; 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::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::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 }
%"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::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" }

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [71 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [64 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [74 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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800)) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef) #7 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #6 align 2

declare noundef i32 @_ZN7qpOASES11Constraints20moveInactiveToActiveEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef, i32 noundef) #4

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur13addConstraintEiNS_15SubjectToStatusENS_11BooleanTypeES2_(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, i32 noundef %4) unnamed_addr #7 align 2 {
  %6 = alloca i32, align 4
  %7 = alloca ptr, align 8
  %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 i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca i8, align 1
  %16 = alloca i32, align 4
  %17 = alloca i32, align 4
  %18 = alloca i32, align 4
  %19 = alloca ptr, align 8
  %20 = alloca ptr, align 8
  %21 = alloca ptr, align 8
  %22 = alloca ptr, align 8
  %23 = alloca ptr, align 8
  %24 = alloca ptr, align 8
  %25 = alloca ptr, align 8
  %26 = alloca ptr, align 8
  %27 = alloca i32, align 4
  %28 = alloca i32, align 4
  %29 = alloca i32, align 4
  %30 = alloca i32, align 4
  %31 = alloca i32, align 4
  %32 = alloca i32, align 4
  %33 = alloca i32, align 4
  %34 = alloca i32, align 4
  %35 = alloca i32, align 4
  store ptr %0, ptr %7, align 8, !tbaa !5
  store i32 %1, ptr %8, align 4, !tbaa !9
  store i32 %2, ptr %9, align 4, !tbaa !11
  store i32 %3, ptr %10, align 4, !tbaa !13
  store i32 %4, ptr %11, align 4, !tbaa !13
  %36 = load ptr, ptr %7, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #9
  store i32 -1, ptr %12, align 4, !tbaa !9
  %37 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %36, i32 0, i32 5
  %38 = load i32, ptr %8, align 4, !tbaa !9
  %39 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %37, i32 noundef %38)
  %40 = icmp ne i32 %39, 0
  br i1 %40, label %41, label %44

41:                                               ; preds = %5
  %42 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %43 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %42, i32 noundef 86, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 659, i32 noundef 1)
  store i32 %43, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %501

44:                                               ; preds = %5
  %45 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %36, i32 0, i32 5
  %46 = call noundef i32 @_ZNK7qpOASES11Constraints5getNCEv(ptr noundef nonnull align 8 dereferenceable(120) %45)
  %47 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %36)
  %48 = sub nsw i32 %46, %47
  %49 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %36, i32 0, i32 5
  %50 = call noundef i32 @_ZNK7qpOASES11Constraints6getNUCEv(ptr noundef nonnull align 8 dereferenceable(120) %49)
  %51 = icmp eq i32 %48, %50
  br i1 %51, label %52, label %55

52:                                               ; preds = %44
  %53 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %54 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %53, i32 noundef 87, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 662, i32 noundef 1)
  store i32 %54, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %501

55:                                               ; preds = %44
  %56 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %36)
  %57 = icmp eq i32 %56, 0
  br i1 %57, label %67, label %58

58:                                               ; preds = %55
  %59 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %36)
  %60 = icmp eq i32 %59, 2
  br i1 %60, label %67, label %61

61:                                               ; preds = %58
  %62 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %36)
  %63 = icmp eq i32 %62, 4
  br i1 %63, label %67, label %64

64:                                               ; preds = %61
  %65 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %36)
  %66 = icmp eq i32 %65, 5
  br i1 %66, label %67, label %70

67:                                               ; preds = %64, %61, %58, %55
  %68 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %69 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %68, i32 noundef 9, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 669, i32 noundef 1)
  store i32 %69, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %501

70:                                               ; preds = %64
  %71 = load i32, ptr %11, align 4, !tbaa !13
  %72 = icmp eq i32 %71, 1
  br i1 %72, label %73, label %91

73:                                               ; preds = %70
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #9
  %74 = load i32, ptr %8, align 4, !tbaa !9
  %75 = load i32, ptr %9, align 4, !tbaa !11
  %76 = load ptr, ptr %36, align 8, !tbaa !15
  %77 = getelementptr inbounds ptr, ptr %76, i64 27
  %78 = load ptr, ptr %77, align 8
  %79 = call noundef i32 %78(ptr noundef nonnull align 8 dereferenceable(1256) %36, i32 noundef %74, i32 noundef %75)
  store i32 %79, ptr %14, align 4, !tbaa !17
  %80 = load i32, ptr %14, align 4, !tbaa !17
  switch i32 %80, label %84 [
    i32 0, label %87
    i32 90, label %87
    i32 93, label %81
    i32 94, label %82
    i32 141, label %83
  ]

81:                                               ; preds = %73
  store i32 77, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %88

82:                                               ; preds = %73
  store i32 77, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %88

83:                                               ; preds = %73
  store i32 0, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %88

84:                                               ; preds = %73
  %85 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %86 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %85, i32 noundef 91, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 697, i32 noundef 1)
  store i32 %86, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %88

87:                                               ; preds = %73, %73
  store i32 0, ptr %13, align 4
  br label %88

88:                                               ; preds = %87, %84, %83, %82, %81
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #9
  %89 = load i32, ptr %13, align 4
  switch i32 %89, label %501 [
    i32 0, label %90
  ]

90:                                               ; preds = %88
  br label %91

91:                                               ; preds = %90, %70
  %92 = load i32, ptr %8, align 4, !tbaa !9
  %93 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %36, i32 0, i32 25
  %94 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %93, i32 0, i32 2
  store i32 %92, ptr %94, align 8, !tbaa !19
  %95 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %36, i32 0, i32 5
  %96 = load i32, ptr %8, align 4, !tbaa !9
  %97 = load i32, ptr %9, align 4, !tbaa !11
  %98 = call noundef i32 @_ZN7qpOASES11Constraints20moveInactiveToActiveEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %95, i32 noundef %96, i32 noundef %97)
  %99 = icmp ne i32 %98, 0
  br i1 %99, label %100, label %103

100:                                              ; preds = %91
  %101 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %102 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %101, i32 noundef 76, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 704, i32 noundef 1)
  store i32 %102, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %501

103:                                              ; preds = %91
  call void @llvm.lifetime.start.p0(i64 1, ptr %15) #9
  store i8 0, ptr %15, align 1, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #9
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %104

104:                                              ; preds = %137, %103
  %105 = load i32, ptr %16, align 4, !tbaa !9
  %106 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 3
  %107 = load i32, ptr %106, align 8, !tbaa !34
  %108 = icmp slt i32 %105, %107
  br i1 %108, label %110, label %109

109:                                              ; preds = %104
  store i32 3, ptr %13, align 4
  br label %140

110:                                              ; preds = %104
  %111 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 11
  %112 = load ptr, ptr %111, align 8, !tbaa !38
  %113 = load i32, ptr %16, align 4, !tbaa !9
  %114 = sext i32 %113 to i64
  %115 = getelementptr inbounds i32, ptr %112, i64 %114
  %116 = load i32, ptr %115, align 4, !tbaa !39
  %117 = icmp eq i32 %116, 3
  br i1 %117, label %118, label %136

118:                                              ; preds = %110
  %119 = load i32, ptr %8, align 4, !tbaa !9
  %120 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 10
  %121 = load ptr, ptr %120, align 8, !tbaa !41
  %122 = load i32, ptr %16, align 4, !tbaa !9
  %123 = sext i32 %122 to i64
  %124 = getelementptr inbounds i32, ptr %121, i64 %123
  %125 = load i32, ptr %124, align 4, !tbaa !9
  %126 = icmp eq i32 %119, %125
  br i1 %126, label %127, label %136

