; LLVM IR from Tencent-RoboticsX/jbdl :: src/jbdl/experimental/qpoases/src (SQProblemSchur)

; 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.qpOASES::QProblemB" = type { ptr, i32, ptr, ptr, ptr, ptr, %"class.qpOASES::Bounds", ptr, i32, ptr, ptr, double, i32, i32, i32, i32, double, i32, ptr, double, double, i32, [4 x i8], %"class.qpOASES::Options", %"class.qpOASES::Flipper", %"struct.qpOASES::TabularOutput" }
%"class.qpOASES::Bounds" = type { %"class.qpOASES::SubjectTo", %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }
%"class.qpOASES::SubjectTo" = type { ptr, i32, ptr, ptr, i32, i32 }
%"class.qpOASES::Indexlist" = type <{ ptr, ptr, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.qpOASES::Options" = type <{ i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, double, double, double, double, double, double, double, double, double, double, double, i32, [4 x i8], double, i32, [4 x i8], double, i32, [4 x i8], double, double, double, double, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.qpOASES::Flipper" = type { i32, i32, %"class.qpOASES::Bounds", %"class.qpOASES::Constraints", ptr, ptr, ptr }
%"class.qpOASES::Constraints" = type { %"class.qpOASES::SubjectTo", %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }
%"struct.qpOASES::TabularOutput" = type { i32, i32, i32, i32, i32, i32, i32, i32 }
%"class.qpOASES::SQProblemSchur" = type { %"class.qpOASES::SQProblem", ptr, ptr, i32, i32, ptr, ptr, double, double, i32, ptr, ptr, i32, ptr, ptr, ptr, %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }
%"class.qpOASES::SQProblem" = type { %"class.qpOASES::QProblem" }
%"class.qpOASES::QProblem" = type { %"class.qpOASES::QProblemB", i32, ptr, ptr, ptr, %"class.qpOASES::Constraints", ptr, ptr, i32, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr }

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [29 x i8], align 1
@.str.32 = external hidden unnamed_addr constant [83 x i8], align 1
@.str.33 = external hidden unnamed_addr constant [94 x i8], align 1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_Z8MyPrintfPKcz(ptr noundef, ...) #0

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare { i64, i1 } @llvm.umul.with.overflow.i64(i64, i64) #2

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) #3

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #4

declare noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) #4

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) #5

declare noundef nonnull align 8 dereferenceable(36) ptr @_ZN7qpOASES9IndexlistaSERKS0_(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef nonnull align 8 dereferenceable(36)) #4

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1) #6 align 2 {
  %3 = alloca i32, align 4
  %4 = alloca ptr, align 8
  %5 = alloca i32, align 4
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca i32, align 4
  %11 = alloca i32, align 4
  %12 = alloca i32, align 4
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca i32, align 4
  %17 = alloca i32, align 4
  store ptr %0, ptr %4, align 8, !tbaa !5
  store i32 %1, ptr %5, align 4, !tbaa !9
  %18 = load ptr, ptr %4, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #9
  %19 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %18)
  store i32 %19, ptr %7, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #9
  %20 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %18)
  store i32 %20, ptr %8, align 4, !tbaa !11
  %21 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 23
  %22 = getelementptr inbounds %"class.qpOASES::Options", ptr %21, i32 0, i32 0
  %23 = load i32, ptr %22, align 8, !tbaa !13
  %24 = icmp eq i32 %23, 3
  br i1 %24, label %25, label %26

25:                                               ; preds = %2
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.31)
  br label %26

26:                                               ; preds = %25, %2
  %27 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %18, i32 0, i32 3
  store i32 0, ptr %27, align 8, !tbaa !27
  %28 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %18, i32 0, i32 7
  store double 1.000000e+00, ptr %28, align 8, !tbaa !31
  %29 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %18, i32 0, i32 8
  store double 1.000000e+00, ptr %29, align 8, !tbaa !32
  %30 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 6
  %31 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %30)
  %32 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %18, i32 0, i32 16
  %33 = call noundef nonnull align 8 dereferenceable(36) ptr @_ZN7qpOASES9IndexlistaSERKS0_(ptr noundef nonnull align 8 dereferenceable(36) %32, ptr noundef nonnull align 8 dereferenceable(36) %31)
  %34 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %18, i32 0, i32 5
  %35 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %34)
  %36 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %18, i32 0, i32 17
  %37 = call noundef nonnull align 8 dereferenceable(36) ptr @_ZN7qpOASES9IndexlistaSERKS0_(ptr noundef nonnull align 8 dereferenceable(36) %36, ptr noundef nonnull align 8 dereferenceable(36) %35)
  %38 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %18, i32 0, i32 4
  %39 = load i32, ptr %38, align 4, !tbaa !33
  %40 = icmp sgt i32 %39, 0
  br i1 %40, label %41, label %45

41:                                               ; preds = %26
  %42 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %18, i32 0, i32 15
  %43 = load ptr, ptr %42, align 8, !tbaa !34
  %44 = getelementptr inbounds i32, ptr %43, i64 0
  store i32 0, ptr %44, align 4, !tbaa !11
  br label %45

45:                                               ; preds = %41, %26
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #9
  %46 = load i32, ptr %7, align 4, !tbaa !11
  %47 = load i32, ptr %8, align 4, !tbaa !11
  %48 = add nsw i32 %46, %47
  store i32 %48, ptr %9, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #9
  %49 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 15
  %50 = load i32, ptr %49, align 4, !tbaa !35
  switch i32 %50, label %54 [
    i32 0, label %51
    i32 1, label %52
  ]

51:                                               ; preds = %45
  store i32 0, ptr %10, align 4, !tbaa !11
  br label %69

52:                                               ; preds = %45
  %53 = load i32, ptr %7, align 4, !tbaa !11
  store i32 %53, ptr %10, align 4, !tbaa !11
  br label %69

54:                                               ; preds = %45
  %55 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 2
  %56 = load ptr, ptr %55, align 8, !tbaa !36
  %57 = load ptr, ptr %56, align 8, !tbaa !37
  %58 = getelementptr i8, ptr %57, i64 -24
  %59 = load i64, ptr %58, align 8
  %60 = getelementptr inbounds i8, ptr %56, i64 %59
  %61 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 6
  %62 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %61)
  %63 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 6
  %64 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %63)
  %65 = load ptr, ptr %60, align 8, !tbaa !37
  %66 = getelementptr inbounds ptr, ptr %65, i64 11
  %67 = load ptr, ptr %66, align 8
  %68 = call noundef i32 %67(ptr noundef nonnull align 8 dereferenceable(12) %60, ptr noundef %62, ptr noundef %64, i32 noundef 1, i32 noundef 1, ptr noundef nonnull align 4 dereferenceable(4) %10, ptr noundef null, ptr noundef null, ptr noundef null, i32 noundef 1)
  br label %69

69:                                               ; preds = %54, %52, %51
  %70 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 23
  %71 = getelementptr inbounds %"class.qpOASES::Options", ptr %70, i32 0, i32 26
  %72 = load double, ptr %71, align 8, !tbaa !39
  %73 = fcmp ogt double %72, 0.000000e+00
  br i1 %73, label %74, label %78

74:                                               ; preds = %69
  %75 = load i32, ptr %7, align 4, !tbaa !11
  %76 = load i32, ptr %10, align 4, !tbaa !11
  %77 = add nsw i32 %76, %75
  store i32 %77, ptr %10, align 4, !tbaa !11
  br label %78

