; LLVM IR from Zhefan-Xu/Intent-MPC :: trajectory_planner/include/trajectory_planner/mpc_solver (acado_solver)

; 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"

; Function Attrs: nounwind uwtable
define dso_local void @acado_multQ1d(ptr noundef %0, ptr noundef %1) #0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %5 = load ptr, ptr %3, align 8, !tbaa !5
  %6 = getelementptr inbounds double, ptr %5, i64 0
  %7 = load double, ptr %6, align 8, !tbaa !9
  %8 = fmul double 1.000000e+01, %7
  %9 = load ptr, ptr %4, align 8, !tbaa !5
  %10 = getelementptr inbounds double, ptr %9, i64 0
  store double %8, ptr %10, align 8, !tbaa !9
  %11 = load ptr, ptr %3, align 8, !tbaa !5
  %12 = getelementptr inbounds double, ptr %11, i64 1
  %13 = load double, ptr %12, align 8, !tbaa !9
  %14 = fmul double 1.000000e+01, %13
  %15 = load ptr, ptr %4, align 8, !tbaa !5
  %16 = getelementptr inbounds double, ptr %15, i64 1
  store double %14, ptr %16, align 8, !tbaa !9
  %17 = load ptr, ptr %3, align 8, !tbaa !5
  %18 = getelementptr inbounds double, ptr %17, i64 2
  %19 = load double, ptr %18, align 8, !tbaa !9
  %20 = fmul double 1.000000e+01, %19
  %21 = load ptr, ptr %4, align 8, !tbaa !5
  %22 = getelementptr inbounds double, ptr %21, i64 2
  store double %20, ptr %22, align 8, !tbaa !9
  %23 = load ptr, ptr %4, align 8, !tbaa !5
  %24 = getelementptr inbounds double, ptr %23, i64 3
  store double 0.000000e+00, ptr %24, align 8, !tbaa !9
  %25 = load ptr, ptr %4, align 8, !tbaa !5
  %26 = getelementptr inbounds double, ptr %25, i64 4
  store double 0.000000e+00, ptr %26, align 8, !tbaa !9
  %27 = load ptr, ptr %4, align 8, !tbaa !5
  %28 = getelementptr inbounds double, ptr %27, i64 5
  store double 0.000000e+00, ptr %28, align 8, !tbaa !9
  %29 = load ptr, ptr %4, align 8, !tbaa !5
  %30 = getelementptr inbounds double, ptr %29, i64 6
  store double 0.000000e+00, ptr %30, align 8, !tbaa !9
  %31 = load ptr, ptr %4, align 8, !tbaa !5
  %32 = getelementptr inbounds double, ptr %31, i64 7
  store double 0.000000e+00, ptr %32, align 8, !tbaa !9
  ret void
}

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" }

!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 = !{!"double", !7, i64 0}


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

; Function Attrs: mustprogress nofree norecurse nosync nounwind willreturn memory(argmem: readwrite) uwtable
define dso_local void @acado_multQ1d(ptr nocapture noundef readonly %0, ptr nocapture noundef writeonly %1) local_unnamed_addr #0 {
  %3 = load double, ptr %0, align 8, !tbaa !5
  %4 = fmul double %3, 1.000000e+01
  store double %4, ptr %1, align 8, !tbaa !5
  %5 = getelementptr inbounds i8, ptr %0, i64 8
  %6 = load double, ptr %5, align 8, !tbaa !5
  %7 = fmul double %6, 1.000000e+01
  %8 = getelementptr inbounds i8, ptr %1, i64 8
  store double %7, ptr %8, align 8, !tbaa !5
  %9 = getelementptr inbounds i8, ptr %0, i64 16
  %10 = load double, ptr %9, align 8, !tbaa !5
  %11 = fmul double %10, 1.000000e+01
  %12 = getelementptr inbounds i8, ptr %1, i64 16
  store double %11, ptr %12, align 8, !tbaa !5
  %13 = getelementptr inbounds i8, ptr %1, i64 24
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(40) %13, i8 0, i64 40, i1 false)
  ret void
}

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #1

attributes #0 = { mustprogress nofree norecurse nosync nounwind willreturn memory(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 = { nocallback nofree nounwind willreturn memory(argmem: write) }

!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/C++ TBAA"}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,InstCombinePass,MemCpyOptPass,PostOrderFunctionAttrsPass,SROAPass,TailCallElimPass