127:                                              ; preds = %118
  %128 = load i32, ptr %16, align 4, !tbaa !9
  %129 = call noundef i32 @_ZN7qpOASES14SQProblemSchur25deleteFromSchurComplementEiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %36, i32 noundef %128, i32 noundef 0)
  %130 = icmp ne i32 %129, 0
  br i1 %130, label %131, label %134

131:                                              ; preds = %127
  %132 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %133 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %132, i32 noundef 76, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 716, i32 noundef 1)
  store i32 %133, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %140

134:                                              ; preds = %127
  store i8 1, ptr %15, align 1, !tbaa !32
  %135 = load i32, ptr %16, align 4, !tbaa !9
  store i32 %135, ptr %12, align 4, !tbaa !9
  store i32 3, ptr %13, align 4
  br label %140

136:                                              ; preds = %118, %110
  br label %137

137:                                              ; preds = %136
  %138 = load i32, ptr %16, align 4, !tbaa !9
  %139 = add nsw i32 %138, 1
  store i32 %139, ptr %16, align 4, !tbaa !9
  br label %104, !llvm.loop !42

140:                                              ; preds = %134, %131, %109
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #9
  %141 = load i32, ptr %13, align 4
  switch i32 %141, label %500 [
    i32 3, label %142
  ]

142:                                              ; preds = %140
  %143 = load i8, ptr %15, align 1, !tbaa !32, !range !44, !noundef !45
  %144 = trunc i8 %143 to i1
  br i1 %144, label %456, label %145

145:                                              ; preds = %142
  %146 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 3
  %147 = load i32, ptr %146, align 8, !tbaa !34
  %148 = icmp slt i32 %147, 0
  br i1 %148, label %155, label %149

149:                                              ; preds = %145
  %150 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 3
  %151 = load i32, ptr %150, align 8, !tbaa !34
  %152 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 4
  %153 = load i32, ptr %152, align 4, !tbaa !46
  %154 = icmp eq i32 %151, %153
  br i1 %154, label %155, label %183

155:                                              ; preds = %149, %145
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #9
  %156 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %36, i32 noundef 1)
  store i32 %156, ptr %17, align 4, !tbaa !17
  %157 = load i32, ptr %17, align 4, !tbaa !17
  %158 = icmp ne i32 %157, 0
  br i1 %158, label %159, label %179

159:                                              ; preds = %155
  %160 = load i32, ptr %17, align 4, !tbaa !17
  %161 = icmp eq i32 %160, 142
  br i1 %161, label %162, label %168

162:                                              ; preds = %159
  %163 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %36, i32 0, i32 23
  %164 = getelementptr inbounds %"class.qpOASES::Options", ptr %163, i32 0, i32 0
  %165 = load i32, ptr %164, align 8, !tbaa !47
  %166 = icmp eq i32 %165, 3
  br i1 %166, label %167, label %168

167:                                              ; preds = %162
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.6)
  br label %176

168:                                              ; preds = %162, %159
  %169 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %36, i32 0, i32 23
  %170 = getelementptr inbounds %"class.qpOASES::Options", ptr %169, i32 0, i32 0
  %171 = load i32, ptr %170, align 8, !tbaa !47
  %172 = icmp eq i32 %171, 3
  br i1 %172, label %173, label %175

173:                                              ; preds = %168
  %174 = load i32, ptr %17, align 4, !tbaa !17
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.7, i32 noundef %174)
  br label %175

175:                                              ; preds = %173, %168
  br label %176

176:                                              ; preds = %175, %167
  %177 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %178 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %177, i32 noundef 76, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 735, i32 noundef 1)
  store i32 %178, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %180

179:                                              ; preds = %155
  store i8 1, ptr %15, align 1, !tbaa !32
  store i32 0, ptr %13, align 4
  br label %180

180:                                              ; preds = %179, %176
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #9
  %181 = load i32, ptr %13, align 4
  switch i32 %181, label %500 [
    i32 0, label %182
  ]

182:                                              ; preds = %180
  br label %455

183:                                              ; preds = %149
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #9
  %184 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 16
  %185 = call noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36) %184)
  store i32 %185, ptr %18, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #9
  %186 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 16
  %187 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %186, ptr noundef %19)
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #9
  %188 = load i32, ptr %18, align 4, !tbaa !9
  %189 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 3
  %190 = load i32, ptr %189, align 8, !tbaa !34
  %191 = add nsw i32 %188, %190
  %192 = sext i32 %191 to i64
  %193 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %192, i64 4)
  %194 = extractvalue { i64, i1 } %193, 1
  %195 = extractvalue { i64, i1 } %193, 0
  %196 = select i1 %194, i64 -1, i64 %195
  %197 = call noalias noundef nonnull ptr @_Znam(i64 noundef %196) #10
  store ptr %197, ptr %20, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #9
  %198 = load i32, ptr %18, align 4, !tbaa !9
  %199 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 3
  %200 = load i32, ptr %199, align 8, !tbaa !34
  %201 = add nsw i32 %198, %200
  %202 = sext i32 %201 to i64
  %203 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %202, i64 8)
  %204 = extractvalue { i64, i1 } %203, 1
  %205 = extractvalue { i64, i1 } %203, 0
  %206 = select i1 %204, i64 -1, i64 %205
  %207 = call noalias noundef nonnull ptr @_Znam(i64 noundef %206) #10
  store ptr %207, ptr %21, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #9
  %208 = load i32, ptr %18, align 4, !tbaa !9
  %209 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 3
  %210 = load i32, ptr %209, align 8, !tbaa !34
  %211 = add nsw i32 %208, %210
  %212 = sext i32 %211 to i64
  %213 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %212, i64 4)
  %214 = extractvalue { i64, i1 } %213, 1
  %215 = extractvalue { i64, i1 } %213, 0
  %216 = select i1 %214, i64 -1, i64 %215
  %217 = call noalias noundef nonnull ptr @_Znam(i64 noundef %216) #10
  store ptr %217, ptr %22, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #9
  %218 = load i32, ptr %18, align 4, !tbaa !9
  %219 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 3
  %220 = load i32, ptr %219, align 8, !tbaa !34
  %221 = add nsw i32 %218, %220
  %222 = sext i32 %221 to i64
  %223 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %222, i64 4)
  %224 = extractvalue { i64, i1 } %223, 1
  %225 = extractvalue { i64, i1 } %223, 0
  %226 = select i1 %224, i64 -1, i64 %225
  %227 = call noalias noundef nonnull ptr @_Znam(i64 noundef %226) #10
  store ptr %227, ptr %23, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #9
  %228 = load i32, ptr %18, align 4, !tbaa !9
  %229 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 3
  %230 = load i32, ptr %229, align 8, !tbaa !34
  %231 = add nsw i32 %228, %230
  %232 = sext i32 %231 to i64
  %233 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %232, i64 8)
  %234 = extractvalue { i64, i1 } %233, 1
  %235 = extractvalue { i64, i1 } %233, 0
  %236 = select i1 %234, i64 -1, i64 %235
  %237 = call noalias noundef nonnull ptr @_Znam(i64 noundef %236) #10
  store ptr %237, ptr %24, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #9
  %238 = load i32, ptr %18, align 4, !tbaa !9
  %239 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 3
  %240 = load i32, ptr %239, align 8, !tbaa !34
  %241 = add nsw i32 %238, %240
  %242 = sext i32 %241 to i64
  %243 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %242, i64 4)
  %244 = extractvalue { i64, i1 } %243, 1
  %245 = extractvalue { i64, i1 } %243, 0
  %246 = select i1 %244, i64 -1, i64 %245
  %247 = call noalias noundef nonnull ptr @_Znam(i64 noundef %246) #10
  store ptr %247, ptr %25, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #9
  %248 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 3
  %249 = load i32, ptr %248, align 8, !tbaa !34
  %250 = sext i32 %249 to i64
  %251 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %250, i64 4)
  %252 = extractvalue { i64, i1 } %251, 1
  %253 = extractvalue { i64, i1 } %251, 0
  %254 = select i1 %252, i64 -1, i64 %253
  %255 = call noalias noundef nonnull ptr @_Znam(i64 noundef %254) #10
  store ptr %255, ptr %26, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #9
  store i32 0, ptr %27, align 4, !tbaa !9
  br label %256

