In the general case, loop unrolling may not be the best way to implement software pipelining.

Generalized Loop Unrolling, gives a concise introduction.

Using inlining or loop unrolling can reduce branching, at the cost of increasing binary file size by the length of the repeated code.

Manual (or static) loop unrolling involves the programmer analyzing the loop and interpreting the iterations into a sequence of instructions which will reduce the loop overhead.

It contains most of MTL2's functionality and adds new optimization techniques as meta-tuning, e.g. loop unrolling of dynamically sized containers can be specified in the function call.