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Working first version of loop exit pass
Added code to AnnotateLoopEnds which inserts a boogie 'assert false' at any exit of a loop. The assertions are inserted at the beginning of the "loop exit" basic block, that is the immediate node outside of the loop. In order to prevent a random failure, the pass now requires the LoopSimplify pass to run first, which guarentees that each loop exit block is dominated only by the loop.
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