256:                                              ; preds = %271, %183
  %257 = load i32, ptr %27, align 4, !tbaa !9
  %258 = load i32, ptr %18, align 4, !tbaa !9
  %259 = icmp slt i32 %257, %258
  br i1 %259, label %261, label %260

260:                                              ; preds = %256
  store i32 6, ptr %13, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #9
  br label %274

261:                                              ; preds = %256
  %262 = load ptr, ptr %19, align 8, !tbaa !5
  %263 = load i32, ptr %27, align 4, !tbaa !9
  %264 = sext i32 %263 to i64
  %265 = getelementptr inbounds i32, ptr %262, i64 %264
  %266 = load i32, ptr %265, align 4, !tbaa !9
  %267 = load ptr, ptr %25, align 8, !tbaa !5
  %268 = load i32, ptr %27, align 4, !tbaa !9
  %269 = sext i32 %268 to i64
  %270 = getelementptr inbounds i32, ptr %267, i64 %269
  store i32 %266, ptr %270, align 4, !tbaa !9
  br label %271

271:                                              ; preds = %261
  %272 = load i32, ptr %27, align 4, !tbaa !9
  %273 = add nsw i32 %272, 1
  store i32 %273, ptr %27, align 4, !tbaa !9
  br label %256, !llvm.loop !48

274:                                              ; preds = %260
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #9
  %275 = load i32, ptr %18, align 4, !tbaa !9
  store i32 %275, ptr %28, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #9
  store i32 0, ptr %29, align 4, !tbaa !9
  br label %276

276:                                              ; preds = %311, %274
  %277 = load i32, ptr %29, align 4, !tbaa !9
  %278 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 3
  %279 = load i32, ptr %278, align 8, !tbaa !34
  %280 = icmp slt i32 %277, %279
  br i1 %280, label %282, label %281

281:                                              ; preds = %276
  store i32 9, ptr %13, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #9
  br label %314

282:                                              ; preds = %276
  %283 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 11
  %284 = load ptr, ptr %283, align 8, !tbaa !38
  %285 = load i32, ptr %29, align 4, !tbaa !9
  %286 = sext i32 %285 to i64
  %287 = getelementptr inbounds i32, ptr %284, i64 %286
  %288 = load i32, ptr %287, align 4, !tbaa !39
  %289 = icmp eq i32 %288, 1
  br i1 %289, label %290, label %310

290:                                              ; preds = %282
  %291 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 10
  %292 = load ptr, ptr %291, align 8, !tbaa !41
  %293 = load i32, ptr %29, align 4, !tbaa !9
  %294 = sext i32 %293 to i64
  %295 = getelementptr inbounds i32, ptr %292, i64 %294
  %296 = load i32, ptr %295, align 4, !tbaa !9
  %297 = load ptr, ptr %25, align 8, !tbaa !5
  %298 = load i32, ptr %28, align 4, !tbaa !9
  %299 = sext i32 %298 to i64
  %300 = getelementptr inbounds i32, ptr %297, i64 %299
  store i32 %296, ptr %300, align 4, !tbaa !9
  %301 = load i32, ptr %29, align 4, !tbaa !9
  %302 = load ptr, ptr %26, align 8, !tbaa !5
  %303 = load i32, ptr %28, align 4, !tbaa !9
  %304 = load i32, ptr %18, align 4, !tbaa !9
  %305 = sub nsw i32 %303, %304
  %306 = sext i32 %305 to i64
  %307 = getelementptr inbounds i32, ptr %302, i64 %306
  store i32 %301, ptr %307, align 4, !tbaa !9
  %308 = load i32, ptr %28, align 4, !tbaa !9
  %309 = add nsw i32 %308, 1
  store i32 %309, ptr %28, align 4, !tbaa !9
  br label %310

310:                                              ; preds = %290, %282
  br label %311

311:                                              ; preds = %310
  %312 = load i32, ptr %29, align 4, !tbaa !9
  %313 = add nsw i32 %312, 1
  store i32 %313, ptr %29, align 4, !tbaa !9
  br label %276, !llvm.loop !49

314:                                              ; preds = %281
  %315 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %36, i32 0, i32 12
  %316 = load ptr, ptr %315, align 8, !tbaa !50
  %317 = icmp ne ptr %316, null
  br i1 %317, label %318, label %321

318:                                              ; preds = %314
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.8)
  %319 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %320 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %319, i32 noundef 11, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 770, i32 noundef 1)
  store i32 %320, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %452

321:                                              ; preds = %314
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #9
  %322 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %36, i32 0, i32 2
  %323 = load ptr, ptr %322, align 8, !tbaa !51
  %324 = load i32, ptr %28, align 4, !tbaa !9
  %325 = load ptr, ptr %25, align 8, !tbaa !5
  %326 = load ptr, ptr %22, align 8, !tbaa !5
  %327 = load ptr, ptr %23, align 8, !tbaa !5
  %328 = load ptr, ptr %24, align 8, !tbaa !5
  %329 = load ptr, ptr %323, align 8, !tbaa !15
  %330 = getelementptr inbounds ptr, ptr %329, i64 14
  %331 = load ptr, ptr %330, align 8
  %332 = call noundef i32 %331(ptr noundef nonnull align 8 dereferenceable(12) %323, i32 noundef 1, ptr noundef %8, i32 noundef %324, ptr noundef %325, i32 noundef 0, i32 noundef 0, ptr noundef nonnull align 4 dereferenceable(4) %30, ptr noundef %326, ptr noundef %327, ptr noundef %328, i32 noundef 0)
  %333 = load ptr, ptr %22, align 8, !tbaa !5
  %334 = icmp eq ptr %333, null
  br i1 %334, label %336, label %335

335:                                              ; preds = %321
  call void @_ZdaPv(ptr noundef %333) #11
  br label %336

336:                                              ; preds = %335, %321
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #9
  store i32 0, ptr %31, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #9
  store i32 0, ptr %32, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #9
  store i32 0, ptr %33, align 4, !tbaa !9
  br label %337

337:                                              ; preds = %403, %336
  %338 = load i32, ptr %33, align 4, !tbaa !9
  %339 = load i32, ptr %30, align 4, !tbaa !9
  %340 = icmp slt i32 %338, %339
  br i1 %340, label %342, label %341

341:                                              ; preds = %337
  store i32 12, ptr %13, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #9
  br label %406