78:                                               ; preds = %74, %69
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #9
  %79 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %18, i32 0, i32 12
  %80 = load ptr, ptr %79, align 8, !tbaa !40
  %81 = icmp ne ptr %80, null
  br i1 %81, label %82, label %85

82:                                               ; preds = %78
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.32)
  %83 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %84 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %83, i32 noundef 11, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3029, i32 noundef 1)
  store i32 %84, ptr %3, align 4
  store i32 1, ptr %12, align 4
  br label %323

85:                                               ; preds = %78
  %86 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %18, i32 0, i32 2
  %87 = load ptr, ptr %86, align 8, !tbaa !41
  %88 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %18, i32 0, i32 5
  %89 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %88)
  %90 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 6
  %91 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %90)
  %92 = load i32, ptr %7, align 4, !tbaa !11
  %93 = add nsw i32 %92, 1
  %94 = load ptr, ptr %87, align 8, !tbaa !37
  %95 = getelementptr inbounds ptr, ptr %94, i64 11
  %96 = load ptr, ptr %95, align 8
  %97 = call noundef i32 %96(ptr noundef nonnull align 8 dereferenceable(12) %87, ptr noundef %89, ptr noundef %91, i32 noundef %93, i32 noundef 1, ptr noundef nonnull align 4 dereferenceable(4) %11, ptr noundef null, ptr noundef null, ptr noundef null, i32 noundef 0)
  %98 = load i32, ptr %11, align 4, !tbaa !11
  %99 = load i32, ptr %10, align 4, !tbaa !11
  %100 = add nsw i32 %99, %98
  store i32 %100, ptr %10, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #9
  %101 = load i32, ptr %10, align 4, !tbaa !11
  %102 = sext i32 %101 to i64
  %103 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %102, i64 8)
  %104 = extractvalue { i64, i1 } %103, 1
  %105 = extractvalue { i64, i1 } %103, 0
  %106 = select i1 %104, i64 -1, i64 %105
  %107 = call noalias noundef nonnull ptr @_Znam(i64 noundef %106) #10
  store ptr %107, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #9
  %108 = load i32, ptr %10, align 4, !tbaa !11
  %109 = sext i32 %108 to i64
  %110 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %109, i64 4)
  %111 = extractvalue { i64, i1 } %110, 1
  %112 = extractvalue { i64, i1 } %110, 0
  %113 = select i1 %111, i64 -1, i64 %112
  %114 = call noalias noundef nonnull ptr @_Znam(i64 noundef %113) #10
  store ptr %114, ptr %14, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #9
  %115 = load i32, ptr %10, align 4, !tbaa !11
  %116 = sext i32 %115 to i64
  %117 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %116, i64 4)
  %118 = extractvalue { i64, i1 } %117, 1
  %119 = extractvalue { i64, i1 } %117, 0
  %120 = select i1 %118, i64 -1, i64 %119
  %121 = call noalias noundef nonnull ptr @_Znam(i64 noundef %120) #10
  store ptr %121, ptr %15, align 8, !tbaa !5
  store i32 0, ptr %10, align 4, !tbaa !11
  %122 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 15
  %123 = load i32, ptr %122, align 4, !tbaa !35
  switch i32 %123, label %153 [
    i32 0, label %171
    i32 1, label %124
  ]

124:                                              ; preds = %85
  %125 = load i32, ptr %7, align 4, !tbaa !11
  %126 = load i32, ptr %10, align 4, !tbaa !11
  %127 = add nsw i32 %126, %125
  store i32 %127, ptr %10, align 4, !tbaa !11
  store i32 0, ptr %6, align 4, !tbaa !11
  br label %128

128:                                              ; preds = %149, %124
  %129 = load i32, ptr %6, align 4, !tbaa !11
  %130 = load i32, ptr %7, align 4, !tbaa !11
  %131 = icmp slt i32 %129, %130
  br i1 %131, label %132, label %152

132:                                              ; preds = %128
  %133 = load i32, ptr %6, align 4, !tbaa !11
  %134 = add nsw i32 %133, 1
  %135 = load ptr, ptr %14, align 8, !tbaa !5
  %136 = load i32, ptr %6, align 4, !tbaa !11
  %137 = sext i32 %136 to i64
  %138 = getelementptr inbounds i32, ptr %135, i64 %137
  store i32 %134, ptr %138, align 4, !tbaa !11
  %139 = load i32, ptr %6, align 4, !tbaa !11
  %140 = add nsw i32 %139, 1
  %141 = load ptr, ptr %15, align 8, !tbaa !5
  %142 = load i32, ptr %6, align 4, !tbaa !11
  %143 = sext i32 %142 to i64
  %144 = getelementptr inbounds i32, ptr %141, i64 %143
  store i32 %140, ptr %144, align 4, !tbaa !11
  %145 = load ptr, ptr %13, align 8, !tbaa !5
  %146 = load i32, ptr %6, align 4, !tbaa !11
  %147 = sext i32 %146 to i64
  %148 = getelementptr inbounds double, ptr %145, i64 %147
  store double 1.000000e+00, ptr %148, align 8, !tbaa !42
  br label %149

149:                                              ; preds = %132
  %150 = load i32, ptr %6, align 4, !tbaa !11
  %151 = add nsw i32 %150, 1
  store i32 %151, ptr %6, align 4, !tbaa !11
  br label %128, !llvm.loop !43

152:                                              ; preds = %128
  br label %171

153:                                              ; preds = %85
  %154 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 2
  %155 = load ptr, ptr %154, align 8, !tbaa !36
  %156 = load ptr, ptr %155, align 8, !tbaa !37
  %157 = getelementptr i8, ptr %156, i64 -24
  %158 = load i64, ptr %157, align 8
  %159 = getelementptr inbounds i8, ptr %155, i64 %158
  %160 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 6
  %161 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %160)
  %162 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 6
  %163 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %162)
  %164 = load ptr, ptr %14, align 8, !tbaa !5
  %165 = load ptr, ptr %15, align 8, !tbaa !5
  %166 = load ptr, ptr %13, align 8, !tbaa !5
  %167 = load ptr, ptr %159, align 8, !tbaa !37
  %168 = getelementptr inbounds ptr, ptr %167, i64 11
  %169 = load ptr, ptr %168, align 8
  %170 = call noundef i32 %169(ptr noundef nonnull align 8 dereferenceable(12) %159, ptr noundef %161, ptr noundef %163, i32 noundef 1, i32 noundef 1, ptr noundef nonnull align 4 dereferenceable(4) %10, ptr noundef %164, ptr noundef %165, ptr noundef %166, i32 noundef 1)
  br label %171

171:                                              ; preds = %153, %152, %85
  %172 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 23
  %173 = getelementptr inbounds %"class.qpOASES::Options", ptr %172, i32 0, i32 26
  %174 = load double, ptr %173, align 8, !tbaa !39
  %175 = fcmp ogt double %174, 0.000000e+00
  br i1 %175, label %176, label %206

176:                                              ; preds = %171
  store i32 0, ptr %6, align 4, !tbaa !11
  br label %177

177:                                              ; preds = %202, %176
  %178 = load i32, ptr %6, align 4, !tbaa !11
  %179 = load i32, ptr %7, align 4, !tbaa !11
  %180 = icmp slt i32 %178, %179
  br i1 %180, label %181, label %205

