; 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::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 }
%"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::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 }
%"struct.qpOASES::TabularOutput" = type { i32, i32, i32, i32, i32, i32, i32, i32 }
%"class.qpOASES::Constraints" = type { %"class.qpOASES::SubjectTo", %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }
%"class.qpOASES::Indexlist" = type <{ ptr, ptr, i32, i32, i32, i32, i32, [4 x i8] }>

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [65 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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #2

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) #2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getAbsEd(double noundef) #4

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur11stepCalcRhsEiiiPiS1_S1_RdPKdS4_S4_S4_S4_NS_11BooleanTypeES5_PdS6_S6_S6_(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, ptr noundef %4, ptr noundef %5, ptr noundef %6, ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef %8, ptr noundef %9, ptr noundef %10, ptr noundef %11, ptr noundef %12, i32 noundef %13, i32 noundef %14, ptr noundef %15, ptr noundef %16, ptr noundef %17, ptr noundef %18) #3 align 2 {
  %20 = alloca i32, align 4
  %21 = alloca ptr, align 8
  %22 = alloca i32, align 4
  %23 = alloca i32, align 4
  %24 = alloca i32, align 4
  %25 = alloca ptr, align 8
  %26 = alloca ptr, align 8
  %27 = alloca ptr, align 8
  %28 = alloca ptr, align 8
  %29 = alloca ptr, align 8
  %30 = alloca ptr, align 8
  %31 = alloca ptr, align 8
  %32 = alloca ptr, align 8
  %33 = alloca ptr, align 8
  %34 = alloca i32, align 4
  %35 = alloca i32, align 4
  %36 = alloca ptr, align 8
  %37 = alloca ptr, align 8
  %38 = alloca ptr, align 8
  %39 = alloca ptr, align 8
  %40 = alloca i32, align 4
  %41 = alloca i32, align 4
  %42 = alloca i32, align 4
  %43 = alloca i32, align 4
  store ptr %0, ptr %21, align 8, !tbaa !5
  store i32 %1, ptr %22, align 4, !tbaa !9
  store i32 %2, ptr %23, align 4, !tbaa !9
  store i32 %3, ptr %24, align 4, !tbaa !9
  store ptr %4, ptr %25, align 8, !tbaa !5
  store ptr %5, ptr %26, align 8, !tbaa !5
  store ptr %6, ptr %27, align 8, !tbaa !5
  store ptr %7, ptr %28, align 8, !tbaa !5
  store ptr %8, ptr %29, align 8, !tbaa !5
  store ptr %9, ptr %30, align 8, !tbaa !5
  store ptr %10, ptr %31, align 8, !tbaa !5
  store ptr %11, ptr %32, align 8, !tbaa !5
  store ptr %12, ptr %33, align 8, !tbaa !5
  store i32 %13, ptr %34, align 4, !tbaa !11
  store i32 %14, ptr %35, align 4, !tbaa !11
  store ptr %15, ptr %36, align 8, !tbaa !5
  store ptr %16, ptr %37, align 8, !tbaa !5
  store ptr %17, ptr %38, align 8, !tbaa !5
  store ptr %18, ptr %39, align 8, !tbaa !5
  %44 = load ptr, ptr %21, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %40) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %41) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #5
  %45 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %44, i32 0, i32 3
  %46 = load i32, ptr %45, align 8, !tbaa !13
  %47 = icmp slt i32 %46, 0
  br i1 %47, label %48, label %58

48:                                               ; preds = %19
  %49 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %44, i32 noundef 0)
  store i32 %49, ptr %42, align 4, !tbaa !30
  %50 = load i32, ptr %42, align 4, !tbaa !30
  %51 = icmp ne i32 %50, 0
  br i1 %51, label %52, label %57

52:                                               ; preds = %48
  %53 = load i32, ptr %42, align 4, !tbaa !30
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.26, i32 noundef %53)
  %54 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %55 = load i32, ptr %42, align 4, !tbaa !30
  %56 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %54, i32 noundef %55, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2481, i32 noundef 1)
  store i32 %56, ptr %20, align 4
  store i32 1, ptr %43, align 4
  br label %250

57:                                               ; preds = %48
  br label %58

58:                                               ; preds = %57, %19
  store i32 0, ptr %40, align 4, !tbaa !9
  br label %59

59:                                               ; preds = %83, %58
  %60 = load i32, ptr %40, align 4, !tbaa !9
  %61 = load i32, ptr %22, align 4, !tbaa !9
  %62 = icmp slt i32 %60, %61
  br i1 %62, label %63, label %86