342:                                              ; preds = %337
  %343 = load ptr, ptr %23, align 8, !tbaa !5
  %344 = load i32, ptr %33, align 4, !tbaa !9
  %345 = sext i32 %344 to i64
  %346 = getelementptr inbounds i32, ptr %343, i64 %345
  %347 = load i32, ptr %346, align 4, !tbaa !9
  %348 = load i32, ptr %18, align 4, !tbaa !9
  %349 = icmp slt i32 %347, %348
  br i1 %349, label %350, label %371

350:                                              ; preds = %342
  %351 = load ptr, ptr %23, align 8, !tbaa !5
  %352 = load i32, ptr %33, align 4, !tbaa !9
  %353 = sext i32 %352 to i64
  %354 = getelementptr inbounds i32, ptr %351, i64 %353
  %355 = load i32, ptr %354, align 4, !tbaa !9
  %356 = load ptr, ptr %20, align 8, !tbaa !5
  %357 = load i32, ptr %31, align 4, !tbaa !9
  %358 = sext i32 %357 to i64
  %359 = getelementptr inbounds i32, ptr %356, i64 %358
  store i32 %355, ptr %359, align 4, !tbaa !9
  %360 = load ptr, ptr %24, align 8, !tbaa !5
  %361 = load i32, ptr %33, align 4, !tbaa !9
  %362 = sext i32 %361 to i64
  %363 = getelementptr inbounds double, ptr %360, i64 %362
  %364 = load double, ptr %363, align 8, !tbaa !52
  %365 = load ptr, ptr %21, align 8, !tbaa !5
  %366 = load i32, ptr %31, align 4, !tbaa !9
  %367 = sext i32 %366 to i64
  %368 = getelementptr inbounds double, ptr %365, i64 %367
  store double %364, ptr %368, align 8, !tbaa !52
  %369 = load i32, ptr %31, align 4, !tbaa !9
  %370 = add nsw i32 %369, 1
  store i32 %370, ptr %31, align 4, !tbaa !9
  br label %402

371:                                              ; preds = %342
  %372 = load ptr, ptr %26, align 8, !tbaa !5
  %373 = load ptr, ptr %23, align 8, !tbaa !5
  %374 = load i32, ptr %33, align 4, !tbaa !9
  %375 = sext i32 %374 to i64
  %376 = getelementptr inbounds i32, ptr %373, i64 %375
  %377 = load i32, ptr %376, align 4, !tbaa !9
  %378 = load i32, ptr %18, align 4, !tbaa !9
  %379 = sub nsw i32 %377, %378
  %380 = sext i32 %379 to i64
  %381 = getelementptr inbounds i32, ptr %372, i64 %380
  %382 = load i32, ptr %381, align 4, !tbaa !9
  %383 = load ptr, ptr %20, align 8, !tbaa !5
  %384 = load i32, ptr %18, align 4, !tbaa !9
  %385 = load i32, ptr %32, align 4, !tbaa !9
  %386 = add nsw i32 %384, %385
  %387 = sext i32 %386 to i64
  %388 = getelementptr inbounds i32, ptr %383, i64 %387
  store i32 %382, ptr %388, align 4, !tbaa !9
  %389 = load ptr, ptr %24, align 8, !tbaa !5
  %390 = load i32, ptr %33, align 4, !tbaa !9
  %391 = sext i32 %390 to i64
  %392 = getelementptr inbounds double, ptr %389, i64 %391
  %393 = load double, ptr %392, align 8, !tbaa !52
  %394 = load ptr, ptr %21, align 8, !tbaa !5
  %395 = load i32, ptr %18, align 4, !tbaa !9
  %396 = load i32, ptr %32, align 4, !tbaa !9
  %397 = add nsw i32 %395, %396
  %398 = sext i32 %397 to i64
  %399 = getelementptr inbounds double, ptr %394, i64 %398
  store double %393, ptr %399, align 8, !tbaa !52
  %400 = load i32, ptr %32, align 4, !tbaa !9
  %401 = add nsw i32 %400, 1
  store i32 %401, ptr %32, align 4, !tbaa !9
  br label %402

402:                                              ; preds = %371, %350
  br label %403

403:                                              ; preds = %402
  %404 = load i32, ptr %33, align 4, !tbaa !9
  %405 = add nsw i32 %404, 1
  store i32 %405, ptr %33, align 4, !tbaa !9
  br label %337, !llvm.loop !53

406:                                              ; preds = %341
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #9
  %407 = load i32, ptr %8, align 4, !tbaa !9
  %408 = load i32, ptr %31, align 4, !tbaa !9
  %409 = load ptr, ptr %20, align 8, !tbaa !5
  %410 = load ptr, ptr %21, align 8, !tbaa !5
  %411 = load i32, ptr %32, align 4, !tbaa !9
  %412 = load ptr, ptr %20, align 8, !tbaa !5
  %413 = load i32, ptr %18, align 4, !tbaa !9
  %414 = sext i32 %413 to i64
  %415 = getelementptr inbounds i32, ptr %412, i64 %414
  %416 = load ptr, ptr %21, align 8, !tbaa !5
  %417 = load i32, ptr %18, align 4, !tbaa !9
  %418 = sext i32 %417 to i64
  %419 = getelementptr inbounds double, ptr %416, i64 %418
  %420 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20addToSchurComplementEiNS_15SchurUpdateTypeEiPKiPKdiS3_S5_d(ptr noundef nonnull align 8 dereferenceable(1256) %36, i32 noundef %407, i32 noundef 2, i32 noundef %408, ptr noundef %409, ptr noundef %410, i32 noundef %411, ptr noundef %415, ptr noundef %419, double noundef 0.000000e+00)
  store i32 %420, ptr %34, align 4, !tbaa !17
  %421 = load ptr, ptr %26, align 8, !tbaa !5
  %422 = icmp eq ptr %421, null
  br i1 %422, label %424, label %423

423:                                              ; preds = %406
  call void @_ZdaPv(ptr noundef %421) #11
  br label %424

424:                                              ; preds = %423, %406
  %425 = load ptr, ptr %25, align 8, !tbaa !5
  %426 = icmp eq ptr %425, null
  br i1 %426, label %428, label %427

427:                                              ; preds = %424
  call void @_ZdaPv(ptr noundef %425) #11
  br label %428

428:                                              ; preds = %427, %424
  %429 = load ptr, ptr %24, align 8, !tbaa !5
  %430 = icmp eq ptr %429, null
  br i1 %430, label %432, label %431

431:                                              ; preds = %428
  call void @_ZdaPv(ptr noundef %429) #11
  br label %432

432:                                              ; preds = %431, %428
  %433 = load ptr, ptr %23, align 8, !tbaa !5
  %434 = icmp eq ptr %433, null
  br i1 %434, label %436, label %435

435:                                              ; preds = %432
  call void @_ZdaPv(ptr noundef %433) #11
  br label %436

436:                                              ; preds = %435, %432
  %437 = load ptr, ptr %21, align 8, !tbaa !5
  %438 = icmp eq ptr %437, null
  br i1 %438, label %440, label %439

439:                                              ; preds = %436
  call void @_ZdaPv(ptr noundef %437) #11
  br label %440

440:                                              ; preds = %439, %436
  %441 = load ptr, ptr %20, align 8, !tbaa !5
  %442 = icmp eq ptr %441, null
  br i1 %442, label %444, label %443

443:                                              ; preds = %440
  call void @_ZdaPv(ptr noundef %441) #11
  br label %444

444:                                              ; preds = %443, %440
  %445 = load i32, ptr %34, align 4, !tbaa !17
  %446 = icmp ne i32 %445, 0
  br i1 %446, label %447, label %450