181:                                              ; preds = %177
  %182 = load i32, ptr %6, align 4, !tbaa !11
  %183 = add nsw i32 %182, 1
  %184 = load ptr, ptr %14, align 8, !tbaa !5
  %185 = load i32, ptr %10, align 4, !tbaa !11
  %186 = sext i32 %185 to i64
  %187 = getelementptr inbounds i32, ptr %184, i64 %186
  store i32 %183, ptr %187, align 4, !tbaa !11
  %188 = load i32, ptr %6, align 4, !tbaa !11
  %189 = add nsw i32 %188, 1
  %190 = load ptr, ptr %15, align 8, !tbaa !5
  %191 = load i32, ptr %10, align 4, !tbaa !11
  %192 = sext i32 %191 to i64
  %193 = getelementptr inbounds i32, ptr %190, i64 %192
  store i32 %189, ptr %193, align 4, !tbaa !11
  %194 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 23
  %195 = getelementptr inbounds %"class.qpOASES::Options", ptr %194, i32 0, i32 26
  %196 = load double, ptr %195, align 8, !tbaa !39
  %197 = load ptr, ptr %13, align 8, !tbaa !5
  %198 = load i32, ptr %10, align 4, !tbaa !11
  %199 = add nsw i32 %198, 1
  store i32 %199, ptr %10, align 4, !tbaa !11
  %200 = sext i32 %198 to i64
  %201 = getelementptr inbounds double, ptr %197, i64 %200
  store double %196, ptr %201, align 8, !tbaa !42
  br label %202

202:                                              ; preds = %181
  %203 = load i32, ptr %6, align 4, !tbaa !11
  %204 = add nsw i32 %203, 1
  store i32 %204, ptr %6, align 4, !tbaa !11
  br label %177, !llvm.loop !45

205:                                              ; preds = %177
  br label %206

206:                                              ; preds = %205, %171
  %207 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %18, i32 0, i32 2
  %208 = load ptr, ptr %207, align 8, !tbaa !41
  %209 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %18, i32 0, i32 5
  %210 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %209)
  %211 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 6
  %212 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %211)
  %213 = load i32, ptr %7, align 4, !tbaa !11
  %214 = add nsw i32 %213, 1
  %215 = load ptr, ptr %14, align 8, !tbaa !5
  %216 = load i32, ptr %10, align 4, !tbaa !11
  %217 = sext i32 %216 to i64
  %218 = getelementptr inbounds i32, ptr %215, i64 %217
  %219 = load ptr, ptr %15, align 8, !tbaa !5
  %220 = load i32, ptr %10, align 4, !tbaa !11
  %221 = sext i32 %220 to i64
  %222 = getelementptr inbounds i32, ptr %219, i64 %221
  %223 = load ptr, ptr %13, align 8, !tbaa !5
  %224 = load i32, ptr %10, align 4, !tbaa !11
  %225 = sext i32 %224 to i64
  %226 = getelementptr inbounds double, ptr %223, i64 %225
  %227 = load ptr, ptr %208, align 8, !tbaa !37
  %228 = getelementptr inbounds ptr, ptr %227, i64 11
  %229 = load ptr, ptr %228, align 8
  %230 = call noundef i32 %229(ptr noundef nonnull align 8 dereferenceable(12) %208, ptr noundef %210, ptr noundef %212, i32 noundef %214, i32 noundef 1, ptr noundef nonnull align 4 dereferenceable(4) %11, ptr noundef %218, ptr noundef %222, ptr noundef %226, i32 noundef 0)
  %231 = load i32, ptr %11, align 4, !tbaa !11
  %232 = load i32, ptr %10, align 4, !tbaa !11
  %233 = add nsw i32 %232, %231
  store i32 %233, ptr %10, align 4, !tbaa !11
  %234 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %18, i32 0, i32 1
  %235 = load ptr, ptr %234, align 8, !tbaa !46
  %236 = load ptr, ptr %235, align 8, !tbaa !37
  %237 = getelementptr inbounds ptr, ptr %236, i64 6
  %238 = load ptr, ptr %237, align 8
  %239 = call noundef i32 %238(ptr noundef nonnull align 8 dereferenceable(8) %235)
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #9
  %240 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %18, i32 0, i32 1
  %241 = load ptr, ptr %240, align 8, !tbaa !46
  %242 = load i32, ptr %9, align 4, !tbaa !11
  %243 = load i32, ptr %10, align 4, !tbaa !11
  %244 = load ptr, ptr %14, align 8, !tbaa !5
  %245 = load ptr, ptr %15, align 8, !tbaa !5
  %246 = load ptr, ptr %13, align 8, !tbaa !5
  %247 = load ptr, ptr %241, align 8, !tbaa !37
  %248 = getelementptr inbounds ptr, ptr %247, i64 3
  %249 = load ptr, ptr %248, align 8
  %250 = call noundef i32 %249(ptr noundef nonnull align 8 dereferenceable(8) %241, i32 noundef %242, i32 noundef %243, ptr noundef %244, ptr noundef %245, ptr noundef %246)
  store i32 %250, ptr %16, align 4, !tbaa !47
  %251 = load ptr, ptr %15, align 8, !tbaa !5
  %252 = icmp eq ptr %251, null
  br i1 %252, label %254, label %253

253:                                              ; preds = %206
  call void @_ZdaPv(ptr noundef %251) #11
  br label %254

254:                                              ; preds = %253, %206
  %255 = load ptr, ptr %14, align 8, !tbaa !5
  %256 = icmp eq ptr %255, null
  br i1 %256, label %258, label %257

257:                                              ; preds = %254
  call void @_ZdaPv(ptr noundef %255) #11
  br label %258

258:                                              ; preds = %257, %254
  %259 = load ptr, ptr %13, align 8, !tbaa !5
  %260 = icmp eq ptr %259, null
  br i1 %260, label %262, label %261

261:                                              ; preds = %258
  call void @_ZdaPv(ptr noundef %259) #11
  br label %262

262:                                              ; preds = %261, %258
  %263 = load i32, ptr %16, align 4, !tbaa !47
  %264 = icmp ne i32 %263, 0
  br i1 %264, label %265, label %268

265:                                              ; preds = %262
  %266 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %267 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %266, i32 noundef 145, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3081, i32 noundef 1)
  store i32 %267, ptr %3, align 4
  store i32 1, ptr %12, align 4
  br label %322

268:                                              ; preds = %262
  %269 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %18, i32 0, i32 1
  %270 = load ptr, ptr %269, align 8, !tbaa !46
  %271 = load ptr, ptr %270, align 8, !tbaa !37
  %272 = getelementptr inbounds ptr, ptr %271, i64 4
  %273 = load ptr, ptr %272, align 8
  %274 = call noundef i32 %273(ptr noundef nonnull align 8 dereferenceable(8) %270)
  store i32 %274, ptr %16, align 4, !tbaa !47
  %275 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %18, i32 0, i32 9
  %276 = load i32, ptr %275, align 8, !tbaa !49
  %277 = add nsw i32 %276, 1
  store i32 %277, ptr %275, align 8, !tbaa !49
  %278 = load i32, ptr %16, align 4, !tbaa !47
  %279 = icmp eq i32 %278, 142
  br i1 %279, label %280, label %287