63:                                               ; preds = %59
  %64 = load ptr, ptr %25, align 8, !tbaa !5
  %65 = load i32, ptr %40, align 4, !tbaa !9
  %66 = sext i32 %65 to i64
  %67 = getelementptr inbounds i32, ptr %64, i64 %66
  %68 = load i32, ptr %67, align 4, !tbaa !9
  store i32 %68, ptr %41, align 4, !tbaa !9
  %69 = load ptr, ptr %29, align 8, !tbaa !5
  %70 = load i32, ptr %41, align 4, !tbaa !9
  %71 = sext i32 %70 to i64
  %72 = getelementptr inbounds double, ptr %69, i64 %71
  %73 = load double, ptr %72, align 8, !tbaa !32
  %74 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %44, i32 0, i32 13
  %75 = load ptr, ptr %74, align 8, !tbaa !33
  %76 = load i32, ptr %40, align 4, !tbaa !9
  %77 = sext i32 %76 to i64
  %78 = getelementptr inbounds double, ptr %75, i64 %77
  store double %73, ptr %78, align 8, !tbaa !32
  %79 = load ptr, ptr %37, align 8, !tbaa !5
  %80 = load i32, ptr %40, align 4, !tbaa !9
  %81 = sext i32 %80 to i64
  %82 = getelementptr inbounds double, ptr %79, i64 %81
  store double 0.000000e+00, ptr %82, align 8, !tbaa !32
  br label %83

83:                                               ; preds = %63
  %84 = load i32, ptr %40, align 4, !tbaa !9
  %85 = add nsw i32 %84, 1
  store i32 %85, ptr %40, align 4, !tbaa !9
  br label %59, !llvm.loop !34

86:                                               ; preds = %59
  store i32 0, ptr %40, align 4, !tbaa !9
  br label %87

87:                                               ; preds = %96, %86
  %88 = load i32, ptr %40, align 4, !tbaa !9
  %89 = load i32, ptr %24, align 4, !tbaa !9
  %90 = icmp slt i32 %88, %89
  br i1 %90, label %91, label %99

91:                                               ; preds = %87
  %92 = load ptr, ptr %38, align 8, !tbaa !5
  %93 = load i32, ptr %40, align 4, !tbaa !9
  %94 = sext i32 %93 to i64
  %95 = getelementptr inbounds double, ptr %92, i64 %94
  store double 0.000000e+00, ptr %95, align 8, !tbaa !32
  br label %96

96:                                               ; preds = %91
  %97 = load i32, ptr %40, align 4, !tbaa !9
  %98 = add nsw i32 %97, 1
  store i32 %98, ptr %40, align 4, !tbaa !9
  br label %87, !llvm.loop !36

99:                                               ; preds = %87
  %100 = load i32, ptr %34, align 4, !tbaa !11
  %101 = icmp eq i32 %100, 0
  br i1 %101, label %102, label %144

102:                                              ; preds = %99
  store i32 0, ptr %40, align 4, !tbaa !9
  br label %103

103:                                              ; preds = %140, %102
  %104 = load i32, ptr %40, align 4, !tbaa !9
  %105 = load i32, ptr %24, align 4, !tbaa !9
  %106 = icmp slt i32 %104, %105
  br i1 %106, label %107, label %143

107:                                              ; preds = %103
  %108 = load ptr, ptr %27, align 8, !tbaa !5
  %109 = load i32, ptr %40, align 4, !tbaa !9
  %110 = sext i32 %109 to i64
  %111 = getelementptr inbounds i32, ptr %108, i64 %110
  %112 = load i32, ptr %111, align 4, !tbaa !9
  store i32 %112, ptr %41, align 4, !tbaa !9
  %113 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %44, i32 0, i32 5
  %114 = load i32, ptr %41, align 4, !tbaa !9
  %115 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %113, i32 noundef %114)
  %116 = icmp eq i32 %115, -1
  br i1 %116, label %117, label %128

117:                                              ; preds = %107
  %118 = load ptr, ptr %30, align 8, !tbaa !5
  %119 = load i32, ptr %41, align 4, !tbaa !9
  %120 = sext i32 %119 to i64
  %121 = getelementptr inbounds double, ptr %118, i64 %120
  %122 = load double, ptr %121, align 8, !tbaa !32
  %123 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %44, i32 0, i32 14
  %124 = load ptr, ptr %123, align 8, !tbaa !37
  %125 = load i32, ptr %40, align 4, !tbaa !9
  %126 = sext i32 %125 to i64
  %127 = getelementptr inbounds double, ptr %124, i64 %126
  store double %122, ptr %127, align 8, !tbaa !32
  br label %139

128:                                              ; preds = %107
  %129 = load ptr, ptr %31, align 8, !tbaa !5
  %130 = load i32, ptr %41, align 4, !tbaa !9
  %131 = sext i32 %130 to i64
  %132 = getelementptr inbounds double, ptr %129, i64 %131
  %133 = load double, ptr %132, align 8, !tbaa !32
  %134 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %44, i32 0, i32 14
  %135 = load ptr, ptr %134, align 8, !tbaa !37
  %136 = load i32, ptr %40, align 4, !tbaa !9
  %137 = sext i32 %136 to i64
  %138 = getelementptr inbounds double, ptr %135, i64 %137
  store double %133, ptr %138, align 8, !tbaa !32
  br label %139