447:                                              ; preds = %444
  %448 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %449 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %448, i32 noundef 76, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 802, i32 noundef 1)
  store i32 %449, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %451

450:                                              ; preds = %444
  store i8 1, ptr %15, align 1, !tbaa !32
  store i32 0, ptr %13, align 4
  br label %451

451:                                              ; preds = %450, %447
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #9
  br label %452

452:                                              ; preds = %451, %318
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #9
  %453 = load i32, ptr %13, align 4
  switch i32 %453, label %500 [
    i32 0, label %454
  ]

454:                                              ; preds = %452
  br label %455

455:                                              ; preds = %454, %182
  br label %456

456:                                              ; preds = %455, %142
  %457 = load i8, ptr %15, align 1, !tbaa !32, !range !44, !noundef !45
  %458 = trunc i8 %457 to i1
  br i1 %458, label %462, label %459

459:                                              ; preds = %456
  %460 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %461 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %460, i32 noundef 76, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 809, i32 noundef 1)
  store i32 %461, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %500

462:                                              ; preds = %456
  %463 = load i32, ptr %12, align 4, !tbaa !9
  %464 = call noundef i32 @_ZN7qpOASES14SQProblemSchur13updateSchurQREi(ptr noundef nonnull align 8 dereferenceable(1256) %36, i32 noundef %463)
  %465 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %36, i32 0, i32 8
  %466 = load double, ptr %465, align 8, !tbaa !54
  %467 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %36, i32 0, i32 23
  %468 = getelementptr inbounds %"class.qpOASES::Options", ptr %467, i32 0, i32 32
  %469 = load double, ptr %468, align 8, !tbaa !55
  %470 = fcmp olt double %466, %469
  br i1 %470, label %471, label %499

471:                                              ; preds = %462
  call void @llvm.lifetime.start.p0(i64 4, ptr %35) #9
  %472 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %36, i32 noundef 1)
  store i32 %472, ptr %35, align 4, !tbaa !17
  %473 = load i32, ptr %35, align 4, !tbaa !17
  %474 = icmp ne i32 %473, 0
  br i1 %474, label %475, label %495

475:                                              ; preds = %471
  %476 = load i32, ptr %35, align 4, !tbaa !17
  %477 = icmp eq i32 %476, 142
  br i1 %477, label %478, label %484

478:                                              ; preds = %475
  %479 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %36, i32 0, i32 23
  %480 = getelementptr inbounds %"class.qpOASES::Options", ptr %479, i32 0, i32 0
  %481 = load i32, ptr %480, align 8, !tbaa !47
  %482 = icmp eq i32 %481, 3
  br i1 %482, label %483, label %484

483:                                              ; preds = %478
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.6)
  br label %492

484:                                              ; preds = %478, %475
  %485 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %36, i32 0, i32 23
  %486 = getelementptr inbounds %"class.qpOASES::Options", ptr %485, i32 0, i32 0
  %487 = load i32, ptr %486, align 8, !tbaa !47
  %488 = icmp eq i32 %487, 3
  br i1 %488, label %489, label %491

489:                                              ; preds = %484
  %490 = load i32, ptr %35, align 4, !tbaa !17
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.7, i32 noundef %490)
  br label %491

491:                                              ; preds = %489, %484
  br label %492

492:                                              ; preds = %491, %483
  %493 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %494 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %493, i32 noundef 76, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 823, i32 noundef 1)
  store i32 %494, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %496

495:                                              ; preds = %471
  store i32 0, ptr %13, align 4
  br label %496

496:                                              ; preds = %495, %492
  call void @llvm.lifetime.end.p0(i64 4, ptr %35) #9
  %497 = load i32, ptr %13, align 4
  switch i32 %497, label %500 [
    i32 0, label %498
  ]

498:                                              ; preds = %496
  br label %499

499:                                              ; preds = %498, %462
  store i32 0, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %500

500:                                              ; preds = %499, %496, %459, %452, %180, %140
  call void @llvm.lifetime.end.p0(i64 1, ptr %15) #9
  br label %501

501:                                              ; preds = %500, %100, %88, %67, %52, %41
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #9
  %502 = load i32, ptr %6, align 4
  ret i32 %502
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES11Constraints5getNCEv(ptr noundef nonnull align 8 dereferenceable(120)) #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES11Constraints6getNUCEv(ptr noundef nonnull align 8 dereferenceable(120)) #8 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur25deleteFromSchurComplementEiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef) #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36)) #6 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20addToSchurComplementEiNS_15SchurUpdateTypeEiPKiPKdiS3_S5_d(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, i32 noundef, ptr noundef, ptr noundef, double noundef) #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur13updateSchurQREi(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef) #7 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 = { 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 #7 = { 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 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 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!15 = !{!16, !16, i64 0}
!16 = !{!"vtable pointer", !8, i64 0}
!17 = !{!18, !18, i64 0}
!18 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!19 = !{!20, !10, i64 776}
!20 = !{!"_ZTSN7qpOASES9QProblemBE", !14, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !21, i64 48, !6, i64 168, !14, i64 176, !6, i64 184, !6, i64 192, !24, i64 200, !25, i64 208, !14, i64 212, !14, i64 216, !26, i64 220, !24, i64 224, !10, i64 232, !6, i64 240, !24, i64 248, !24, i64 256, !10, i64 264, !27, i64 272, !29, i64 496, !31, i64 768}
!21 = !{!"_ZTSN7qpOASES6BoundsE", !22, i64 0, !23, i64 40, !23, i64 80}
!22 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !14, i64 32, !14, i64 36}
!23 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!24 = !{!"double", !7, i64 0}
!25 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!27 = !{!"_ZTSN7qpOASES7OptionsE", !28, i64 0, !14, i64 4, !14, i64 8, !14, i64 12, !14, i64 16, !14, i64 20, !14, i64 24, !10, i64 28, !10, i64 32, !14, i64 36, !24, i64 40, !24, i64 48, !24, i64 56, !24, i64 64, !24, i64 72, !24, i64 80, !24, i64 88, !24, i64 96, !24, i64 104, !24, i64 112, !24, i64 120, !12, i64 128, !24, i64 136, !10, i64 144, !24, i64 152, !10, i64 160, !24, i64 168, !24, i64 176, !24, i64 184, !24, i64 192, !14, i64 200, !14, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!28 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!29 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !21, i64 8, !30, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!30 = !{!"_ZTSN7qpOASES11ConstraintsE", !22, i64 0, !23, i64 40, !23, i64 80}
!31 = !{!"_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}
!32 = !{!33, !33, i64 0}
!33 = !{!"bool", !7, i64 0}
!34 = !{!35, !10, i64 1080}
!35 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !36, i64 0, !6, i64 1064, !6, i64 1072, !10, i64 1080, !10, i64 1084, !6, i64 1088, !6, i64 1096, !24, i64 1104, !24, i64 1112, !10, i64 1120, !6, i64 1128, !6, i64 1136, !10, i64 1144, !6, i64 1152, !6, i64 1160, !6, i64 1168, !23, i64 1176, !23, i64 1216}
!36 = !{!"_ZTSN7qpOASES9SQProblemE", !37, i64 0}
!37 = !{!"_ZTSN7qpOASES8QProblemE", !20, i64 0, !14, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !30, 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}
!38 = !{!35, !6, i64 1136}
!39 = !{!40, !40, i64 0}
!40 = !{!"_ZTSN7qpOASES15SchurUpdateTypeE", !7, i64 0}
!41 = !{!35, !6, i64 1128}
!42 = distinct !{!42, !43}
!43 = !{!"llvm.loop.mustprogress"}
!44 = !{i8 0, i8 2}
!45 = !{}
!46 = !{!35, !10, i64 1084}
!47 = !{!20, !28, i64 272}
!48 = distinct !{!48, !43}
!49 = distinct !{!49, !43}
!50 = !{!37, !6, i64 1000}
!51 = !{!37, !6, i64 808}
!52 = !{!24, !24, i64 0}
!53 = distinct !{!53, !43}
!54 = !{!35, !24, i64 1112}
!55 = !{!20, !24, i64 464}