280:                                              ; preds = %268
  %281 = call noundef i32 @_ZN7qpOASES14SQProblemSchur24repairSingularWorkingSetEv(ptr noundef nonnull align 8 dereferenceable(1256) %18)
  %282 = icmp eq i32 %281, 0
  br i1 %282, label %283, label %286

283:                                              ; preds = %280
  %284 = load i32, ptr %5, align 4, !tbaa !9
  %285 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %18, i32 noundef %284)
  store i32 %285, ptr %3, align 4
  store i32 1, ptr %12, align 4
  br label %322

286:                                              ; preds = %280
  store i32 142, ptr %3, align 4
  store i32 1, ptr %12, align 4
  br label %322

287:                                              ; preds = %268
  %288 = load i32, ptr %16, align 4, !tbaa !47
  %289 = icmp eq i32 %288, 0
  br i1 %289, label %290, label %314

290:                                              ; preds = %287
  %291 = load i32, ptr %5, align 4, !tbaa !9
  %292 = icmp ne i32 %291, 0
  br i1 %292, label %293, label %314

293:                                              ; preds = %290
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #9
  %294 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %18, i32 0, i32 1
  %295 = load ptr, ptr %294, align 8, !tbaa !46
  %296 = load ptr, ptr %295, align 8, !tbaa !37
  %297 = getelementptr inbounds ptr, ptr %296, i64 7
  %298 = load ptr, ptr %297, align 8
  %299 = call noundef i32 %298(ptr noundef nonnull align 8 dereferenceable(8) %295)
  store i32 %299, ptr %17, align 4, !tbaa !11
  %300 = load i32, ptr %17, align 4, !tbaa !11
  %301 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %18)
  %302 = icmp sgt i32 %300, %301
  br i1 %302, label %303, label %313

303:                                              ; preds = %293
  %304 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %18, i32 0, i32 23
  %305 = getelementptr inbounds %"class.qpOASES::Options", ptr %304, i32 0, i32 0
  %306 = load i32, ptr %305, align 8, !tbaa !13
  %307 = icmp eq i32 %306, 3
  br i1 %307, label %308, label %311

308:                                              ; preds = %303
  %309 = load i32, ptr %17, align 4, !tbaa !11
  %310 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %18)
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.33, i32 noundef %309, i32 noundef %310)
  br label %311

311:                                              ; preds = %308, %303
  %312 = call noundef i32 @_ZN7qpOASES14SQProblemSchur14correctInertiaEv(ptr noundef nonnull align 8 dereferenceable(1256) %18)
  store i32 %312, ptr %16, align 4, !tbaa !47
  br label %313

313:                                              ; preds = %311, %293
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #9
  br label %314

314:                                              ; preds = %313, %290, %287
  %315 = load i32, ptr %16, align 4, !tbaa !47
  %316 = icmp ne i32 %315, 0
  br i1 %316, label %317, label %320

317:                                              ; preds = %314
  %318 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %319 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %318, i32 noundef 102, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3110, i32 noundef 1)
  store i32 %319, ptr %3, align 4
  store i32 1, ptr %12, align 4
  br label %322

320:                                              ; preds = %314
  %321 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %18, i32 0, i32 3
  store i32 0, ptr %321, align 8, !tbaa !27
  store i32 0, ptr %3, align 4
  store i32 1, ptr %12, align 4
  br label %322

322:                                              ; preds = %320, %317, %286, %283, %265
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #9
  br label %323

323:                                              ; preds = %322, %82
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #9
  %324 = load i32, ptr %3, align 4
  ret i32 %324
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur14correctInertiaEv(ptr noundef nonnull align 8 dereferenceable(1256)) #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800)) #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) #8 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) #8 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur24repairSingularWorkingSetEv(ptr noundef nonnull align 8 dereferenceable(1256)) #6 align 2

attributes #0 = { mustprogress 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" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { nobuiltin allocsize(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 = { "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 = { nobuiltin 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 #6 = { 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 #7 = { 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 #8 = { inlinehint mustprogress 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" }
attributes #9 = { nounwind }
attributes #10 = { builtin allocsize(0) }
attributes #11 = { builtin 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 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!14, !22, i64 272}
!14 = !{!"_ZTSN7qpOASES9QProblemBE", !10, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !15, i64 48, !6, i64 168, !10, i64 176, !6, i64 184, !6, i64 192, !18, i64 200, !19, i64 208, !10, i64 212, !10, i64 216, !20, i64 220, !18, i64 224, !12, i64 232, !6, i64 240, !18, i64 248, !18, i64 256, !12, i64 264, !21, i64 272, !24, i64 496, !26, i64 768}
!15 = !{!"_ZTSN7qpOASES6BoundsE", !16, i64 0, !17, i64 40, !17, i64 80}
!16 = !{!"_ZTSN7qpOASES9SubjectToE", !12, i64 8, !6, i64 16, !6, i64 24, !10, i64 32, !10, i64 36}
!17 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !12, i64 16, !12, i64 20, !12, i64 24, !12, i64 28, !12, i64 32}
!18 = !{!"double", !7, i64 0}
!19 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!20 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!21 = !{!"_ZTSN7qpOASES7OptionsE", !22, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !12, i64 28, !12, i64 32, !10, i64 36, !18, i64 40, !18, i64 48, !18, i64 56, !18, i64 64, !18, i64 72, !18, i64 80, !18, i64 88, !18, i64 96, !18, i64 104, !18, i64 112, !18, i64 120, !23, i64 128, !18, i64 136, !12, i64 144, !18, i64 152, !12, i64 160, !18, i64 168, !18, i64 176, !18, i64 184, !18, i64 192, !10, i64 200, !10, i64 204, !12, i64 208, !12, i64 212, !12, i64 216}
!22 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!24 = !{!"_ZTSN7qpOASES7FlipperE", !12, i64 0, !12, i64 4, !15, i64 8, !25, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!25 = !{!"_ZTSN7qpOASES11ConstraintsE", !16, i64 0, !17, i64 40, !17, i64 80}
!26 = !{!"_ZTSN7qpOASES13TabularOutputE", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !12, i64 24, !12, i64 28}
!27 = !{!28, !12, i64 1080}
!28 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !29, i64 0, !6, i64 1064, !6, i64 1072, !12, i64 1080, !12, i64 1084, !6, i64 1088, !6, i64 1096, !18, i64 1104, !18, i64 1112, !12, i64 1120, !6, i64 1128, !6, i64 1136, !12, i64 1144, !6, i64 1152, !6, i64 1160, !6, i64 1168, !17, i64 1176, !17, i64 1216}
!29 = !{!"_ZTSN7qpOASES9SQProblemE", !30, i64 0}
!30 = !{!"_ZTSN7qpOASES8QProblemE", !14, i64 0, !10, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !25, i64 832, !6, i64 952, !6, i64 960, !12, i64 968, !6, i64 976, !6, i64 984, !6, i64 992, !6, i64 1000, !6, i64 1008, !6, i64 1016, !6, i64 1024, !6, i64 1032, !6, i64 1040, !6, i64 1048, !6, i64 1056}
!31 = !{!28, !18, i64 1104}
!32 = !{!28, !18, i64 1112}
!33 = !{!28, !12, i64 1084}
!34 = !{!28, !6, i64 1168}
!35 = !{!14, !20, i64 220}
!36 = !{!14, !6, i64 16}
!37 = !{!38, !38, i64 0}
!38 = !{!"vtable pointer", !8, i64 0}
!39 = !{!14, !18, i64 424}
!40 = !{!30, !6, i64 1000}
!41 = !{!30, !6, i64 808}
!42 = !{!18, !18, i64 0}
!43 = distinct !{!43, !44}
!44 = !{!"llvm.loop.mustprogress"}
!45 = distinct !{!45, !44}
!46 = !{!28, !6, i64 1064}
!47 = !{!48, !48, i64 0}
!48 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!49 = !{!28, !12, i64 1120}