139:                                              ; preds = %128, %117
  br label %140

140:                                              ; preds = %139
  %141 = load i32, ptr %40, align 4, !tbaa !9
  %142 = add nsw i32 %141, 1
  store i32 %142, ptr %40, align 4, !tbaa !9
  br label %103, !llvm.loop !38

143:                                              ; preds = %103
  br label %159

144:                                              ; preds = %99
  store i32 0, ptr %40, align 4, !tbaa !9
  br label %145

145:                                              ; preds = %155, %144
  %146 = load i32, ptr %40, align 4, !tbaa !9
  %147 = load i32, ptr %24, align 4, !tbaa !9
  %148 = icmp slt i32 %146, %147
  br i1 %148, label %149, label %158

149:                                              ; preds = %145
  %150 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %44, i32 0, i32 14
  %151 = load ptr, ptr %150, align 8, !tbaa !37
  %152 = load i32, ptr %40, align 4, !tbaa !9
  %153 = sext i32 %152 to i64
  %154 = getelementptr inbounds double, ptr %151, i64 %153
  store double 0.000000e+00, ptr %154, align 8, !tbaa !32
  br label %155

155:                                              ; preds = %149
  %156 = load i32, ptr %40, align 4, !tbaa !9
  %157 = add nsw i32 %156, 1
  store i32 %157, ptr %40, align 4, !tbaa !9
  br label %145, !llvm.loop !39

158:                                              ; preds = %145
  br label %159

159:                                              ; preds = %158, %143
  %160 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %44, i32 0, i32 15
  %161 = load i32, ptr %160, align 4, !tbaa !40
  %162 = icmp ne i32 %161, 1
  br i1 %162, label %163, label %187

163:                                              ; preds = %159
  %164 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %44, i32 0, i32 15
  %165 = load i32, ptr %164, align 4, !tbaa !40
  %166 = icmp ne i32 %165, 0
  br i1 %166, label %167, label %187

167:                                              ; preds = %163
  %168 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %44, i32 0, i32 2
  %169 = load ptr, ptr %168, align 8, !tbaa !41
  %170 = load ptr, ptr %169, align 8, !tbaa !42
  %171 = getelementptr i8, ptr %170, i64 -24
  %172 = load i64, ptr %171, align 8
  %173 = getelementptr inbounds i8, ptr %169, i64 %172
  %174 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %44, i32 0, i32 6
  %175 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %174)
  %176 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %44, i32 0, i32 6
  %177 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %176)
  %178 = load ptr, ptr %36, align 8, !tbaa !5
  %179 = load i32, ptr %23, align 4, !tbaa !9
  %180 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %44, i32 0, i32 13
  %181 = load ptr, ptr %180, align 8, !tbaa !33
  %182 = load i32, ptr %22, align 4, !tbaa !9
  %183 = load ptr, ptr %173, align 8, !tbaa !42
  %184 = getelementptr inbounds ptr, ptr %183, i64 17
  %185 = load ptr, ptr %184, align 8
  %186 = call noundef i32 %185(ptr noundef nonnull align 8 dereferenceable(12) %173, ptr noundef %175, ptr noundef %177, i32 noundef 1, double noundef 1.000000e+00, ptr noundef %178, i32 noundef %179, double noundef 1.000000e+00, ptr noundef %181, i32 noundef %182, i32 noundef 1)
  br label %187

187:                                              ; preds = %167, %163, %159
  %188 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %44, i32 0, i32 2
  %189 = load ptr, ptr %188, align 8, !tbaa !44
  %190 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %44, i32 0, i32 5
  %191 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %190)
  %192 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %44, i32 0, i32 6
  %193 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %192)
  %194 = load ptr, ptr %36, align 8, !tbaa !5
  %195 = load i32, ptr %23, align 4, !tbaa !9
  %196 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %44, i32 0, i32 14
  %197 = load ptr, ptr %196, align 8, !tbaa !37
  %198 = load i32, ptr %24, align 4, !tbaa !9
  %199 = load ptr, ptr %189, align 8, !tbaa !42
  %200 = getelementptr inbounds ptr, ptr %199, i64 17
  %201 = load ptr, ptr %200, align 8
  %202 = call noundef i32 %201(ptr noundef nonnull align 8 dereferenceable(12) %189, ptr noundef %191, ptr noundef %193, i32 noundef 1, double noundef -1.000000e+00, ptr noundef %194, i32 noundef %195, double noundef 1.000000e+00, ptr noundef %197, i32 noundef %198, i32 noundef 1)
  %203 = load ptr, ptr %28, align 8, !tbaa !5
  store double 0.000000e+00, ptr %203, align 8, !tbaa !32
  %204 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %44, i32 0, i32 23
  %205 = getelementptr inbounds %"class.qpOASES::Options", ptr %204, i32 0, i32 27
  %206 = load i32, ptr %205, align 8, !tbaa !45
  %207 = icmp sgt i32 %206, 0
  br i1 %207, label %208, label %249

