; LLVM IR from Yinxiaoli/iros2015_folding :: src/folding_planner/src (Registration)

; 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.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase.base", ptr, i64 }
%"class.Eigen::MapBase.base" = type <{ ptr, [2 x i8] }>
%"class.Eigen::CwiseBinaryOp.81" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [2 x double] }
%struct.SCurve = type { i8, i32, %"class.Eigen::Matrix.27", %"class.Eigen::Matrix.27", %"class.Eigen::Matrix.37" }
%"class.Eigen::Matrix.27" = type { %"class.Eigen::PlainObjectBase.28" }
%"class.Eigen::PlainObjectBase.28" = type { %"class.Eigen::DenseStorage.36" }
%"class.Eigen::DenseStorage.36" = type { ptr, i64 }
%"class.Eigen::Matrix.37" = type { %"class.Eigen::PlainObjectBase.38" }
%"class.Eigen::PlainObjectBase.38" = type { %"class.Eigen::DenseStorage.46" }
%"class.Eigen::DenseStorage.46" = type { ptr, i64 }
%struct.SParameters = type { double, double, double, double, %"struct._BlueTail::_Image::SImage", %struct.SRegion, i32, double, double, double, double, i32, double }
%"struct._BlueTail::_Image::SImage" = type { i32, i32, ptr }
%struct.SRegion = type { double, double, double, double }

@.str.1 = external hidden unnamed_addr constant [101 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [41 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [46 x i8], align 1
@__PRETTY_FUNCTION__._Z30computeNumericalDerivative_fitPK11SParametersPK6SCurveRKN5Eigen6MatrixIdLi2ELin1ELi0ELi2ELin1EEEdRNS6_IdLin1ELin1ELi0ELin1ELin1EEEi = external hidden unnamed_addr constant [131 x i8], align 1

; 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: nounwind
declare double @sqrt(double noundef) #1

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #2

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_Z23integrateDF2OverSegmentPK11SParametersRKN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEES6_d(ptr noundef, ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), double noundef) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLi2ELin1ELi0ELi2ELin1EEEE3colEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_5BlockIKNS0_IdLi2ELin1ELi0ELi2ELin1EEELi2ELi1ELb1EEEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2IddEERKT_RKT0_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi2ELi1ELi0ELi2ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS2_KT_EERKNS0_ISA_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.81") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS1_S7_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_Z30computeNumericalDerivative_fitPK11SParametersPK6SCurveRKN5Eigen6MatrixIdLi2ELin1ELi0ELi2ELin1EEEdRNS6_IdLin1ELin1ELi0ELin1ELin1EEEi(ptr noundef %0, ptr noundef %1, ptr noundef nonnull align 8 dereferenceable(16) %2, double noundef %3, ptr noundef nonnull align 8 dereferenceable(24) %4, i32 noundef %5) #3 {
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca double, align 8
  %11 = alloca ptr, align 8
  %12 = alloca i32, align 4
  %13 = alloca i32, align 4
  %14 = alloca %"class.Eigen::Matrix", align 16
  %15 = alloca double, align 8
  %16 = alloca %"class.Eigen::Matrix", align 16
  %17 = alloca double, align 8
  %18 = alloca i32, align 4
  %19 = alloca i32, align 4
  %20 = alloca %"class.Eigen::Matrix", align 16
  %21 = alloca %"class.Eigen::Block", align 8
  %22 = alloca %"class.Eigen::Matrix", align 16
  %23 = alloca %"class.Eigen::Block", align 8
  %24 = alloca double, align 8
  %25 = alloca double, align 8
  %26 = alloca %"class.Eigen::Matrix", align 16
  %27 = alloca %"class.Eigen::CwiseBinaryOp.81", align 8
  %28 = alloca double, align 8
  %29 = alloca %"class.Eigen::Matrix", align 16
  %30 = alloca %"class.Eigen::CwiseBinaryOp.81", align 8
  %31 = alloca double, align 8
  %32 = alloca %"class.Eigen::Matrix", align 16
  %33 = alloca %"class.Eigen::CwiseBinaryOp.81", align 8
  %34 = alloca double, align 8
  %35 = alloca %"class.Eigen::Matrix", align 16
  %36 = alloca %"class.Eigen::CwiseBinaryOp.81", align 8
  %37 = alloca double, align 8
  store ptr %0, ptr %7, align 8, !tbaa !5
  store ptr %1, ptr %8, align 8, !tbaa !5
  store ptr %2, ptr %9, align 8, !tbaa !5
  store double %3, ptr %10, align 8, !tbaa !9
  store ptr %4, ptr %11, align 8, !tbaa !5
  store i32 %5, ptr %12, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #5
  %38 = load ptr, ptr %8, align 8, !tbaa !5
  %39 = getelementptr inbounds %struct.SCurve, ptr %38, i32 0, i32 0
  %40 = load i8, ptr %39, align 8, !tbaa !13, !range !23, !noundef !24
  %41 = trunc i8 %40 to i1
  br i1 %41, label %42, label %46