; 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.6 = external hidden unnamed_addr constant [71 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [64 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [74 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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #7 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 #5 align 2

declare noundef i32 @_ZN7qpOASES11Constraints20moveInactiveToActiveEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef, i32 noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur13addConstraintEiNS_15SubjectToStatusENS_11BooleanTypeES2_(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, i32 noundef %4) unnamed_addr #6 align 2 {
  %6 = alloca i32, align 4
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  store i32 %1, ptr %6, align 4, !tbaa !5
  %9 = getelementptr inbounds i8, ptr %0, i64 832
  %10 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %9, i32 noundef %1)
  %.not = icmp eq i32 %10, 0
  br i1 %.not, label %14, label %11

11:                                               ; preds = %5
  %12 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %13 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %12, i32 noundef 86, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 659, i32 noundef 1)
  br label %.thread

14:                                               ; preds = %5
  %15 = tail call noundef i32 @_ZNK7qpOASES11Constraints5getNCEv(ptr noundef nonnull align 8 dereferenceable(120) %9)
  %16 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %17 = sub nsw i32 %15, %16
  %18 = tail call noundef i32 @_ZNK7qpOASES11Constraints6getNUCEv(ptr noundef nonnull align 8 dereferenceable(120) %9)
  %19 = icmp eq i32 %17, %18
  br i1 %19, label %20, label %23

20:                                               ; preds = %14
  %21 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %22 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %21, i32 noundef 87, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 662, i32 noundef 1)
  br label %.thread

23:                                               ; preds = %14
  %24 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %25 = icmp eq i32 %24, 0
  br i1 %25, label %35, label %26

26:                                               ; preds = %23
  %27 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %28 = icmp eq i32 %27, 2
  br i1 %28, label %35, label %29

29:                                               ; preds = %26
  %30 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %31 = icmp eq i32 %30, 4
  br i1 %31, label %35, label %32

32:                                               ; preds = %29
  %33 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %34 = icmp eq i32 %33, 5
  br i1 %34, label %35, label %38

35:                                               ; preds = %32, %29, %26, %23
  %36 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %37 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %36, i32 noundef 9, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 669, i32 noundef 1)
  br label %.thread

38:                                               ; preds = %32
  %39 = icmp eq i32 %4, 1
  br i1 %39, label %40, label %49

40:                                               ; preds = %38
  %41 = load ptr, ptr %0, align 8, !tbaa !9
  %42 = getelementptr inbounds i8, ptr %41, i64 216
  %43 = load ptr, ptr %42, align 8
  %44 = tail call noundef i32 %43(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, i32 noundef %2)
  switch i32 %44, label %46 [
    i32 0, label %49
    i32 90, label %49
    i32 93, label %.thread
    i32 94, label %.thread
    i32 141, label %45
  ]

45:                                               ; preds = %40
  br label %.thread

46:                                               ; preds = %40
  %47 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %48 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %47, i32 noundef 91, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 697, i32 noundef 1)
  br label %.thread

49:                                               ; preds = %40, %40, %38
  %50 = getelementptr inbounds i8, ptr %0, i64 776
  store i32 %1, ptr %50, align 8, !tbaa !11
  %51 = tail call noundef i32 @_ZN7qpOASES11Constraints20moveInactiveToActiveEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %9, i32 noundef %1, i32 noundef %2)
  %.not129 = icmp eq i32 %51, 0
  br i1 %.not129, label %.preheader169, label %59

.preheader169:                                    ; preds = %49
  %52 = getelementptr inbounds i8, ptr %0, i64 1080
  %53 = load i32, ptr %52, align 8, !tbaa !27
  %54 = icmp sgt i32 %53, 0
  br i1 %54, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %.preheader169
  %55 = getelementptr inbounds i8, ptr %0, i64 1136
  %56 = load ptr, ptr %55, align 8, !tbaa !31
  %57 = getelementptr inbounds i8, ptr %0, i64 1128
  %58 = load ptr, ptr %57, align 8
  %wide.trip.count = zext nneg i32 %53 to i64
  br label %62

59:                                               ; preds = %49
  %60 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %61 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %60, i32 noundef 76, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 704, i32 noundef 1)
  br label %.thread

62:                                               ; preds = %.lr.ph, %73
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %73 ]
  %63 = getelementptr inbounds i32, ptr %56, i64 %indvars.iv
  %64 = load i32, ptr %63, align 4, !tbaa !32
  %65 = icmp eq i32 %64, 3
  br i1 %65, label %66, label %73

66:                                               ; preds = %62
  %67 = getelementptr inbounds i32, ptr %58, i64 %indvars.iv
  %68 = load i32, ptr %67, align 4, !tbaa !5
  %69 = icmp eq i32 %68, %1
  br i1 %69, label %70, label %73

70:                                               ; preds = %66
  %71 = trunc nuw nsw i64 %indvars.iv to i32
  %72 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur25deleteFromSchurComplementEiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %71, i32 noundef 0)
  %.not130 = icmp eq i32 %72, 0
  br i1 %.not130, label %.thread153, label %74

73:                                               ; preds = %62, %66
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %._crit_edge, label %62, !llvm.loop !34

74:                                               ; preds = %70
  %75 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %76 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %75, i32 noundef 76, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 716, i32 noundef 1)
  br label %.thread

._crit_edge:                                      ; preds = %73, %.preheader169
  %77 = icmp slt i32 %53, 0
  %78 = getelementptr inbounds i8, ptr %0, i64 1084
  %79 = load i32, ptr %78, align 4
  %80 = icmp eq i32 %53, %79
  %or.cond = select i1 %77, i1 true, i1 %80
  br i1 %or.cond, label %81, label %94

81:                                               ; preds = %._crit_edge
  %82 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef 1)
  %.not133 = icmp eq i32 %82, 0
  br i1 %.not133, label %.thread153, label %83

83:                                               ; preds = %81
  %84 = icmp eq i32 %82, 142
  %85 = getelementptr inbounds i8, ptr %0, i64 272
  %86 = load i32, ptr %85, align 8
  %87 = icmp eq i32 %86, 3
  %or.cond139 = select i1 %84, i1 %87, i1 false
  br i1 %or.cond139, label %88, label %89

88:                                               ; preds = %83
  tail call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.6)
  br label %91

89:                                               ; preds = %83
  br i1 %87, label %90, label %91

90:                                               ; preds = %89
  tail call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.7, i32 noundef %82)
  br label %91

91:                                               ; preds = %88, %90, %89
  %92 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %93 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %92, i32 noundef 76, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 735, i32 noundef 1)
  br label %.thread