208:                                              ; preds = %187
  store i32 0, ptr %40, align 4, !tbaa !9
  br label %209

209:                                              ; preds = %225, %208
  %210 = load i32, ptr %40, align 4, !tbaa !9
  %211 = load i32, ptr %22, align 4, !tbaa !9
  %212 = icmp slt i32 %210, %211
  br i1 %212, label %213, label %228

213:                                              ; preds = %209
  %214 = load ptr, ptr %28, align 8, !tbaa !5
  %215 = load double, ptr %214, align 8, !tbaa !32
  %216 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %44, i32 0, i32 13
  %217 = load ptr, ptr %216, align 8, !tbaa !33
  %218 = load i32, ptr %40, align 4, !tbaa !9
  %219 = sext i32 %218 to i64
  %220 = getelementptr inbounds double, ptr %217, i64 %219
  %221 = load double, ptr %220, align 8, !tbaa !32
  %222 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %221)
  %223 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %215, double noundef %222)
  %224 = load ptr, ptr %28, align 8, !tbaa !5
  store double %223, ptr %224, align 8, !tbaa !32
  br label %225

225:                                              ; preds = %213
  %226 = load i32, ptr %40, align 4, !tbaa !9
  %227 = add nsw i32 %226, 1
  store i32 %227, ptr %40, align 4, !tbaa !9
  br label %209, !llvm.loop !46

228:                                              ; preds = %209
  store i32 0, ptr %40, align 4, !tbaa !9
  br label %229

229:                                              ; preds = %245, %228
  %230 = load i32, ptr %40, align 4, !tbaa !9
  %231 = load i32, ptr %24, align 4, !tbaa !9
  %232 = icmp slt i32 %230, %231
  br i1 %232, label %233, label %248

233:                                              ; preds = %229
  %234 = load ptr, ptr %28, align 8, !tbaa !5
  %235 = load double, ptr %234, align 8, !tbaa !32
  %236 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %44, i32 0, i32 14
  %237 = load ptr, ptr %236, align 8, !tbaa !37
  %238 = load i32, ptr %40, align 4, !tbaa !9
  %239 = sext i32 %238 to i64
  %240 = getelementptr inbounds double, ptr %237, i64 %239
  %241 = load double, ptr %240, align 8, !tbaa !32
  %242 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %241)
  %243 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %235, double noundef %242)
  %244 = load ptr, ptr %28, align 8, !tbaa !5
  store double %243, ptr %244, align 8, !tbaa !32
  br label %245

245:                                              ; preds = %233
  %246 = load i32, ptr %40, align 4, !tbaa !9
  %247 = add nsw i32 %246, 1
  store i32 %247, ptr %40, align 4, !tbaa !9
  br label %229, !llvm.loop !47

248:                                              ; preds = %229
  br label %249

249:                                              ; preds = %248, %187
  store i32 0, ptr %20, align 4
  store i32 1, ptr %43, align 4
  br label %250

250:                                              ; preds = %249, %52
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %41) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %40) #5
  %251 = load i32, ptr %20, align 4
  ret i32 %251
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getMaxEdd(double noundef, double noundef) #4

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 = { "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 = { 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 #4 = { 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 #5 = { 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 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!13 = !{!14, !10, i64 1080}
!14 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !15, i64 0, !6, i64 1064, !6, i64 1072, !10, i64 1080, !10, i64 1084, !6, i64 1088, !6, i64 1096, !21, i64 1104, !21, i64 1112, !10, i64 1120, !6, i64 1128, !6, i64 1136, !10, i64 1144, !6, i64 1152, !6, i64 1160, !6, i64 1168, !20, i64 1176, !20, i64 1216}
!15 = !{!"_ZTSN7qpOASES9SQProblemE", !16, i64 0}
!16 = !{!"_ZTSN7qpOASES8QProblemE", !17, i64 0, !12, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !28, i64 832, !6, i64 952, !6, i64 960, !10, 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}
!17 = !{!"_ZTSN7qpOASES9QProblemBE", !12, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !18, i64 48, !6, i64 168, !12, i64 176, !6, i64 184, !6, i64 192, !21, i64 200, !22, i64 208, !12, i64 212, !12, i64 216, !23, i64 220, !21, i64 224, !10, i64 232, !6, i64 240, !21, i64 248, !21, i64 256, !10, i64 264, !24, i64 272, !27, i64 496, !29, i64 768}
!18 = !{!"_ZTSN7qpOASES6BoundsE", !19, i64 0, !20, i64 40, !20, i64 80}
!19 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !12, i64 32, !12, i64 36}
!20 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!21 = !{!"double", !7, i64 0}
!22 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!24 = !{!"_ZTSN7qpOASES7OptionsE", !25, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !12, i64 24, !10, i64 28, !10, i64 32, !12, i64 36, !21, i64 40, !21, i64 48, !21, i64 56, !21, i64 64, !21, i64 72, !21, i64 80, !21, i64 88, !21, i64 96, !21, i64 104, !21, i64 112, !21, i64 120, !26, i64 128, !21, i64 136, !10, i64 144, !21, i64 152, !10, i64 160, !21, i64 168, !21, i64 176, !21, i64 184, !21, i64 192, !12, i64 200, !12, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!25 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!27 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !18, i64 8, !28, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!28 = !{!"_ZTSN7qpOASES11ConstraintsE", !19, i64 0, !20, i64 40, !20, i64 80}
!29 = !{!"_ZTSN7qpOASES13TabularOutputE", !10, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28}
!30 = !{!31, !31, i64 0}
!31 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!32 = !{!21, !21, i64 0}
!33 = !{!16, !6, i64 1008}
!34 = distinct !{!34, !35}
!35 = !{!"llvm.loop.mustprogress"}
!36 = distinct !{!36, !35}
!37 = !{!16, !6, i64 1016}
!38 = distinct !{!38, !35}
!39 = distinct !{!39, !35}
!40 = !{!17, !23, i64 220}
!41 = !{!17, !6, i64 16}
!42 = !{!43, !43, i64 0}
!43 = !{!"vtable pointer", !8, i64 0}
!44 = !{!16, !6, i64 808}
!45 = !{!17, !10, i64 432}
!46 = distinct !{!46, !35}
!47 = distinct !{!47, !35}