42:                                               ; preds = %6
  %43 = load ptr, ptr %8, align 8, !tbaa !5
  %44 = getelementptr inbounds %struct.SCurve, ptr %43, i32 0, i32 1
  %45 = load i32, ptr %44, align 4, !tbaa !25
  br label %51

46:                                               ; preds = %6
  %47 = load ptr, ptr %8, align 8, !tbaa !5
  %48 = getelementptr inbounds %struct.SCurve, ptr %47, i32 0, i32 1
  %49 = load i32, ptr %48, align 4, !tbaa !25
  %50 = sub nsw i32 %49, 1
  br label %51

51:                                               ; preds = %46, %42
  %52 = phi i32 [ %45, %42 ], [ %50, %46 ]
  store i32 %52, ptr %13, align 4, !tbaa !11
  %53 = load ptr, ptr %11, align 8, !tbaa !5
  %54 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %53)
  %55 = load i32, ptr %13, align 4, !tbaa !11
  %56 = load i32, ptr %12, align 4, !tbaa !11
  %57 = add nsw i32 %55, %56
  %58 = sext i32 %57 to i64
  %59 = icmp sge i64 %54, %58
  br i1 %59, label %60, label %61

60:                                               ; preds = %51
  br label %63

61:                                               ; preds = %51
  call void @__assert_fail(ptr noundef @.str.8, ptr noundef @.str.1, i32 noundef 405, ptr noundef @__PRETTY_FUNCTION__._Z30computeNumericalDerivative_fitPK11SParametersPK6SCurveRKN5Eigen6MatrixIdLi2ELin1ELi0ELi2ELin1EEEdRNS6_IdLin1ELin1ELi0ELin1ELin1EEEi) #6
  unreachable

62:                                               ; No predecessors!
  br label %63

63:                                               ; preds = %62, %60
  %64 = load ptr, ptr %11, align 8, !tbaa !5
  %65 = call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24) %64)
  %66 = load ptr, ptr %8, align 8, !tbaa !5
  %67 = getelementptr inbounds %struct.SCurve, ptr %66, i32 0, i32 1
  %68 = load i32, ptr %67, align 4, !tbaa !25
  %69 = mul nsw i32 %68, 2
  %70 = sext i32 %69 to i64
  %71 = icmp eq i64 %65, %70
  br i1 %71, label %72, label %73

72:                                               ; preds = %63
  br label %75

73:                                               ; preds = %63
  call void @__assert_fail(ptr noundef @.str.9, ptr noundef @.str.1, i32 noundef 406, ptr noundef @__PRETTY_FUNCTION__._Z30computeNumericalDerivative_fitPK11SParametersPK6SCurveRKN5Eigen6MatrixIdLi2ELin1ELi0ELi2ELin1EEEdRNS6_IdLin1ELin1ELi0ELin1ELin1EEEi) #6
  unreachable

74:                                               ; No predecessors!
  br label %75

75:                                               ; preds = %74, %72
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #5
  store double 0.000000e+00, ptr %15, align 8, !tbaa !9
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2IddEERKT_RKT0_(ptr noundef nonnull align 16 dereferenceable(16) %14, ptr noundef nonnull align 8 dereferenceable(8) %10, ptr noundef nonnull align 8 dereferenceable(8) %15)
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr %16) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #5
  store double 0.000000e+00, ptr %17, align 8, !tbaa !9
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2IddEERKT_RKT0_(ptr noundef nonnull align 16 dereferenceable(16) %16, ptr noundef nonnull align 8 dereferenceable(8) %17, ptr noundef nonnull align 8 dereferenceable(8) %10)
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #5
  store i32 0, ptr %18, align 4, !tbaa !11
  br label %76

76:                                               ; preds = %210, %75
  %77 = load i32, ptr %18, align 4, !tbaa !11
  %78 = load i32, ptr %13, align 4, !tbaa !11
  %79 = icmp slt i32 %77, %78
  br i1 %79, label %81, label %80

80:                                               ; preds = %76
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #5
  br label %213