; 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"

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [29 x i8], align 1
@.str.32 = external hidden unnamed_addr constant [83 x i8], align 1
@.str.33 = external hidden unnamed_addr constant [94 x i8], align 1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_Z8MyPrintfPKcz(ptr noundef, ...) local_unnamed_addr #0

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) local_unnamed_addr #2

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #3

declare noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) local_unnamed_addr #3

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) local_unnamed_addr #4

declare noundef nonnull align 8 dereferenceable(36) ptr @_ZN7qpOASES9IndexlistaSERKS0_(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef nonnull align 8 dereferenceable(36)) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1) local_unnamed_addr #5 align 2 {
  %3 = alloca i32, align 4
  %4 = alloca i32, align 4
  %5 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %6 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %7 = getelementptr inbounds i8, ptr %0, i64 272
  %8 = load i32, ptr %7, align 8, !tbaa !5
  %9 = icmp eq i32 %8, 3
  br i1 %9, label %10, label %11

10:                                               ; preds = %2
  tail call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.31)
  br label %11

11:                                               ; preds = %10, %2
  %12 = getelementptr inbounds i8, ptr %0, i64 1080
  store i32 0, ptr %12, align 8, !tbaa !24
  %13 = getelementptr inbounds i8, ptr %0, i64 1104
  store <2 x double> <double 1.000000e+00, double 1.000000e+00>, ptr %13, align 8, !tbaa !28
  %14 = getelementptr inbounds i8, ptr %0, i64 48
  %15 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %14)
  %16 = getelementptr inbounds i8, ptr %0, i64 1176
  %17 = tail call noundef nonnull align 8 dereferenceable(36) ptr @_ZN7qpOASES9IndexlistaSERKS0_(ptr noundef nonnull align 8 dereferenceable(36) %16, ptr noundef nonnull align 8 dereferenceable(36) %15)
  %18 = getelementptr inbounds i8, ptr %0, i64 832
  %19 = tail call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %18)
  %20 = getelementptr inbounds i8, ptr %0, i64 1216
  %21 = tail call noundef nonnull align 8 dereferenceable(36) ptr @_ZN7qpOASES9IndexlistaSERKS0_(ptr noundef nonnull align 8 dereferenceable(36) %20, ptr noundef nonnull align 8 dereferenceable(36) %19)
  %22 = getelementptr inbounds i8, ptr %0, i64 1084
  %23 = load i32, ptr %22, align 4, !tbaa !29
  %24 = icmp sgt i32 %23, 0
  br i1 %24, label %25, label %28

25:                                               ; preds = %11
  %26 = getelementptr inbounds i8, ptr %0, i64 1168
  %27 = load ptr, ptr %26, align 8, !tbaa !30
  store i32 0, ptr %27, align 4, !tbaa !31
  br label %28

28:                                               ; preds = %25, %11
  %29 = add nsw i32 %6, %5
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %3) #8
  %30 = getelementptr inbounds i8, ptr %0, i64 220
  %31 = load i32, ptr %30, align 4, !tbaa !32
  switch i32 %31, label %34 [
    i32 0, label %32
    i32 1, label %33
  ]

32:                                               ; preds = %28
  store i32 0, ptr %3, align 4, !tbaa !31
  br label %47

33:                                               ; preds = %28
  store i32 %5, ptr %3, align 4, !tbaa !31
  br label %47

34:                                               ; preds = %28
  %35 = getelementptr inbounds i8, ptr %0, i64 16
  %36 = load ptr, ptr %35, align 8, !tbaa !33
  %37 = load ptr, ptr %36, align 8, !tbaa !34
  %38 = getelementptr i8, ptr %37, i64 -24
  %39 = load i64, ptr %38, align 8
  %40 = getelementptr inbounds i8, ptr %36, i64 %39
  %41 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %14)
  %42 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %14)
  %43 = load ptr, ptr %40, align 8, !tbaa !34
  %44 = getelementptr inbounds i8, ptr %43, i64 88
  %45 = load ptr, ptr %44, align 8
  %46 = call noundef i32 %45(ptr noundef nonnull align 8 dereferenceable(12) %40, ptr noundef %41, ptr noundef %42, i32 noundef 1, i32 noundef 1, ptr noundef nonnull align 4 dereferenceable(4) %3, ptr noundef null, ptr noundef null, ptr noundef null, i32 noundef 1)
  br label %47

47:                                               ; preds = %34, %33, %32
  %48 = getelementptr inbounds i8, ptr %0, i64 424
  %49 = load double, ptr %48, align 8, !tbaa !36
  %50 = fcmp ogt double %49, 0.000000e+00
  br i1 %50, label %51, label %54

51:                                               ; preds = %47
  %52 = load i32, ptr %3, align 4, !tbaa !31
  %53 = add nsw i32 %52, %5
  store i32 %53, ptr %3, align 4, !tbaa !31
  br label %54

54:                                               ; preds = %51, %47
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %4) #8
  %55 = getelementptr inbounds i8, ptr %0, i64 1000
  %56 = load ptr, ptr %55, align 8, !tbaa !37
  %.not = icmp eq ptr %56, null
  br i1 %.not, label %60, label %57

57:                                               ; preds = %54
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.32)
  %58 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %59 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %58, i32 noundef 11, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3029, i32 noundef 1)
  br label %199

60:                                               ; preds = %54
  %61 = getelementptr inbounds i8, ptr %0, i64 808
  %62 = load ptr, ptr %61, align 8, !tbaa !38
  %63 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %18)
  %64 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %14)
  %65 = add nsw i32 %5, 1
  %66 = load ptr, ptr %62, align 8, !tbaa !34
  %67 = getelementptr inbounds i8, ptr %66, i64 88
  %68 = load ptr, ptr %67, align 8
  %69 = call noundef i32 %68(ptr noundef nonnull align 8 dereferenceable(12) %62, ptr noundef %63, ptr noundef %64, i32 noundef %65, i32 noundef 1, ptr noundef nonnull align 4 dereferenceable(4) %4, ptr noundef null, ptr noundef null, ptr noundef null, i32 noundef 0)
  %70 = load i32, ptr %4, align 4, !tbaa !31
  %71 = load i32, ptr %3, align 4, !tbaa !31
  %72 = add nsw i32 %71, %70
  %73 = sext i32 %72 to i64
  %74 = icmp slt i32 %72, 0
  %75 = shl nsw i64 %73, 3
  %76 = select i1 %74, i64 -1, i64 %75
  %77 = call noalias noundef nonnull ptr @_Znam(i64 noundef %76) #9
  %78 = shl nsw i64 %73, 2
  %79 = select i1 %74, i64 -1, i64 %78
  %80 = call noalias noundef nonnull ptr @_Znam(i64 noundef %79) #9
  %81 = call noalias noundef nonnull ptr @_Znam(i64 noundef %79) #9
  store i32 0, ptr %3, align 4, !tbaa !31
  %82 = load i32, ptr %30, align 4, !tbaa !32
  switch i32 %82, label %100 [
    i32 0, label %.loopexit59
    i32 1, label %83
  ]