; 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.26 = external hidden unnamed_addr constant [65 x i8], align 1

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #1

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 #1

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getAbsEd(double noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur11stepCalcRhsEiiiPiS1_S1_RdPKdS4_S4_S4_S4_NS_11BooleanTypeES5_PdS6_S6_S6_(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, ptr nocapture noundef readonly %4, ptr nocapture noundef readnone %5, ptr nocapture noundef readonly %6, ptr nocapture noundef nonnull writeonly align 8 dereferenceable(8) %7, ptr nocapture noundef readonly %8, ptr nocapture noundef readonly %9, ptr nocapture noundef readonly %10, ptr nocapture noundef readnone %11, ptr nocapture noundef readnone %12, i32 noundef %13, i32 noundef %14, ptr noundef %15, ptr nocapture noundef writeonly %16, ptr nocapture noundef writeonly %17, ptr nocapture noundef readnone %18) local_unnamed_addr #2 align 2 {
  %20 = getelementptr inbounds i8, ptr %0, i64 1080
  %21 = load i32, ptr %20, align 8, !tbaa !5
  %22 = icmp slt i32 %21, 0
  br i1 %22, label %23, label %28

23:                                               ; preds = %19
  %24 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef 0)
  %.not = icmp eq i32 %24, 0
  br i1 %.not, label %28, label %25

25:                                               ; preds = %23
  tail call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.26, i32 noundef %24)
  %26 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %27 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %26, i32 noundef %24, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2481, i32 noundef 1)
  br label %.loopexit

28:                                               ; preds = %23, %19
  %29 = icmp sgt i32 %1, 0
  br i1 %29, label %.lr.ph, label %.preheader67

.lr.ph:                                           ; preds = %28
  %30 = getelementptr inbounds i8, ptr %0, i64 1008
  %31 = load ptr, ptr %30, align 8, !tbaa !27
  %wide.trip.count = zext nneg i32 %1 to i64
  %xtraiter = and i64 %wide.trip.count, 1
  %32 = icmp eq i32 %1, 1
  br i1 %32, label %.preheader67.loopexit.unr-lcssa, label %.lr.ph.new

.lr.ph.new:                                       ; preds = %.lr.ph
  %unroll_iter = and i64 %wide.trip.count, 2147483646
  br label %41

.preheader67.loopexit.unr-lcssa:                  ; preds = %41, %.lr.ph
  %indvars.iv.unr = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next.1, %41 ]
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %.preheader67, label %.preheader67.loopexit.epilog-lcssa

.preheader67.loopexit.epilog-lcssa:               ; preds = %.preheader67.loopexit.unr-lcssa
  %33 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv.unr
  %34 = load i32, ptr %33, align 4, !tbaa !28
  %35 = sext i32 %34 to i64
  %36 = getelementptr inbounds double, ptr %8, i64 %35
  %37 = load double, ptr %36, align 8, !tbaa !29
  %38 = getelementptr inbounds double, ptr %31, i64 %indvars.iv.unr
  store double %37, ptr %38, align 8, !tbaa !29
  %39 = getelementptr inbounds double, ptr %16, i64 %indvars.iv.unr
  store double 0.000000e+00, ptr %39, align 8, !tbaa !29
  br label %.preheader67

.preheader67:                                     ; preds = %.preheader67.loopexit.epilog-lcssa, %.preheader67.loopexit.unr-lcssa, %28
  %40 = icmp sgt i32 %3, 0
  br i1 %40, label %._crit_edge, label %.loopexit64