81:                                               ; preds = %76
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #5
  %82 = load i32, ptr %18, align 4, !tbaa !11
  %83 = add nsw i32 %82, 1
  %84 = load ptr, ptr %8, align 8, !tbaa !5
  %85 = getelementptr inbounds %struct.SCurve, ptr %84, i32 0, i32 1
  %86 = load i32, ptr %85, align 4, !tbaa !25
  %87 = srem i32 %83, %86
  store i32 %87, ptr %19, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 16, ptr %20) #5
  call void @llvm.lifetime.start.p0(i64 32, ptr %21) #5
  %88 = load ptr, ptr %9, align 8, !tbaa !5
  %89 = load i32, ptr %18, align 4, !tbaa !11
  %90 = sext i32 %89 to i64
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLi2ELin1ELi0ELi2ELin1EEEE3colEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %21, ptr noundef nonnull align 1 dereferenceable(1) %88, i64 noundef %90)
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_5BlockIKNS0_IdLi2ELin1ELi0ELi2ELin1EEELi2ELi1ELb1EEEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %20, ptr noundef nonnull align 1 dereferenceable(1) %21)
  call void @llvm.lifetime.end.p0(i64 32, ptr %21) #5
  call void @llvm.lifetime.start.p0(i64 16, ptr %22) #5
  call void @llvm.lifetime.start.p0(i64 32, ptr %23) #5
  %91 = load ptr, ptr %9, align 8, !tbaa !5
  %92 = load i32, ptr %19, align 4, !tbaa !11
  %93 = sext i32 %92 to i64
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLi2ELin1ELi0ELi2ELin1EEEE3colEl(ptr dead_on_unwind writable sret(%"class.Eigen::Block") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %91, i64 noundef %93)
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_5BlockIKNS0_IdLi2ELin1ELi0ELi2ELin1EEELi2ELi1ELb1EEEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 1 dereferenceable(1) %23)
  call void @llvm.lifetime.end.p0(i64 32, ptr %23) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #5
  %94 = load ptr, ptr %8, align 8, !tbaa !5
  %95 = getelementptr inbounds %struct.SCurve, ptr %94, i32 0, i32 3
  %96 = load i32, ptr %18, align 4, !tbaa !11
  %97 = sext i32 %96 to i64
  %98 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %95, i64 noundef %97)
  %99 = load double, ptr %98, align 8, !tbaa !9
  store double %99, ptr %24, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #5
  %100 = load ptr, ptr %7, align 8, !tbaa !5
  %101 = getelementptr inbounds %struct.SParameters, ptr %100, i32 0, i32 2
  %102 = load double, ptr %101, align 8, !tbaa !26
  %103 = fmul double %102, 5.000000e-01
  %104 = call double @sqrt(double noundef %103) #5
  %105 = load ptr, ptr %7, align 8, !tbaa !5
  %106 = load double, ptr %24, align 8, !tbaa !9
  %107 = call noundef double @_Z23integrateDF2OverSegmentPK11SParametersRKN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEES6_d(ptr noundef %105, ptr noundef nonnull align 16 dereferenceable(16) %20, ptr noundef nonnull align 16 dereferenceable(16) %22, double noundef %106)
  %108 = call double @sqrt(double noundef %107) #5
  %109 = fmul double %104, %108
  store double %109, ptr %25, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 16, ptr %26) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %27) #5
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi2ELi1ELi0ELi2ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS2_KT_EERKNS0_ISA_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.81") align 8 %27, ptr noundef nonnull align 1 dereferenceable(1) %20, ptr noundef nonnull align 1 dereferenceable(1) %14)
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS1_S7_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %26, ptr noundef nonnull align 1 dereferenceable(1) %27)
  call void @llvm.lifetime.end.p0(i64 24, ptr %27) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #5
  %110 = load ptr, ptr %7, align 8, !tbaa !5
  %111 = getelementptr inbounds %struct.SParameters, ptr %110, i32 0, i32 2
  %112 = load double, ptr %111, align 8, !tbaa !26
  %113 = fmul double %112, 5.000000e-01
  %114 = call double @sqrt(double noundef %113) #5
  %115 = load ptr, ptr %7, align 8, !tbaa !5
  %116 = load double, ptr %24, align 8, !tbaa !9
  %117 = call noundef double @_Z23integrateDF2OverSegmentPK11SParametersRKN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEES6_d(ptr noundef %115, ptr noundef nonnull align 16 dereferenceable(16) %26, ptr noundef nonnull align 16 dereferenceable(16) %22, double noundef %116)
  %118 = call double @sqrt(double noundef %117) #5
  %119 = fmul double %114, %118
  store double %119, ptr %28, align 8, !tbaa !9
  %120 = load double, ptr %28, align 8, !tbaa !9
  %121 = load double, ptr %25, align 8, !tbaa !9
  %122 = fsub double %120, %121
  %123 = load double, ptr %10, align 8, !tbaa !9
  %124 = fdiv double %122, %123
  %125 = load ptr, ptr %11, align 8, !tbaa !5
  %126 = load i32, ptr %18, align 4, !tbaa !11
  %127 = load i32, ptr %12, align 4, !tbaa !11
  %128 = add nsw i32 %126, %127
  %129 = sext i32 %128 to i64
  %130 = load i32, ptr %18, align 4, !tbaa !11
  %131 = sext i32 %130 to i64
  %132 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %125, i64 noundef %129, i64 noundef %131)
  store double %124, ptr %132, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 16, ptr %29) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %30) #5
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi2ELi1ELi0ELi2ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS2_KT_EERKNS0_ISA_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.81") align 8 %30, ptr noundef nonnull align 1 dereferenceable(1) %20, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS1_S7_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %29, ptr noundef nonnull align 1 dereferenceable(1) %30)
  call void @llvm.lifetime.end.p0(i64 24, ptr %30) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #5
  %133 = load ptr, ptr %7, align 8, !tbaa !5
  %134 = getelementptr inbounds %struct.SParameters, ptr %133, i32 0, i32 2
  %135 = load double, ptr %134, align 8, !tbaa !26
  %136 = fmul double %135, 5.000000e-01