83:                                               ; preds = %60
  store i32 %5, ptr %3, align 4, !tbaa !31
  %84 = icmp sgt i32 %5, 0
  br i1 %84, label %.lr.ph.preheader, label %.loopexit

.lr.ph.preheader:                                 ; preds = %83
  %wide.trip.count = zext nneg i32 %5 to i64
  %min.iters.check = icmp ult i32 %5, 4
  br i1 %min.iters.check, label %.lr.ph.preheader92, label %vector.ph

vector.ph:                                        ; preds = %.lr.ph.preheader
  %n.vec = and i64 %wide.trip.count, 2147483644
  br label %vector.body

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %vec.ind = phi <2 x i64> [ <i64 0, i64 1>, %vector.ph ], [ %vec.ind.next, %vector.body ]
  %85 = getelementptr inbounds i32, ptr %80, i64 %index
  %86 = trunc <2 x i64> %vec.ind to <2 x i32>
  %87 = add <2 x i32> %86, <i32 1, i32 1>
  %88 = trunc <2 x i64> %vec.ind to <2 x i32>
  %89 = add <2 x i32> %88, <i32 3, i32 3>
  %90 = getelementptr inbounds i8, ptr %85, i64 8
  store <2 x i32> %87, ptr %85, align 4, !tbaa !31
  store <2 x i32> %89, ptr %90, align 4, !tbaa !31
  %91 = getelementptr inbounds i32, ptr %81, i64 %index
  %92 = getelementptr inbounds i8, ptr %91, i64 8
  store <2 x i32> %87, ptr %91, align 4, !tbaa !31
  store <2 x i32> %89, ptr %92, align 4, !tbaa !31
  %93 = getelementptr inbounds double, ptr %77, i64 %index
  %94 = getelementptr inbounds i8, ptr %93, i64 16
  store <2 x double> <double 1.000000e+00, double 1.000000e+00>, ptr %93, align 8, !tbaa !28
  store <2 x double> <double 1.000000e+00, double 1.000000e+00>, ptr %94, align 8, !tbaa !28
  %index.next = add nuw i64 %index, 4
  %vec.ind.next = add <2 x i64> %vec.ind, <i64 4, i64 4>
  %95 = icmp eq i64 %index.next, %n.vec
  br i1 %95, label %middle.block, label %vector.body, !llvm.loop !39

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %wide.trip.count
  br i1 %cmp.n, label %.loopexit59, label %.lr.ph.preheader92

.lr.ph.preheader92:                               ; preds = %middle.block, %.lr.ph.preheader
  %indvars.iv.ph = phi i64 [ 0, %.lr.ph.preheader ], [ %n.vec, %middle.block ]
  br label %.lr.ph

.lr.ph:                                           ; preds = %.lr.ph.preheader92, %.lr.ph
  %indvars.iv = phi i64 [ %indvars.iv.next, %.lr.ph ], [ %indvars.iv.ph, %.lr.ph.preheader92 ]
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %96 = getelementptr inbounds i32, ptr %80, i64 %indvars.iv
  %97 = trunc nuw nsw i64 %indvars.iv.next to i32
  store i32 %97, ptr %96, align 4, !tbaa !31
  %98 = getelementptr inbounds i32, ptr %81, i64 %indvars.iv
  store i32 %97, ptr %98, align 4, !tbaa !31
  %99 = getelementptr inbounds double, ptr %77, i64 %indvars.iv
  store double 1.000000e+00, ptr %99, align 8, !tbaa !28
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %.loopexit59, label %.lr.ph, !llvm.loop !43

100:                                              ; preds = %60
  %101 = getelementptr inbounds i8, ptr %0, i64 16
  %102 = load ptr, ptr %101, align 8, !tbaa !33
  %103 = load ptr, ptr %102, align 8, !tbaa !34
  %104 = getelementptr i8, ptr %103, i64 -24
  %105 = load i64, ptr %104, align 8
  %106 = getelementptr inbounds i8, ptr %102, i64 %105
  %107 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %14)
  %108 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %14)
  %109 = load ptr, ptr %106, align 8, !tbaa !34
  %110 = getelementptr inbounds i8, ptr %109, i64 88
  %111 = load ptr, ptr %110, align 8
  %112 = call noundef i32 %111(ptr noundef nonnull align 8 dereferenceable(12) %106, ptr noundef %107, ptr noundef %108, i32 noundef 1, i32 noundef 1, ptr noundef nonnull align 4 dereferenceable(4) %3, ptr noundef nonnull %80, ptr noundef nonnull %81, ptr noundef nonnull %77, i32 noundef 1)
  %.promoted.pre = load i32, ptr %3, align 4
  br label %.loopexit59

.loopexit59:                                      ; preds = %.lr.ph, %middle.block, %100, %60
  %.promoted = phi i32 [ %.promoted.pre, %100 ], [ %82, %60 ], [ %5, %middle.block ], [ %5, %.lr.ph ]
  %113 = load double, ptr %48, align 8, !tbaa !36
  %114 = fcmp ogt double %113, 0.000000e+00
  %115 = icmp sgt i32 %5, 0
  %or.cond63 = and i1 %114, %115
  br i1 %or.cond63, label %.lr.ph62.preheader, label %.loopexit

.lr.ph62.preheader:                               ; preds = %.loopexit59
  %116 = sext i32 %.promoted to i64
  %117 = zext nneg i32 %5 to i64
  %min.iters.check75 = icmp ult i32 %5, 4
  br i1 %min.iters.check75, label %.lr.ph62.preheader90, label %vector.ph76

vector.ph76:                                      ; preds = %.lr.ph62.preheader
  %n.vec78 = and i64 %117, 2147483644
  %ind.end = add nsw i64 %n.vec78, %116
  %ind.end80 = trunc nuw nsw i64 %n.vec78 to i32
  %broadcast.splatinsert = insertelement <2 x double> poison, double %113, i64 0
  %broadcast.splat = shufflevector <2 x double> %broadcast.splatinsert, <2 x double> poison, <2 x i32> zeroinitializer
  br label %vector.body82

vector.body82:                                    ; preds = %vector.body82, %vector.ph76
  %index83 = phi i64 [ 0, %vector.ph76 ], [ %index.next88, %vector.body82 ]
  %vec.ind84 = phi <2 x i32> [ <i32 0, i32 1>, %vector.ph76 ], [ %vec.ind.next87, %vector.body82 ]
  %offset.idx = add i64 %index83, %116
  %118 = add nuw nsw <2 x i32> %vec.ind84, <i32 1, i32 1>
  %119 = add <2 x i32> %vec.ind84, <i32 3, i32 3>
  %120 = getelementptr inbounds i32, ptr %80, i64 %offset.idx
  %121 = getelementptr inbounds i8, ptr %120, i64 8
  store <2 x i32> %118, ptr %120, align 4, !tbaa !31
  store <2 x i32> %119, ptr %121, align 4, !tbaa !31
  %122 = getelementptr inbounds i32, ptr %81, i64 %offset.idx
  %123 = getelementptr inbounds i8, ptr %122, i64 8
  store <2 x i32> %118, ptr %122, align 4, !tbaa !31
  store <2 x i32> %119, ptr %123, align 4, !tbaa !31
  %124 = getelementptr inbounds double, ptr %77, i64 %offset.idx
  %125 = getelementptr inbounds i8, ptr %124, i64 16
  store <2 x double> %broadcast.splat, ptr %124, align 8, !tbaa !28
  store <2 x double> %broadcast.splat, ptr %125, align 8, !tbaa !28
  %index.next88 = add nuw i64 %index83, 4
  %vec.ind.next87 = add <2 x i32> %vec.ind84, <i32 4, i32 4>
  %126 = icmp eq i64 %index.next88, %n.vec78
  br i1 %126, label %middle.block73, label %vector.body82, !llvm.loop !44

middle.block73:                                   ; preds = %vector.body82
  %cmp.n89 = icmp eq i64 %n.vec78, %117
  br i1 %cmp.n89, label %..loopexit_crit_edge, label %.lr.ph62.preheader90