41:                                               ; preds = %41, %.lr.ph.new
  %indvars.iv = phi i64 [ 0, %.lr.ph.new ], [ %indvars.iv.next.1, %41 ]
  %niter = phi i64 [ 0, %.lr.ph.new ], [ %niter.next.1, %41 ]
  %42 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv
  %43 = load i32, ptr %42, align 4, !tbaa !28
  %44 = sext i32 %43 to i64
  %45 = getelementptr inbounds double, ptr %8, i64 %44
  %46 = load double, ptr %45, align 8, !tbaa !29
  %47 = getelementptr inbounds double, ptr %31, i64 %indvars.iv
  store double %46, ptr %47, align 8, !tbaa !29
  %48 = getelementptr inbounds double, ptr %16, i64 %indvars.iv
  store double 0.000000e+00, ptr %48, align 8, !tbaa !29
  %indvars.iv.next = or disjoint i64 %indvars.iv, 1
  %49 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv.next
  %50 = load i32, ptr %49, align 4, !tbaa !28
  %51 = sext i32 %50 to i64
  %52 = getelementptr inbounds double, ptr %8, i64 %51
  %53 = load double, ptr %52, align 8, !tbaa !29
  %54 = getelementptr inbounds double, ptr %31, i64 %indvars.iv.next
  store double %53, ptr %54, align 8, !tbaa !29
  %55 = getelementptr inbounds double, ptr %16, i64 %indvars.iv.next
  store double 0.000000e+00, ptr %55, align 8, !tbaa !29
  %indvars.iv.next.1 = add nuw nsw i64 %indvars.iv, 2
  %niter.next.1 = add i64 %niter, 2
  %niter.ncmp.1 = icmp eq i64 %niter.next.1, %unroll_iter
  br i1 %niter.ncmp.1, label %.preheader67.loopexit.unr-lcssa, label %41, !llvm.loop !30

._crit_edge:                                      ; preds = %.preheader67
  %56 = zext nneg i32 %3 to i64
  %57 = shl nuw nsw i64 %56, 3
  tail call void @llvm.memset.p0.i64(ptr align 8 %17, i8 0, i64 %57, i1 false), !tbaa !29
  %58 = icmp eq i32 %13, 0
  %wide.trip.count90 = zext nneg i32 %3 to i64
  br i1 %58, label %.lr.ph74, label %.lr.ph72

.lr.ph72:                                         ; preds = %._crit_edge
  %59 = getelementptr inbounds i8, ptr %0, i64 1016
  %60 = load ptr, ptr %59, align 8, !tbaa !32
  %61 = shl nuw nsw i64 %wide.trip.count90, 3
  tail call void @llvm.memset.p0.i64(ptr align 8 %60, i8 0, i64 %61, i1 false), !tbaa !29
  br label %.loopexit64

.lr.ph74:                                         ; preds = %._crit_edge
  %62 = getelementptr inbounds i8, ptr %0, i64 832
  %63 = getelementptr inbounds i8, ptr %0, i64 1016
  br label %64

64:                                               ; preds = %.lr.ph74, %64
  %indvars.iv87 = phi i64 [ 0, %.lr.ph74 ], [ %indvars.iv.next88, %64 ]
  %65 = getelementptr inbounds i32, ptr %6, i64 %indvars.iv87
  %66 = load i32, ptr %65, align 4, !tbaa !28
  %67 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %62, i32 noundef %66)
  %68 = icmp eq i32 %67, -1
  %69 = sext i32 %66 to i64
  %70 = load ptr, ptr %63, align 8, !tbaa !32
  %71 = getelementptr inbounds double, ptr %70, i64 %indvars.iv87
  %. = select i1 %68, ptr %9, ptr %10
  %72 = getelementptr inbounds double, ptr %., i64 %69
  %73 = load double, ptr %72, align 8, !tbaa !29
  store double %73, ptr %71, align 8, !tbaa !29
  %indvars.iv.next88 = add nuw nsw i64 %indvars.iv87, 1
  %exitcond91.not = icmp eq i64 %indvars.iv.next88, %wide.trip.count90
  br i1 %exitcond91.not, label %.loopexit64, label %64, !llvm.loop !33

.loopexit64:                                      ; preds = %64, %.preheader67, %.lr.ph72
  %74 = getelementptr inbounds i8, ptr %0, i64 220
  %75 = load i32, ptr %74, align 4, !tbaa !34
  %switch = icmp ult i32 %75, 2
  br i1 %switch, label %92, label %76