  %137 = call double @sqrt(double noundef %136) #5
  %138 = load ptr, ptr %7, align 8, !tbaa !5
  %139 = load double, ptr %24, align 8, !tbaa !9
  %140 = call noundef double @_Z23integrateDF2OverSegmentPK11SParametersRKN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEES6_d(ptr noundef %138, ptr noundef nonnull align 16 dereferenceable(16) %29, ptr noundef nonnull align 16 dereferenceable(16) %22, double noundef %139)
  %141 = call double @sqrt(double noundef %140) #5
  %142 = fmul double %137, %141
  store double %142, ptr %31, align 8, !tbaa !9
  %143 = load double, ptr %31, align 8, !tbaa !9
  %144 = load double, ptr %25, align 8, !tbaa !9
  %145 = fsub double %143, %144
  %146 = load double, ptr %10, align 8, !tbaa !9
  %147 = fdiv double %145, %146
  %148 = load ptr, ptr %11, align 8, !tbaa !5
  %149 = load i32, ptr %18, align 4, !tbaa !11
  %150 = load i32, ptr %12, align 4, !tbaa !11
  %151 = add nsw i32 %149, %150
  %152 = sext i32 %151 to i64
  %153 = load i32, ptr %18, align 4, !tbaa !11
  %154 = load ptr, ptr %8, align 8, !tbaa !5
  %155 = getelementptr inbounds %struct.SCurve, ptr %154, i32 0, i32 1
  %156 = load i32, ptr %155, align 4, !tbaa !25
  %157 = add nsw i32 %153, %156
  %158 = sext i32 %157 to i64
  %159 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %148, i64 noundef %152, i64 noundef %158)
  store double %147, ptr %159, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %33) #5
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi2ELi1ELi0ELi2ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS2_KT_EERKNS0_ISA_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.81") align 8 %33, ptr noundef nonnull align 1 dereferenceable(1) %22, ptr noundef nonnull align 1 dereferenceable(1) %14)
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS1_S7_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %32, ptr noundef nonnull align 1 dereferenceable(1) %33)
  call void @llvm.lifetime.end.p0(i64 24, ptr %33) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #5
  %160 = load ptr, ptr %7, align 8, !tbaa !5
  %161 = getelementptr inbounds %struct.SParameters, ptr %160, i32 0, i32 2
  %162 = load double, ptr %161, align 8, !tbaa !26
  %163 = fmul double %162, 5.000000e-01
  %164 = call double @sqrt(double noundef %163) #5
  %165 = load ptr, ptr %7, align 8, !tbaa !5
  %166 = load double, ptr %24, align 8, !tbaa !9
  %167 = call noundef double @_Z23integrateDF2OverSegmentPK11SParametersRKN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEES6_d(ptr noundef %165, ptr noundef nonnull align 16 dereferenceable(16) %20, ptr noundef nonnull align 16 dereferenceable(16) %32, double noundef %166)
  %168 = call double @sqrt(double noundef %167) #5
  %169 = fmul double %164, %168
  store double %169, ptr %34, align 8, !tbaa !9
  %170 = load double, ptr %34, align 8, !tbaa !9
  %171 = load double, ptr %25, align 8, !tbaa !9
  %172 = fsub double %170, %171
  %173 = load double, ptr %10, align 8, !tbaa !9
  %174 = fdiv double %172, %173
  %175 = load ptr, ptr %11, align 8, !tbaa !5
  %176 = load i32, ptr %18, align 4, !tbaa !11
  %177 = load i32, ptr %12, align 4, !tbaa !11
  %178 = add nsw i32 %176, %177
  %179 = sext i32 %178 to i64
  %180 = load i32, ptr %19, align 4, !tbaa !11
  %181 = sext i32 %180 to i64
  %182 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %175, i64 noundef %179, i64 noundef %181)
  store double %174, ptr %182, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 16, ptr %35) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %36) #5
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi2ELi1ELi0ELi2ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS2_KT_EERKNS0_ISA_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.81") align 8 %36, ptr noundef nonnull align 1 dereferenceable(1) %22, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS1_S7_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %35, ptr noundef nonnull align 1 dereferenceable(1) %36)
  call void @llvm.lifetime.end.p0(i64 24, ptr %36) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #5
  %183 = load ptr, ptr %7, align 8, !tbaa !5
  %184 = getelementptr inbounds %struct.SParameters, ptr %183, i32 0, i32 2
  %185 = load double, ptr %184, align 8, !tbaa !26
  %186 = fmul double %185, 5.000000e-01
  %187 = call double @sqrt(double noundef %186) #5
  %188 = load ptr, ptr %7, align 8, !tbaa !5
  %189 = load double, ptr %24, align 8, !tbaa !9
  %190 = call noundef double @_Z23integrateDF2OverSegmentPK11SParametersRKN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEES6_d(ptr noundef %188, ptr noundef nonnull align 16 dereferenceable(16) %20, ptr noundef nonnull align 16 dereferenceable(16) %35, double noundef %189)
  %191 = call double @sqrt(double noundef %190) #5
  %192 = fmul double %187, %191
  store double %192, ptr %37, align 8, !tbaa !9
  %193 = load double, ptr %37, align 8, !tbaa !9
  %194 = load double, ptr %25, align 8, !tbaa !9
  %195 = fsub double %193, %194
  %196 = load double, ptr %10, align 8, !tbaa !9
  %197 = fdiv double %195, %196
  %198 = load ptr, ptr %11, align 8, !tbaa !5
  %199 = load i32, ptr %18, align 4, !tbaa !11
  %200 = load i32, ptr %12, align 4, !tbaa !11
  %201 = add nsw i32 %199, %200
  %202 = sext i32 %201 to i64
  %203 = load i32, ptr %19, align 4, !tbaa !11
  %204 = load ptr, ptr %8, align 8, !tbaa !5
  %205 = getelementptr inbounds %struct.SCurve, ptr %204, i32 0, i32 1
  %206 = load i32, ptr %205, align 4, !tbaa !25
  %207 = add nsw i32 %203, %206
  %208 = sext i32 %207 to i64
  %209 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %198, i64 noundef %202, i64 noundef %208)
  store double %197, ptr %209, align 8, !tbaa !9
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %35) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %26) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %22) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %20) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #5
  br label %210