.lr.ph62.preheader90:                             ; preds = %middle.block73, %.lr.ph62.preheader
  %indvars.iv65.ph = phi i64 [ %116, %.lr.ph62.preheader ], [ %ind.end, %middle.block73 ]
  %.15261.ph = phi i32 [ 0, %.lr.ph62.preheader ], [ %ind.end80, %middle.block73 ]
  br label %.lr.ph62

.lr.ph62:                                         ; preds = %.lr.ph62.preheader90, %.lr.ph62
  %indvars.iv65 = phi i64 [ %indvars.iv.next66, %.lr.ph62 ], [ %indvars.iv65.ph, %.lr.ph62.preheader90 ]
  %.15261 = phi i32 [ %127, %.lr.ph62 ], [ %.15261.ph, %.lr.ph62.preheader90 ]
  %127 = add nuw nsw i32 %.15261, 1
  %128 = getelementptr inbounds i32, ptr %80, i64 %indvars.iv65
  store i32 %127, ptr %128, align 4, !tbaa !31
  %129 = getelementptr inbounds i32, ptr %81, i64 %indvars.iv65
  store i32 %127, ptr %129, align 4, !tbaa !31
  %indvars.iv.next66 = add nsw i64 %indvars.iv65, 1
  %130 = getelementptr inbounds double, ptr %77, i64 %indvars.iv65
  store double %113, ptr %130, align 8, !tbaa !28
  %exitcond68.not = icmp eq i32 %127, %5
  br i1 %exitcond68.not, label %..loopexit_crit_edge, label %.lr.ph62, !llvm.loop !45

..loopexit_crit_edge:                             ; preds = %.lr.ph62, %middle.block73
  %indvars.iv.next66.lcssa = phi i64 [ %ind.end, %middle.block73 ], [ %indvars.iv.next66, %.lr.ph62 ]
  %131 = trunc nsw i64 %indvars.iv.next66.lcssa to i32
  store i32 %131, ptr %3, align 4, !tbaa !31
  br label %.loopexit

.loopexit:                                        ; preds = %83, %..loopexit_crit_edge, %.loopexit59
  %132 = load ptr, ptr %61, align 8, !tbaa !38
  %133 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %18)
  %134 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %14)
  %135 = load i32, ptr %3, align 4, !tbaa !31
  %136 = sext i32 %135 to i64
  %137 = getelementptr inbounds i32, ptr %80, i64 %136
  %138 = getelementptr inbounds i32, ptr %81, i64 %136
  %139 = getelementptr inbounds double, ptr %77, i64 %136
  %140 = load ptr, ptr %132, align 8, !tbaa !34
  %141 = getelementptr inbounds i8, ptr %140, i64 88
  %142 = load ptr, ptr %141, align 8
  %143 = call noundef i32 %142(ptr noundef nonnull align 8 dereferenceable(12) %132, ptr noundef %133, ptr noundef %134, i32 noundef %65, i32 noundef 1, ptr noundef nonnull align 4 dereferenceable(4) %4, ptr noundef nonnull %137, ptr noundef nonnull %138, ptr noundef nonnull %139, i32 noundef 0)
  %144 = load i32, ptr %4, align 4, !tbaa !31
  %145 = load i32, ptr %3, align 4, !tbaa !31
  %146 = add nsw i32 %145, %144
  store i32 %146, ptr %3, align 4, !tbaa !31
  %147 = getelementptr inbounds i8, ptr %0, i64 1064
  %148 = load ptr, ptr %147, align 8, !tbaa !46
  %149 = load ptr, ptr %148, align 8, !tbaa !34
  %150 = getelementptr inbounds i8, ptr %149, i64 48
  %151 = load ptr, ptr %150, align 8
  %152 = call noundef i32 %151(ptr noundef nonnull align 8 dereferenceable(8) %148)
  %153 = load ptr, ptr %147, align 8, !tbaa !46
  %154 = load i32, ptr %3, align 4, !tbaa !31
  %155 = load ptr, ptr %153, align 8, !tbaa !34
  %156 = getelementptr inbounds i8, ptr %155, i64 24
  %157 = load ptr, ptr %156, align 8
  %158 = call noundef i32 %157(ptr noundef nonnull align 8 dereferenceable(8) %153, i32 noundef %29, i32 noundef %154, ptr noundef nonnull %80, ptr noundef nonnull %81, ptr noundef nonnull %77)
  call void @_ZdaPv(ptr noundef nonnull %81) #10
  call void @_ZdaPv(ptr noundef nonnull %80) #10
  call void @_ZdaPv(ptr noundef nonnull %77) #10
  %.not55 = icmp eq i32 %158, 0
  br i1 %.not55, label %162, label %159

159:                                              ; preds = %.loopexit
  %160 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %161 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %160, i32 noundef 145, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3081, i32 noundef 1)
  br label %199

162:                                              ; preds = %.loopexit
  %163 = load ptr, ptr %147, align 8, !tbaa !46
  %164 = load ptr, ptr %163, align 8, !tbaa !34
  %165 = getelementptr inbounds i8, ptr %164, i64 32
  %166 = load ptr, ptr %165, align 8
  %167 = call noundef i32 %166(ptr noundef nonnull align 8 dereferenceable(8) %163)
  %168 = getelementptr inbounds i8, ptr %0, i64 1120
  %169 = load i32, ptr %168, align 8, !tbaa !47
  %170 = add nsw i32 %169, 1
  store i32 %170, ptr %168, align 8, !tbaa !47
  %171 = icmp eq i32 %167, 142
  br i1 %171, label %172, label %177

172:                                              ; preds = %162
  %173 = call noundef i32 @_ZN7qpOASES14SQProblemSchur24repairSingularWorkingSetEv(ptr noundef nonnull align 8 dereferenceable(1256) %0)
  %174 = icmp eq i32 %173, 0
  br i1 %174, label %175, label %199

175:                                              ; preds = %172
  %176 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1)
  br label %199

177:                                              ; preds = %162
  %178 = icmp eq i32 %167, 0
  %179 = icmp ne i32 %1, 0
  %or.cond = and i1 %179, %178
  br i1 %or.cond, label %180, label %195