94:                                               ; preds = %._crit_edge
  %95 = getelementptr inbounds i8, ptr %0, i64 1176
  %96 = tail call noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36) %95)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #8
  %97 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %95, ptr noundef nonnull %7)
  %98 = load i32, ptr %52, align 8, !tbaa !27
  %99 = add nsw i32 %98, %96
  %100 = sext i32 %99 to i64
  %101 = icmp slt i32 %99, 0
  %102 = shl nsw i64 %100, 2
  %103 = select i1 %101, i64 -1, i64 %102
  %104 = call noalias noundef nonnull ptr @_Znam(i64 noundef %103) #9
  %105 = shl nsw i64 %100, 3
  %106 = select i1 %101, i64 -1, i64 %105
  %107 = call noalias noundef nonnull ptr @_Znam(i64 noundef %106) #9
  %108 = call noalias noundef nonnull ptr @_Znam(i64 noundef %103) #9
  %109 = call noalias noundef nonnull ptr @_Znam(i64 noundef %103) #9
  %110 = call noalias noundef nonnull ptr @_Znam(i64 noundef %106) #9
  %111 = call noalias noundef nonnull ptr @_Znam(i64 noundef %103) #9
  %112 = sext i32 %98 to i64
  %113 = icmp slt i32 %98, 0
  %114 = shl nsw i64 %112, 2
  %115 = select i1 %113, i64 -1, i64 %114
  %116 = call noalias noundef nonnull ptr @_Znam(i64 noundef %115) #9
  %117 = icmp sgt i32 %96, 0
  br i1 %117, label %.lr.ph175, label %.preheader

.lr.ph175:                                        ; preds = %94
  %118 = ptrtoint ptr %111 to i64
  %119 = load ptr, ptr %7, align 8, !tbaa !36
  %wide.trip.count193 = zext nneg i32 %96 to i64
  %min.iters.check = icmp ult i32 %96, 8
  %120 = ptrtoint ptr %119 to i64
  %121 = sub i64 %118, %120
  %diff.check = icmp ult i64 %121, 32
  %or.cond209 = select i1 %min.iters.check, i1 true, i1 %diff.check
  br i1 %or.cond209, label %scalar.ph.preheader, label %vector.ph

scalar.ph.preheader:                              ; preds = %middle.block, %.lr.ph175
  %indvars.iv190.ph = phi i64 [ 0, %.lr.ph175 ], [ %n.vec, %middle.block ]
  %xtraiter = and i64 %wide.trip.count193, 3
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %scalar.ph.prol.loopexit, label %scalar.ph.prol

scalar.ph.prol:                                   ; preds = %scalar.ph.preheader, %scalar.ph.prol
  %indvars.iv190.prol = phi i64 [ %indvars.iv.next191.prol, %scalar.ph.prol ], [ %indvars.iv190.ph, %scalar.ph.preheader ]
  %prol.iter = phi i64 [ %prol.iter.next, %scalar.ph.prol ], [ 0, %scalar.ph.preheader ]
  %122 = getelementptr inbounds i32, ptr %119, i64 %indvars.iv190.prol
  %123 = load i32, ptr %122, align 4, !tbaa !5
  %124 = getelementptr inbounds i32, ptr %111, i64 %indvars.iv190.prol
  store i32 %123, ptr %124, align 4, !tbaa !5
  %indvars.iv.next191.prol = add nuw nsw i64 %indvars.iv190.prol, 1
  %prol.iter.next = add i64 %prol.iter, 1
  %prol.iter.cmp.not = icmp eq i64 %prol.iter.next, %xtraiter
  br i1 %prol.iter.cmp.not, label %scalar.ph.prol.loopexit, label %scalar.ph.prol, !llvm.loop !37

scalar.ph.prol.loopexit:                          ; preds = %scalar.ph.prol, %scalar.ph.preheader
  %indvars.iv190.unr = phi i64 [ %indvars.iv190.ph, %scalar.ph.preheader ], [ %indvars.iv.next191.prol, %scalar.ph.prol ]
  %125 = sub nsw i64 %indvars.iv190.ph, %wide.trip.count193
  %126 = icmp ugt i64 %125, -4
  br i1 %126, label %.preheader, label %scalar.ph

vector.ph:                                        ; preds = %.lr.ph175
  %n.vec = and i64 %wide.trip.count193, 2147483640
  br label %vector.body

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %127 = getelementptr inbounds i32, ptr %119, i64 %index
  %128 = getelementptr inbounds i8, ptr %127, i64 16
  %wide.load = load <4 x i32>, ptr %127, align 4, !tbaa !5
  %wide.load207 = load <4 x i32>, ptr %128, align 4, !tbaa !5
  %129 = getelementptr inbounds i32, ptr %111, i64 %index
  %130 = getelementptr inbounds i8, ptr %129, i64 16
  store <4 x i32> %wide.load, ptr %129, align 4, !tbaa !5
  store <4 x i32> %wide.load207, ptr %130, align 4, !tbaa !5
  %index.next = add nuw i64 %index, 8
  %131 = icmp eq i64 %index.next, %n.vec
  br i1 %131, label %middle.block, label %vector.body, !llvm.loop !39

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %wide.trip.count193
  br i1 %cmp.n, label %.preheader, label %scalar.ph.preheader

.preheader:                                       ; preds = %scalar.ph.prol.loopexit, %scalar.ph, %middle.block, %94
  %132 = icmp sgt i32 %98, 0
  br i1 %132, label %.lr.ph178, label %._crit_edge179

.lr.ph178:                                        ; preds = %.preheader
  %133 = getelementptr inbounds i8, ptr %0, i64 1136
  %134 = load ptr, ptr %133, align 8, !tbaa !31
  %135 = getelementptr inbounds i8, ptr %0, i64 1128
  %136 = load ptr, ptr %135, align 8
  %wide.trip.count198 = zext nneg i32 %98 to i64
  br label %151

scalar.ph:                                        ; preds = %scalar.ph.prol.loopexit, %scalar.ph
  %indvars.iv190 = phi i64 [ %indvars.iv.next191.3, %scalar.ph ], [ %indvars.iv190.unr, %scalar.ph.prol.loopexit ]
  %137 = getelementptr inbounds i32, ptr %119, i64 %indvars.iv190
  %138 = load i32, ptr %137, align 4, !tbaa !5
  %139 = getelementptr inbounds i32, ptr %111, i64 %indvars.iv190
  store i32 %138, ptr %139, align 4, !tbaa !5
  %indvars.iv.next191 = add nuw nsw i64 %indvars.iv190, 1
  %140 = getelementptr inbounds i32, ptr %119, i64 %indvars.iv.next191
  %141 = load i32, ptr %140, align 4, !tbaa !5
  %142 = getelementptr inbounds i32, ptr %111, i64 %indvars.iv.next191
  store i32 %141, ptr %142, align 4, !tbaa !5
  %indvars.iv.next191.1 = add nuw nsw i64 %indvars.iv190, 2
  %143 = getelementptr inbounds i32, ptr %119, i64 %indvars.iv.next191.1
  %144 = load i32, ptr %143, align 4, !tbaa !5
  %145 = getelementptr inbounds i32, ptr %111, i64 %indvars.iv.next191.1
  store i32 %144, ptr %145, align 4, !tbaa !5
  %indvars.iv.next191.2 = add nuw nsw i64 %indvars.iv190, 3
  %146 = getelementptr inbounds i32, ptr %119, i64 %indvars.iv.next191.2
  %147 = load i32, ptr %146, align 4, !tbaa !5
  %148 = getelementptr inbounds i32, ptr %111, i64 %indvars.iv.next191.2
  store i32 %147, ptr %148, align 4, !tbaa !5
  %indvars.iv.next191.3 = add nuw nsw i64 %indvars.iv190, 4
  %exitcond194.not.3 = icmp eq i64 %indvars.iv.next191.3, %wide.trip.count193
  br i1 %exitcond194.not.3, label %.preheader, label %scalar.ph, !llvm.loop !42