210:                                              ; preds = %81
  %211 = load i32, ptr %18, align 4, !tbaa !11
  %212 = add nsw i32 %211, 1
  store i32 %212, ptr %18, align 4, !tbaa !11
  br label %76, !llvm.loop !30

213:                                              ; preds = %80
  call void @llvm.lifetime.end.p0(i64 16, ptr %16) #5
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #5
  ret void
}

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { noreturn 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 = { 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 #4 = { inlinehint 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 #5 = { nounwind }
attributes #6 = { noreturn 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}
!13 = !{!14, !15, i64 0}
!14 = !{!"_ZTS6SCurve", !15, i64 0, !12, i64 4, !16, i64 8, !16, i64 24, !20, i64 40}
!15 = !{!"bool", !7, i64 0}
!16 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !19, i64 8}
!19 = !{!"long", !7, i64 0}
!20 = !{!"_ZTSN5Eigen6MatrixIiLin1ELi1ELi0ELin1ELi1EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIiLin1ELi1ELi0ELin1ELi1EEEEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen12DenseStorageIiLin1ELin1ELi1ELi0EEE", !6, i64 0, !19, i64 8}
!23 = !{i8 0, i8 2}
!24 = !{}
!25 = !{!14, !12, i64 4}
!26 = !{!27, !10, i64 16}
!27 = !{!"_ZTS11SParameters", !10, i64 0, !10, i64 8, !10, i64 16, !10, i64 24, !28, i64 32, !29, i64 48, !12, i64 80, !10, i64 88, !10, i64 96, !10, i64 104, !10, i64 112, !12, i64 120, !10, i64 128}
!28 = !{!"_ZTSN9_BlueTail6_Image6SImageIdLi1EEE", !12, i64 0, !12, i64 4, !6, i64 8}
!29 = !{!"_ZTS7SRegion", !10, i64 0, !10, i64 8, !10, i64 16, !10, i64 24}
!30 = distinct !{!30, !31}
!31 = !{!"llvm.loop.mustprogress"}


; 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.Eigen::Block" = type { %"class.Eigen::BlockImpl" }
%"class.Eigen::BlockImpl" = type { %"class.Eigen::internal::BlockImpl_dense" }
%"class.Eigen::internal::BlockImpl_dense" = type { %"class.Eigen::MapBase.base", ptr, i64 }
%"class.Eigen::MapBase.base" = type <{ ptr, [2 x i8] }>
%"class.Eigen::CwiseBinaryOp.81" = type <{ ptr, ptr, [8 x i8] }>
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [2 x double] }