180:                                              ; preds = %177
  %181 = load ptr, ptr %147, align 8, !tbaa !46
  %182 = load ptr, ptr %181, align 8, !tbaa !34
  %183 = getelementptr inbounds i8, ptr %182, i64 56
  %184 = load ptr, ptr %183, align 8
  %185 = call noundef i32 %184(ptr noundef nonnull align 8 dereferenceable(8) %181)
  %186 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %187 = icmp sgt i32 %185, %186
  br i1 %187, label %188, label %.thread

188:                                              ; preds = %180
  %189 = load i32, ptr %7, align 8, !tbaa !5
  %190 = icmp eq i32 %189, 3
  br i1 %190, label %191, label %193

191:                                              ; preds = %188
  %192 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.33, i32 noundef %185, i32 noundef %192)
  br label %193

193:                                              ; preds = %191, %188
  %194 = call noundef i32 @_ZN7qpOASES14SQProblemSchur14correctInertiaEv(ptr noundef nonnull align 8 dereferenceable(1256) %0)
  br label %195

195:                                              ; preds = %193, %177
  %.150 = phi i32 [ %167, %177 ], [ %194, %193 ]
  %.not56 = icmp eq i32 %.150, 0
  br i1 %.not56, label %.thread, label %196

196:                                              ; preds = %195
  %197 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %198 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %197, i32 noundef 102, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3110, i32 noundef 1)
  br label %199

.thread:                                          ; preds = %180, %195
  store i32 0, ptr %12, align 8, !tbaa !24
  br label %199

199:                                              ; preds = %159, %175, %196, %.thread, %172, %57
  %.1 = phi i32 [ %59, %57 ], [ %161, %159 ], [ %176, %175 ], [ %198, %196 ], [ 0, %.thread ], [ 142, %172 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %4) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %3) #8
  ret i32 %.1
}

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur14correctInertiaEv(ptr noundef nonnull align 8 dereferenceable(1256)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur24repairSingularWorkingSetEv(ptr noundef nonnull align 8 dereferenceable(1256)) local_unnamed_addr #5 align 2

attributes #0 = { mustprogress 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" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { nobuiltin allocsize(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 #3 = { "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 = { nobuiltin 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 #5 = { 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 #6 = { 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 #7 = { inlinehint mustprogress 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" }
attributes #8 = { nounwind }
attributes #9 = { builtin allocsize(0) }
attributes #10 = { builtin 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, !19, i64 272}
!6 = !{!"_ZTSN7qpOASES9QProblemBE", !7, i64 8, !10, i64 16, !10, i64 24, !10, i64 32, !10, i64 40, !11, i64 48, !10, i64 168, !7, i64 176, !10, i64 184, !10, i64 192, !15, i64 200, !16, i64 208, !7, i64 212, !7, i64 216, !17, i64 220, !15, i64 224, !13, i64 232, !10, i64 240, !15, i64 248, !15, i64 256, !13, i64 264, !18, i64 272, !21, i64 496, !23, i64 768}
!7 = !{!"_ZTSN7qpOASES11BooleanTypeE", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"any pointer", !8, i64 0}
!11 = !{!"_ZTSN7qpOASES6BoundsE", !12, i64 0, !14, i64 40, !14, i64 80}
!12 = !{!"_ZTSN7qpOASES9SubjectToE", !13, i64 8, !10, i64 16, !10, i64 24, !7, i64 32, !7, i64 36}
!13 = !{!"int", !8, i64 0}
!14 = !{!"_ZTSN7qpOASES9IndexlistE", !10, i64 0, !10, i64 8, !13, i64 16, !13, i64 20, !13, i64 24, !13, i64 28, !13, i64 32}
!15 = !{!"double", !8, i64 0}
!16 = !{!"_ZTSN7qpOASES14QProblemStatusE", !8, i64 0}
!17 = !{!"_ZTSN7qpOASES11HessianTypeE", !8, i64 0}
!18 = !{!"_ZTSN7qpOASES7OptionsE", !19, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !7, i64 16, !7, i64 20, !7, i64 24, !13, i64 28, !13, i64 32, !7, i64 36, !15, i64 40, !15, i64 48, !15, i64 56, !15, i64 64, !15, i64 72, !15, i64 80, !15, i64 88, !15, i64 96, !15, i64 104, !15, i64 112, !15, i64 120, !20, i64 128, !15, i64 136, !13, i64 144, !15, i64 152, !13, i64 160, !15, i64 168, !15, i64 176, !15, i64 184, !15, i64 192, !7, i64 200, !7, i64 204, !13, i64 208, !13, i64 212, !13, i64 216}
!19 = !{!"_ZTSN7qpOASES10PrintLevelE", !8, i64 0}
!20 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !8, i64 0}
!21 = !{!"_ZTSN7qpOASES7FlipperE", !13, i64 0, !13, i64 4, !11, i64 8, !22, i64 128, !10, i64 248, !10, i64 256, !10, i64 264}
!22 = !{!"_ZTSN7qpOASES11ConstraintsE", !12, i64 0, !14, i64 40, !14, i64 80}
!23 = !{!"_ZTSN7qpOASES13TabularOutputE", !13, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !13, i64 24, !13, i64 28}
!24 = !{!25, !13, i64 1080}
!25 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !26, i64 0, !10, i64 1064, !10, i64 1072, !13, i64 1080, !13, i64 1084, !10, i64 1088, !10, i64 1096, !15, i64 1104, !15, i64 1112, !13, i64 1120, !10, i64 1128, !10, i64 1136, !13, i64 1144, !10, i64 1152, !10, i64 1160, !10, i64 1168, !14, i64 1176, !14, i64 1216}
!26 = !{!"_ZTSN7qpOASES9SQProblemE", !27, i64 0}
!27 = !{!"_ZTSN7qpOASES8QProblemE", !6, i64 0, !7, i64 800, !10, i64 808, !10, i64 816, !10, i64 824, !22, i64 832, !10, i64 952, !10, i64 960, !13, i64 968, !10, i64 976, !10, i64 984, !10, i64 992, !10, i64 1000, !10, i64 1008, !10, i64 1016, !10, i64 1024, !10, i64 1032, !10, i64 1040, !10, i64 1048, !10, i64 1056}
!28 = !{!15, !15, i64 0}
!29 = !{!25, !13, i64 1084}
!30 = !{!25, !10, i64 1168}
!31 = !{!13, !13, i64 0}
!32 = !{!6, !17, i64 220}
!33 = !{!6, !10, i64 16}
!34 = !{!35, !35, i64 0}
!35 = !{!"vtable pointer", !9, i64 0}
!36 = !{!6, !15, i64 424}
!37 = !{!27, !10, i64 1000}
!38 = !{!27, !10, i64 808}
!39 = distinct !{!39, !40, !41, !42}
!40 = !{!"llvm.loop.mustprogress"}
!41 = !{!"llvm.loop.isvectorized", i32 1}
!42 = !{!"llvm.loop.unroll.runtime.disable"}
!43 = distinct !{!43, !40, !42, !41}
!44 = distinct !{!44, !40, !41, !42}
!45 = distinct !{!45, !40, !42, !41}
!46 = !{!25, !10, i64 1064}
!47 = !{!25, !13, i64 1120}


; Effective O3 passes: CorrelatedValuePropagationPass,DSEPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LICMPass,LoopLoadEliminationPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,LoopVectorizePass,ReassociatePass,SLPVectorizerPass,SROAPass,SimplifyCFGPass,TailCallElimPass