void so3_rotz(double Rz[9], const double psi) {
  double s, c;
  _fsincos(psi, &s, &c, __func__,
           "/scratch/repos/new/home/jordi_armengol_estape/c-scraper/outputs/"
           "2022-01-22/02-19-57/repos/arpit15/OnlineCalibration/refs/heads/"
           "master/src/common/so3.h",
           61);
  const double data[] = {c, s, 0, -s, c, 0, 0, 0, 1};
  memcpy(Rz, data, 9 * sizeof(double));
}


x86 assembly (clang, -O0):
<so3_rotz>:
push   %rbp
mov    %rsp,%rbp
sub    $0x70,%rsp
mov    %rdi,-0x8(%rbp)
movsd  %xmm0,-0x10(%rbp)
movsd  -0x10(%rbp),%xmm0
lea    -0x18(%rbp),%rdi
lea    -0x20(%rbp),%rsi
lea    0xec3(%rip),%rdx
lea    0xec5(%rip),%rcx
mov    $0x3d,%r8d
mov    $0x1,%al
call   1040 <_fsincos@plt>
movsd  -0x20(%rbp),%xmm0
movsd  %xmm0,-0x70(%rbp)
movsd  -0x18(%rbp),%xmm0
movsd  %xmm0,-0x68(%rbp)
xorps  %xmm0,%xmm0
movsd  %xmm0,-0x60(%rbp)
movsd  -0x18(%rbp),%xmm0
movq   %xmm0,%rax
movabs $0x8000000000000000,%rcx
xor    %rcx,%rax
movq   %rax,%xmm0
movsd  %xmm0,-0x58(%rbp)
movsd  -0x20(%rbp),%xmm0
movsd  %xmm0,-0x50(%rbp)
xorps  %xmm0,%xmm0
movsd  %xmm0,-0x48(%rbp)
xorps  %xmm0,%xmm0
movsd  %xmm0,-0x40(%rbp)
xorps  %xmm0,%xmm0
movsd  %xmm0,-0x38(%rbp)
movsd  0xe40(%rip),%xmm0
movsd  %xmm0,-0x30(%rbp)
mov    -0x8(%rbp),%rdi
lea    -0x70(%rbp),%rsi
mov    $0x48,%edx
call   1030 <memcpy@plt>
add    $0x70,%rsp
pop    %rbp
ret

x86 assembly (clang, -O2):
<so3_rotz>:
push   %rbx
sub    $0x10,%rsp
mov    %rdi,%rbx
lea    0xef1(%rip),%rdx
lea    0xef3(%rip),%rcx
lea    0x8(%rsp),%rdi
mov    %rsp,%rsi
mov    $0x3d,%r8d
mov    $0x1,%al
call   1030 <_fsincos@plt>
movsd  (%rsp),%xmm0
movsd  0x8(%rsp),%xmm1
movaps 0xeb3(%rip),%xmm2
xorps  %xmm1,%xmm2
movsd  %xmm0,(%rbx)
movsd  %xmm1,0x8(%rbx)
movq   $0x0,0x10(%rbx)
movlps %xmm2,0x18(%rbx)
movsd  %xmm0,0x20(%rbx)
xorps  %xmm0,%xmm0
movups %xmm0,0x28(%rbx)
movq   $0x0,0x38(%rbx)
movabs $0x3ff0000000000000,%rax
mov    %rax,0x40(%rbx)
add    $0x10,%rsp
pop    %rbx
ret

LLVM IR (-O0):
@__func__.so3_rotz = [9 x i8] c"so3_rotz\00"
@.str = [151 x i8] c"/scratch/repos/new/home/jordi_armengol_estape/c-scraper/outputs/2022-01-22/02-19-57/repos/arpit15/OnlineCalibration/refs/heads/master/src/common/so3.h\00"
define void @so3_rotz(double* %0, double %1) {
%3 = alloca double*
%4 = alloca double
%5 = alloca double
%6 = alloca double
%7 = alloca [9 x double]
store double* %0, double** %3
store double %1, double* %4
%8 = load double, double* %4
%9 = call i32 (double, double*, double*, i8*, i8*, i32, ...) bitcast (i32 (...)* @_fsincos to i32 (double, double*, double*, i8*, i8*, i32, ...)*)(double %8, double* %5, double* %6, i8* getelementptr inbounds ([9 x i8], [9 x i8]* @__func__.so3_rotz, i64 0, i64 0), i8* getelementptr inbounds ([151 x i8], [151 x i8]* @.str, i64 0, i64 0), i32 61)
%10 = getelementptr inbounds [9 x double], [9 x double]* %7, i64 0, i64 0
%11 = load double, double* %6
store double %11, double* %10
%12 = getelementptr inbounds double, double* %10, i64 1
%13 = load double, double* %5
store double %13, double* %12
%14 = getelementptr inbounds double, double* %12, i64 1
store double 0.000000e+00, double* %14
%15 = getelementptr inbounds double, double* %14, i64 1
%16 = load double, double* %5
%17 = fneg double %16
store double %17, double* %15
%18 = getelementptr inbounds double, double* %15, i64 1
%19 = load double, double* %6
store double %19, double* %18
%20 = getelementptr inbounds double, double* %18, i64 1
store double 0.000000e+00, double* %20
%21 = getelementptr inbounds double, double* %20, i64 1
store double 0.000000e+00, double* %21
%22 = getelementptr inbounds double, double* %21, i64 1
store double 0.000000e+00, double* %22
%23 = getelementptr inbounds double, double* %22, i64 1
store double 1.000000e+00, double* %23
%24 = load double*, double** %3
%25 = bitcast double* %24 to i8*
%26 = getelementptr inbounds [9 x double], [9 x double]* %7, i64 0, i64 0
%27 = bitcast double* %26 to i8*
ret void
}

LLVM IR (-O2):
@__func__.so3_rotz = [9 x i8] c"so3_rotz\00"
@.str = [151 x i8] c"/scratch/repos/new/home/jordi_armengol_estape/c-scraper/outputs/2022-01-22/02-19-57/repos/arpit15/OnlineCalibration/refs/heads/master/src/common/so3.h\00"
define void @so3_rotz(double* nocapture writeonly %0, double %1) {
%3 = alloca double
%4 = alloca double
%5 = bitcast double* %3 to i8*
%6 = bitcast double* %4 to i8*
%7 = call i32 (double, double*, double*, i8*, i8*, i32, ...) bitcast (i32 (...)* @_fsincos to i32 (double, double*, double*, i8*, i8*, i32, ...)*)(double %1, double* %3, double* %4, i8* getelementptr inbounds ([9 x i8], [9 x i8]* @__func__.so3_rotz, i64 0, i64 0), i8* getelementptr inbounds ([151 x i8], [151 x i8]* @.str, i64 0, i64 0), i32 61)
%8 = load double, double* %4
%9 = load double, double* %3
%10 = fneg double %9
store double %8, double* %0
%11 = getelementptr inbounds double, double* %0, i64 1
store double %9, double* %11
%12 = getelementptr inbounds double, double* %0, i64 2
store double 0.000000e+00, double* %12
%13 = getelementptr inbounds double, double* %0, i64 3
store double %10, double* %13
%14 = getelementptr inbounds double, double* %0, i64 4
store double %8, double* %14
%15 = getelementptr inbounds double, double* %0, i64 5
%16 = getelementptr inbounds double, double* %0, i64 8
%17 = bitcast double* %15 to i8*
store double 1.000000e+00, double* %16
ret void
}