@.str.1 = external hidden unnamed_addr constant [101 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [41 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [46 x i8], align 1
@__PRETTY_FUNCTION__._Z30computeNumericalDerivative_fitPK11SParametersPK6SCurveRKN5Eigen6MatrixIdLi2ELin1ELi0ELi2ELin1EEEdRNS6_IdLin1ELin1ELi0ELin1ELin1EEEi = external hidden unnamed_addr constant [131 x i8], align 1

; 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 nofree nounwind willreturn memory(write)
declare double @sqrt(double noundef) local_unnamed_addr #1

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_Z23integrateDF2OverSegmentPK11SParametersRKN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEES6_d(ptr noundef, ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 16 dereferenceable(16), double noundef) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLi2ELin1ELi0ELi2ELin1EEEE3colEl(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Block") align 8, ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_5BlockIKNS0_IdLi2ELin1ELi0ELi2ELin1EEELi2ELi1ELb1EEEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2IddEERKT_RKT0_(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi2ELi1ELi0ELi2ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS2_KT_EERKNS0_ISA_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.81") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS1_S7_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_Z30computeNumericalDerivative_fitPK11SParametersPK6SCurveRKN5Eigen6MatrixIdLi2ELin1ELi0ELi2ELin1EEEdRNS6_IdLin1ELin1ELi0ELin1ELin1EEEi(ptr noundef %0, ptr noundef %1, ptr noundef nonnull align 8 dereferenceable(16) %2, double noundef %3, ptr noundef nonnull align 8 dereferenceable(24) %4, i32 noundef %5) local_unnamed_addr #3 {
  %7 = alloca double, align 8
  %8 = alloca %"class.Eigen::Matrix", align 16
  %9 = alloca double, align 8
  %10 = alloca %"class.Eigen::Matrix", align 16
  %11 = alloca double, align 8
  %12 = alloca %"class.Eigen::Matrix", align 16
  %13 = alloca %"class.Eigen::Block", align 8
  %14 = alloca %"class.Eigen::Matrix", align 16
  %15 = alloca %"class.Eigen::Block", align 8
  %16 = alloca %"class.Eigen::Matrix", align 16
  %17 = alloca %"class.Eigen::CwiseBinaryOp.81", align 8
  %18 = alloca %"class.Eigen::Matrix", align 16
  %19 = alloca %"class.Eigen::CwiseBinaryOp.81", align 8
  %20 = alloca %"class.Eigen::Matrix", align 16
  %21 = alloca %"class.Eigen::CwiseBinaryOp.81", align 8
  %22 = alloca %"class.Eigen::Matrix", align 16
  %23 = alloca %"class.Eigen::CwiseBinaryOp.81", align 8
  store double %3, ptr %7, align 8, !tbaa !5
  %24 = load i8, ptr %1, align 8, !tbaa !9, !range !21, !noundef !22
  %25 = getelementptr inbounds i8, ptr %1, i64 4
  %26 = load i32, ptr %25, align 4, !tbaa !23
  %27 = xor i8 %24, 1
  %28 = zext nneg i8 %27 to i32
  %29 = sub i32 %26, %28
  %30 = tail call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4rowsEv(ptr noundef nonnull align 8 dereferenceable(24) %4)
  %31 = add nsw i32 %29, %5
  %32 = sext i32 %31 to i64
  %.not = icmp slt i64 %30, %32
  br i1 %.not, label %33, label %34

33:                                               ; preds = %6
  tail call void @__assert_fail(ptr noundef nonnull @.str.8, ptr noundef nonnull @.str.1, i32 noundef 405, ptr noundef nonnull @__PRETTY_FUNCTION__._Z30computeNumericalDerivative_fitPK11SParametersPK6SCurveRKN5Eigen6MatrixIdLi2ELin1ELi0ELi2ELin1EEEdRNS6_IdLin1ELin1ELi0ELin1ELin1EEEi) #5
  unreachable

34:                                               ; preds = %6
  %35 = tail call noundef i64 @_ZNK5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE4colsEv(ptr noundef nonnull align 8 dereferenceable(24) %4)
  %36 = getelementptr inbounds i8, ptr %1, i64 4
  %37 = load i32, ptr %36, align 4, !tbaa !23
  %38 = shl nsw i32 %37, 1
  %39 = sext i32 %38 to i64
  %40 = icmp eq i64 %35, %39
  br i1 %40, label %42, label %41

41:                                               ; preds = %34
  tail call void @__assert_fail(ptr noundef nonnull @.str.9, ptr noundef nonnull @.str.1, i32 noundef 406, ptr noundef nonnull @__PRETTY_FUNCTION__._Z30computeNumericalDerivative_fitPK11SParametersPK6SCurveRKN5Eigen6MatrixIdLi2ELin1ELi0ELi2ELin1EEEdRNS6_IdLin1ELin1ELi0ELin1ELin1EEEi) #5
  unreachable