76:                                               ; preds = %.loopexit64
  %77 = getelementptr inbounds i8, ptr %0, i64 16
  %78 = load ptr, ptr %77, align 8, !tbaa !35
  %79 = load ptr, ptr %78, align 8, !tbaa !36
  %80 = getelementptr i8, ptr %79, i64 -24
  %81 = load i64, ptr %80, align 8
  %82 = getelementptr inbounds i8, ptr %78, i64 %81
  %83 = getelementptr inbounds i8, ptr %0, i64 48
  %84 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %83)
  %85 = tail call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %83)
  %86 = getelementptr inbounds i8, ptr %0, i64 1008
  %87 = load ptr, ptr %86, align 8, !tbaa !27
  %88 = load ptr, ptr %82, align 8, !tbaa !36
  %89 = getelementptr inbounds i8, ptr %88, i64 136
  %90 = load ptr, ptr %89, align 8
  %91 = tail call noundef i32 %90(ptr noundef nonnull align 8 dereferenceable(12) %82, ptr noundef %84, ptr noundef %85, i32 noundef 1, double noundef 1.000000e+00, ptr noundef %15, i32 noundef %2, double noundef 1.000000e+00, ptr noundef %87, i32 noundef %1, i32 noundef 1)
  br label %92

92:                                               ; preds = %.loopexit64, %76
  %93 = getelementptr inbounds i8, ptr %0, i64 808
  %94 = load ptr, ptr %93, align 8, !tbaa !38
  %95 = getelementptr inbounds i8, ptr %0, i64 832
  %96 = tail call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %95)
  %97 = getelementptr inbounds i8, ptr %0, i64 48
  %98 = tail call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %97)
  %99 = getelementptr inbounds i8, ptr %0, i64 1016
  %100 = load ptr, ptr %99, align 8, !tbaa !32
  %101 = load ptr, ptr %94, align 8, !tbaa !36
  %102 = getelementptr inbounds i8, ptr %101, i64 136
  %103 = load ptr, ptr %102, align 8
  %104 = tail call noundef i32 %103(ptr noundef nonnull align 8 dereferenceable(12) %94, ptr noundef %96, ptr noundef %98, i32 noundef 1, double noundef -1.000000e+00, ptr noundef %15, i32 noundef %2, double noundef 1.000000e+00, ptr noundef %100, i32 noundef %3, i32 noundef 1)
  store double 0.000000e+00, ptr %7, align 8, !tbaa !29
  %105 = getelementptr inbounds i8, ptr %0, i64 432
  %106 = load i32, ptr %105, align 8, !tbaa !39
  %107 = icmp sgt i32 %106, 0
  br i1 %107, label %.preheader62, label %.loopexit

.preheader62:                                     ; preds = %92
  br i1 %29, label %.lr.ph76, label %.preheader

.lr.ph76:                                         ; preds = %.preheader62
  %108 = getelementptr inbounds i8, ptr %0, i64 1008
  %wide.trip.count95 = zext nneg i32 %1 to i64
  br label %110

.preheader:                                       ; preds = %110, %.preheader62
  %109 = phi double [ 0.000000e+00, %.preheader62 ], [ %116, %110 ]
  br i1 %40, label %.lr.ph78.preheader, label %.loopexit

.lr.ph78.preheader:                               ; preds = %.preheader
  %wide.trip.count100 = zext nneg i32 %3 to i64
  br label %.lr.ph78

110:                                              ; preds = %.lr.ph76, %110
  %111 = phi double [ 0.000000e+00, %.lr.ph76 ], [ %116, %110 ]
  %indvars.iv92 = phi i64 [ 0, %.lr.ph76 ], [ %indvars.iv.next93, %110 ]
  %112 = load ptr, ptr %108, align 8, !tbaa !27
  %113 = getelementptr inbounds double, ptr %112, i64 %indvars.iv92
  %114 = load double, ptr %113, align 8, !tbaa !29
  %115 = tail call noundef double @_ZN7qpOASES6getAbsEd(double noundef %114)
  %116 = tail call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %111, double noundef %115)
  store double %116, ptr %7, align 8, !tbaa !29
  %indvars.iv.next93 = add nuw nsw i64 %indvars.iv92, 1
  %exitcond96.not = icmp eq i64 %indvars.iv.next93, %wide.trip.count95
  br i1 %exitcond96.not, label %.preheader, label %110, !llvm.loop !40

.lr.ph78:                                         ; preds = %.lr.ph78.preheader, %.lr.ph78
  %117 = phi double [ %109, %.lr.ph78.preheader ], [ %122, %.lr.ph78 ]
  %indvars.iv97 = phi i64 [ 0, %.lr.ph78.preheader ], [ %indvars.iv.next98, %.lr.ph78 ]
  %118 = load ptr, ptr %99, align 8, !tbaa !32
  %119 = getelementptr inbounds double, ptr %118, i64 %indvars.iv97
  %120 = load double, ptr %119, align 8, !tbaa !29
  %121 = tail call noundef double @_ZN7qpOASES6getAbsEd(double noundef %120)
  %122 = tail call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %117, double noundef %121)
  store double %122, ptr %7, align 8, !tbaa !29
  %indvars.iv.next98 = add nuw nsw i64 %indvars.iv97, 1
  %exitcond101.not = icmp eq i64 %indvars.iv.next98, %wide.trip.count100
  br i1 %exitcond101.not, label %.loopexit, label %.lr.ph78, !llvm.loop !41

