %152 = tail call <4 x float> @llvm.fmuladd.v4f32(<4 x float> %145, <4 x float> %147, <4 x float> %151)
  %153 = shufflevector <4 x float> %93, <4 x float> poison, <4 x i32> <i32 3, i32 poison, i32 poison, i32 poison>
  %154 = shufflevector <4 x float> %153, <4 x float> %106, <2 x i32> <i32 0, i32 4>
  %155 = shufflevector <2 x float> %154, <2 x float> poison, <4 x i32> <i32 0, i32 1, i32 0, i32 1>
  %156 = tail call <4 x float> @llvm.fmuladd.v4f32(<4 x float> %155, <4 x float> zeroinitializer, <4 x float> %152)
  %157 = tail call float @llvm.fmuladd.f32(float %84, float %108, float %103)
  %158 = tail call float @llvm.fmuladd.f32(float %107, float 0.000000e+00, float %157)
  %159 = extractelement <4 x float> %106, i64 3
  %160 = tail call float @llvm.fmuladd.f32(float %159, float 0.000000e+00, float %158)
  %161 = tail call <4 x float> @llvm.fmuladd.v4f32(<4 x float> %105, <4 x float> %141, <4 x float> %93)
  store <4 x float> %161, ptr %87, align 4, !tbaa !5
  %162 = tail call <4 x float> @llvm.fmuladd.v4f32(<4 x float> %105, <4 x float> %156, <4 x float> %106)
  store <4 x float> %162, ptr %88, align 4, !tbaa !5
  %163 = getelementptr inbounds i8, ptr %0, i64 44
  %164 = load float, ptr %163, align 4, !tbaa !5
  %165 = tail call float @llvm.fmuladd.f32(float %2, float %160, float %164)
  store float %165, ptr %163, align 4, !tbaa !5
  br label %166

166:                                              ; preds = %26, %3, %61
  ret void
}

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

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

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fabs.f64(double) #2

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

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #2

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #2

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fabs.f32(float) #3

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare <4 x float> @llvm.fmuladd.v4f32(<4 x float>, <4 x float>, <4 x float>) #3

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare <2 x float> @llvm.fmuladd.v2f32(<2 x float>, <2 x float>, <2 x float>) #3

attributes #0 = { mustprogress nofree nounwind willreturn memory(write, argmem: readwrite) 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 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
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 = !{!"float", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}
!9 = !{!10, !6, i64 0}
!10 = !{!"", !6, i64 0, !6, i64 4, !6, i64 8, !7, i64 12, !7, i64 48, !6, i64 60, !6, i64 64, !7, i64 68}
!11 = !{!10, !6, i64 4}
!12 = !{!10, !6, i64 8}


; Effective O3 passes: BDCEPass,EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,PostOrderFunctionAttrsPass,ReassociatePass,SLPVectorizerPass,SROAPass,SimplifyCFGPass,TailCallElimPass