42:                                               ; preds = %34
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #6
  store double 0.000000e+00, ptr %9, align 8, !tbaa !5
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2IddEERKT_RKT0_(ptr noundef nonnull align 16 dereferenceable(16) %8, ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef nonnull align 8 dereferenceable(8) %9)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #6
  store double 0.000000e+00, ptr %11, align 8, !tbaa !5
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2IddEERKT_RKT0_(ptr noundef nonnull align 16 dereferenceable(16) %10, ptr noundef nonnull align 8 dereferenceable(8) %11, ptr noundef nonnull align 8 dereferenceable(8) %7)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #6
  %43 = icmp sgt i32 %29, 0
  br i1 %43, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %42
  %44 = getelementptr inbounds i8, ptr %1, i64 24
  %45 = getelementptr inbounds i8, ptr %0, i64 16
  %46 = sext i32 %5 to i64
  %wide.trip.count = zext nneg i32 %29 to i64
  br label %47

._crit_edge:                                      ; preds = %47, %42
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #6
  ret void

47:                                               ; preds = %.lr.ph, %47
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %47 ]
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %48 = load i32, ptr %36, align 4, !tbaa !23
  %49 = trunc nuw nsw i64 %indvars.iv.next to i32
  %50 = srem i32 %49, %48
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %13) #6
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLi2ELin1ELi0ELi2ELin1EEEE3colEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %13, ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %indvars.iv)
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_5BlockIKNS0_IdLi2ELin1ELi0ELi2ELin1EEELi2ELi1ELb1EEEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %12, ptr noundef nonnull align 1 dereferenceable(1) %13)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %13) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #6
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %15) #6
  %51 = zext nneg i32 %50 to i64
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLi2ELin1ELi0ELi2ELin1EEEE3colEl(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Block") align 8 %15, ptr noundef nonnull align 1 dereferenceable(1) %2, i64 noundef %51)
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_5BlockIKNS0_IdLi2ELin1ELi0ELi2ELin1EEELi2ELi1ELb1EEEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %14, ptr noundef nonnull align 1 dereferenceable(1) %15)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %15) #6
  %52 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNK5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi0EEclEl(ptr noundef nonnull align 1 dereferenceable(1) %44, i64 noundef %indvars.iv)
  %53 = load double, ptr %52, align 8, !tbaa !5
  %54 = load double, ptr %45, align 8, !tbaa !24
  %55 = fmul double %54, 5.000000e-01
  %56 = call double @sqrt(double noundef %55) #6
  %57 = call noundef double @_Z23integrateDF2OverSegmentPK11SParametersRKN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEES6_d(ptr noundef %0, ptr noundef nonnull align 16 dereferenceable(16) %12, ptr noundef nonnull align 16 dereferenceable(16) %14, double noundef %53)
  %58 = call double @sqrt(double noundef %57) #6
  %59 = fmul double %56, %58
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %16) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %17) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi2ELi1ELi0ELi2ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS2_KT_EERKNS0_ISA_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.81") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %12, ptr noundef nonnull align 1 dereferenceable(1) %8)
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS1_S7_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %16, ptr noundef nonnull align 1 dereferenceable(1) %17)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %17) #6
  %60 = load double, ptr %45, align 8, !tbaa !24
  %61 = fmul double %60, 5.000000e-01
  %62 = call double @sqrt(double noundef %61) #6
  %63 = call noundef double @_Z23integrateDF2OverSegmentPK11SParametersRKN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEES6_d(ptr noundef %0, ptr noundef nonnull align 16 dereferenceable(16) %16, ptr noundef nonnull align 16 dereferenceable(16) %14, double noundef %53)
  %64 = call double @sqrt(double noundef %63) #6
  %65 = fmul double %62, %64
  %66 = fsub double %65, %59
  %67 = load double, ptr %7, align 8, !tbaa !5
  %68 = fdiv double %66, %67
  %69 = add nsw i64 %indvars.iv, %46
  %70 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %69, i64 noundef %indvars.iv)
  store double %68, ptr %70, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %19) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi2ELi1ELi0ELi2ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS2_KT_EERKNS0_ISA_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.81") align 8 %19, ptr noundef nonnull align 1 dereferenceable(1) %12, ptr noundef nonnull align 1 dereferenceable(1) %10)
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS1_S7_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %18, ptr noundef nonnull align 1 dereferenceable(1) %19)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %19) #6
  %71 = load double, ptr %45, align 8, !tbaa !24
  %72 = fmul double %71, 5.000000e-01
  %73 = call double @sqrt(double noundef %72) #6
  %74 = call noundef double @_Z23integrateDF2OverSegmentPK11SParametersRKN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEES6_d(ptr noundef %0, ptr noundef nonnull align 16 dereferenceable(16) %18, ptr noundef nonnull align 16 dereferenceable(16) %14, double noundef %53)
  %75 = call double @sqrt(double noundef %74) #6
  %76 = fmul double %73, %75
  %77 = fsub double %76, %59
  %78 = load double, ptr %7, align 8, !tbaa !5
  %79 = fdiv double %77, %78
  %80 = load i32, ptr %36, align 4, !tbaa !23
  %81 = sext i32 %80 to i64
  %82 = add nsw i64 %indvars.iv, %81
  %83 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %69, i64 noundef %82)
  store double %79, ptr %83, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %20) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %21) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi2ELi1ELi0ELi2ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS2_KT_EERKNS0_ISA_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.81") align 8 %21, ptr noundef nonnull align 1 dereferenceable(1) %14, ptr noundef nonnull align 1 dereferenceable(1) %8)
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS1_S7_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %20, ptr noundef nonnull align 1 dereferenceable(1) %21)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %21) #6
  %84 = load double, ptr %45, align 8, !tbaa !24
  %85 = fmul double %84, 5.000000e-01
  %86 = call double @sqrt(double noundef %85) #6
  %87 = call noundef double @_Z23integrateDF2OverSegmentPK11SParametersRKN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEES6_d(ptr noundef %0, ptr noundef nonnull align 16 dereferenceable(16) %12, ptr noundef nonnull align 16 dereferenceable(16) %20, double noundef %53)
  %88 = call double @sqrt(double noundef %87) #6
  %89 = fmul double %86, %88
  %90 = fsub double %89, %59
  %91 = load double, ptr %7, align 8, !tbaa !5
  %92 = fdiv double %90, %91
  %93 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %69, i64 noundef %51)
  store double %92, ptr %93, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %22) #6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %23) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi2ELi1ELi0ELi2ELi1EEEEplIS2_EEKNS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS2_KT_EERKNS0_ISA_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.81") align 8 %23, ptr noundef nonnull align 1 dereferenceable(1) %14, ptr noundef nonnull align 1 dereferenceable(1) %10)
  call void @_ZN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIdEEKS1_S7_EEEERKNS_10MatrixBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(16) %22, ptr noundef nonnull align 1 dereferenceable(1) %23)
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %23) #6
  %94 = load double, ptr %45, align 8, !tbaa !24
  %95 = fmul double %94, 5.000000e-01
  %96 = call double @sqrt(double noundef %95) #6
  %97 = call noundef double @_Z23integrateDF2OverSegmentPK11SParametersRKN5Eigen6MatrixIdLi2ELi1ELi0ELi2ELi1EEES6_d(ptr noundef %0, ptr noundef nonnull align 16 dereferenceable(16) %12, ptr noundef nonnull align 16 dereferenceable(16) %22, double noundef %53)
  %98 = call double @sqrt(double noundef %97) #6
  %99 = fmul double %96, %98
  %100 = fsub double %99, %59
  %101 = load double, ptr %7, align 8, !tbaa !5
  %102 = fdiv double %100, %101
  %103 = load i32, ptr %36, align 4, !tbaa !23
  %104 = add nsw i32 %103, %50
  %105 = sext i32 %104 to i64
  %106 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %4, i64 noundef %69, i64 noundef %105)
  store double %102, ptr %106, align 8, !tbaa !5
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %22) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %20) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %16) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #6
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %._crit_edge, label %47, !llvm.loop !28
}