.loopexit:                                        ; preds = %.lr.ph78, %.preheader, %92, %25
  %.0 = phi i32 [ %27, %25 ], [ 0, %92 ], [ 0, %.preheader ], [ 0, %.lr.ph78 ]
  ret i32 %.0
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getMaxEdd(double noundef, double noundef) local_unnamed_addr #3

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #4

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 = { "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 #2 = { 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 #3 = { 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 #4 = { 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, !16, i64 1080}
!6 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !7, i64 0, !13, i64 1064, !13, i64 1072, !16, i64 1080, !16, i64 1084, !13, i64 1088, !13, i64 1096, !18, i64 1104, !18, i64 1112, !16, i64 1120, !13, i64 1128, !13, i64 1136, !16, i64 1144, !13, i64 1152, !13, i64 1160, !13, i64 1168, !17, i64 1176, !17, i64 1216}
!7 = !{!"_ZTSN7qpOASES9SQProblemE", !8, i64 0}
!8 = !{!"_ZTSN7qpOASES8QProblemE", !9, i64 0, !10, i64 800, !13, i64 808, !13, i64 816, !13, i64 824, !25, i64 832, !13, i64 952, !13, i64 960, !16, i64 968, !13, i64 976, !13, i64 984, !13, i64 992, !13, i64 1000, !13, i64 1008, !13, i64 1016, !13, i64 1024, !13, i64 1032, !13, i64 1040, !13, i64 1048, !13, i64 1056}
!9 = !{!"_ZTSN7qpOASES9QProblemBE", !10, i64 8, !13, i64 16, !13, i64 24, !13, i64 32, !13, i64 40, !14, i64 48, !13, i64 168, !10, i64 176, !13, i64 184, !13, i64 192, !18, i64 200, !19, i64 208, !10, i64 212, !10, i64 216, !20, i64 220, !18, i64 224, !16, i64 232, !13, i64 240, !18, i64 248, !18, i64 256, !16, i64 264, !21, i64 272, !24, i64 496, !26, i64 768}
!10 = !{!"_ZTSN7qpOASES11BooleanTypeE", !11, i64 0}
!11 = !{!"omnipotent char", !12, i64 0}
!12 = !{!"Simple C++ TBAA"}
!13 = !{!"any pointer", !11, i64 0}
!14 = !{!"_ZTSN7qpOASES6BoundsE", !15, i64 0, !17, i64 40, !17, i64 80}
!15 = !{!"_ZTSN7qpOASES9SubjectToE", !16, i64 8, !13, i64 16, !13, i64 24, !10, i64 32, !10, i64 36}
!16 = !{!"int", !11, i64 0}
!17 = !{!"_ZTSN7qpOASES9IndexlistE", !13, i64 0, !13, i64 8, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28, !16, i64 32}
!18 = !{!"double", !11, i64 0}
!19 = !{!"_ZTSN7qpOASES14QProblemStatusE", !11, i64 0}
!20 = !{!"_ZTSN7qpOASES11HessianTypeE", !11, 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, !16, i64 28, !16, 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, !16, i64 144, !18, i64 152, !16, i64 160, !18, i64 168, !18, i64 176, !18, i64 184, !18, i64 192, !10, i64 200, !10, i64 204, !16, i64 208, !16, i64 212, !16, i64 216}
!22 = !{!"_ZTSN7qpOASES10PrintLevelE", !11, i64 0}
!23 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !11, i64 0}
!24 = !{!"_ZTSN7qpOASES7FlipperE", !16, i64 0, !16, i64 4, !14, i64 8, !25, i64 128, !13, i64 248, !13, i64 256, !13, i64 264}
!25 = !{!"_ZTSN7qpOASES11ConstraintsE", !15, i64 0, !17, i64 40, !17, i64 80}
!26 = !{!"_ZTSN7qpOASES13TabularOutputE", !16, i64 0, !16, i64 4, !16, i64 8, !16, i64 12, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28}
!27 = !{!8, !13, i64 1008}
!28 = !{!16, !16, i64 0}
!29 = !{!18, !18, i64 0}
!30 = distinct !{!30, !31}
!31 = !{!"llvm.loop.mustprogress"}
!32 = !{!8, !13, i64 1016}
!33 = distinct !{!33, !31}
!34 = !{!9, !20, i64 220}
!35 = !{!9, !13, i64 16}
!36 = !{!37, !37, i64 0}
!37 = !{!"vtable pointer", !12, i64 0}
!38 = !{!8, !13, i64 808}
!39 = !{!9, !16, i64 432}
!40 = distinct !{!40, !31}
!41 = distinct !{!41, !31}


; Effective O3 passes: ADCEPass,EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LICMPass,LoopIdiomRecognizePass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass,TailCallElimPass