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { noreturn 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 = { 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 #4 = { inlinehint 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 #5 = { noreturn nounwind }
attributes #6 = { 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"}
!9 = !{!10, !11, i64 0}
!10 = !{!"_ZTS6SCurve", !11, i64 0, !12, i64 4, !13, i64 8, !13, i64 24, !18, i64 40}
!11 = !{!"bool", !7, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !14, i64 0}
!14 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !15, i64 0}
!15 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !16, i64 0, !17, i64 8}
!16 = !{!"any pointer", !7, i64 0}
!17 = !{!"long", !7, i64 0}
!18 = !{!"_ZTSN5Eigen6MatrixIiLin1ELi1ELi0ELin1ELi1EEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIiLin1ELi1ELi0ELin1ELi1EEEEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen12DenseStorageIiLin1ELin1ELi1ELi0EEE", !16, i64 0, !17, i64 8}
!21 = !{i8 0, i8 2}
!22 = !{}
!23 = !{!10, !12, i64 4}
!24 = !{!25, !6, i64 16}
!25 = !{!"_ZTS11SParameters", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24, !26, i64 32, !27, i64 48, !12, i64 80, !6, i64 88, !6, i64 96, !6, i64 104, !6, i64 112, !12, i64 120, !6, i64 128}
!26 = !{!"_ZTSN9_BlueTail6_Image6SImageIdLi1EEE", !12, i64 0, !12, i64 4, !16, i64 8}
!27 = !{!"_ZTS7SRegion", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24}
!28 = distinct !{!28, !29}
!29 = !{!"llvm.loop.mustprogress"}


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