._crit_edge179:                                   ; preds = %165, %.preheader
  %.0108.lcssa = phi i32 [ %96, %.preheader ], [ %.1109, %165 ]
  %149 = getelementptr inbounds i8, ptr %0, i64 1000
  %150 = load ptr, ptr %149, align 8, !tbaa !43
  %.not131 = icmp eq ptr %150, null
  br i1 %.not131, label %168, label %.thread160

151:                                              ; preds = %.lr.ph178, %165
  %indvars.iv195 = phi i64 [ 0, %.lr.ph178 ], [ %indvars.iv.next196, %165 ]
  %.0108176 = phi i32 [ %96, %.lr.ph178 ], [ %.1109, %165 ]
  %152 = getelementptr inbounds i32, ptr %134, i64 %indvars.iv195
  %153 = load i32, ptr %152, align 4, !tbaa !32
  %154 = icmp eq i32 %153, 1
  br i1 %154, label %155, label %165

155:                                              ; preds = %151
  %156 = getelementptr inbounds i32, ptr %136, i64 %indvars.iv195
  %157 = load i32, ptr %156, align 4, !tbaa !5
  %158 = sext i32 %.0108176 to i64
  %159 = getelementptr inbounds i32, ptr %111, i64 %158
  store i32 %157, ptr %159, align 4, !tbaa !5
  %160 = sub nsw i32 %.0108176, %96
  %161 = sext i32 %160 to i64
  %162 = getelementptr inbounds i32, ptr %116, i64 %161
  %163 = trunc nuw nsw i64 %indvars.iv195 to i32
  store i32 %163, ptr %162, align 4, !tbaa !5
  %164 = add nsw i32 %.0108176, 1
  br label %165

165:                                              ; preds = %151, %155
  %.1109 = phi i32 [ %164, %155 ], [ %.0108176, %151 ]
  %indvars.iv.next196 = add nuw nsw i64 %indvars.iv195, 1
  %exitcond199.not = icmp eq i64 %indvars.iv.next196, %wide.trip.count198
  br i1 %exitcond199.not, label %._crit_edge179, label %151, !llvm.loop !44

.thread160:                                       ; preds = %._crit_edge179
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.8)
  %166 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %167 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %166, i32 noundef 11, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 770, i32 noundef 1)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #8
  br label %.thread

168:                                              ; preds = %._crit_edge179
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %8) #8
  %169 = getelementptr inbounds i8, ptr %0, i64 808
  %170 = load ptr, ptr %169, align 8, !tbaa !45
  %171 = load ptr, ptr %170, align 8, !tbaa !9
  %172 = getelementptr inbounds i8, ptr %171, i64 112
  %173 = load ptr, ptr %172, align 8
  %174 = call noundef i32 %173(ptr noundef nonnull align 8 dereferenceable(12) %170, i32 noundef 1, ptr noundef nonnull %6, i32 noundef %.0108.lcssa, ptr noundef nonnull %111, i32 noundef 0, i32 noundef 0, ptr noundef nonnull align 4 dereferenceable(4) %8, ptr noundef nonnull %108, ptr noundef nonnull %109, ptr noundef nonnull %110, i32 noundef 0)
  call void @_ZdaPv(ptr noundef nonnull %108) #10
  %175 = load i32, ptr %8, align 4, !tbaa !5
  %176 = icmp sgt i32 %175, 0
  br i1 %176, label %.lr.ph184.preheader, label %._crit_edge185

.lr.ph184.preheader:                              ; preds = %168
  %wide.trip.count203 = zext nneg i32 %175 to i64
  br label %.lr.ph184

._crit_edge185:                                   ; preds = %204, %168
  %.0105.lcssa = phi i32 [ 0, %168 ], [ %.1106, %204 ]
  %.0103.lcssa = phi i32 [ 0, %168 ], [ %.1104, %204 ]
  %177 = load i32, ptr %6, align 4, !tbaa !5
  %178 = sext i32 %96 to i64
  %179 = getelementptr inbounds i32, ptr %104, i64 %178
  %180 = getelementptr inbounds double, ptr %107, i64 %178
  %181 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20addToSchurComplementEiNS_15SchurUpdateTypeEiPKiPKdiS3_S5_d(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %177, i32 noundef 2, i32 noundef %.0105.lcssa, ptr noundef nonnull %104, ptr noundef nonnull %107, i32 noundef %.0103.lcssa, ptr noundef nonnull %179, ptr noundef nonnull %180, double noundef 0.000000e+00)
  call void @_ZdaPv(ptr noundef nonnull %116) #10
  call void @_ZdaPv(ptr noundef nonnull %111) #10
  call void @_ZdaPv(ptr noundef nonnull %110) #10
  call void @_ZdaPv(ptr noundef nonnull %109) #10
  call void @_ZdaPv(ptr noundef nonnull %107) #10
  call void @_ZdaPv(ptr noundef nonnull %104) #10
  %.not132 = icmp eq i32 %181, 0
  br i1 %.not132, label %.thread164, label %205

.thread164:                                       ; preds = %._crit_edge185
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #8
  br label %.thread153

.lr.ph184:                                        ; preds = %.lr.ph184.preheader, %204
  %indvars.iv200 = phi i64 [ 0, %.lr.ph184.preheader ], [ %indvars.iv.next201, %204 ]
  %.0103181 = phi i32 [ 0, %.lr.ph184.preheader ], [ %.1104, %204 ]
  %.0105180 = phi i32 [ 0, %.lr.ph184.preheader ], [ %.1106, %204 ]
  %182 = getelementptr inbounds i32, ptr %109, i64 %indvars.iv200
  %183 = load i32, ptr %182, align 4, !tbaa !5
  %184 = icmp slt i32 %183, %96
  br i1 %184, label %185, label %192

185:                                              ; preds = %.lr.ph184
  %186 = sext i32 %.0105180 to i64
  %187 = getelementptr inbounds i32, ptr %104, i64 %186
  store i32 %183, ptr %187, align 4, !tbaa !5
  %188 = getelementptr inbounds double, ptr %110, i64 %indvars.iv200
  %189 = load double, ptr %188, align 8, !tbaa !46
  %190 = getelementptr inbounds double, ptr %107, i64 %186
  store double %189, ptr %190, align 8, !tbaa !46
  %191 = add nsw i32 %.0105180, 1
  br label %204

192:                                              ; preds = %.lr.ph184
  %193 = sub nsw i32 %183, %96
  %194 = sext i32 %193 to i64
  %195 = getelementptr inbounds i32, ptr %116, i64 %194
  %196 = load i32, ptr %195, align 4, !tbaa !5
  %197 = add nsw i32 %.0103181, %96
  %198 = sext i32 %197 to i64
  %199 = getelementptr inbounds i32, ptr %104, i64 %198
  store i32 %196, ptr %199, align 4, !tbaa !5
  %200 = getelementptr inbounds double, ptr %110, i64 %indvars.iv200
  %201 = load double, ptr %200, align 8, !tbaa !46
  %202 = getelementptr inbounds double, ptr %107, i64 %198
  store double %201, ptr %202, align 8, !tbaa !46
  %203 = add nsw i32 %.0103181, 1
  br label %204

204:                                              ; preds = %185, %192
  %.1106 = phi i32 [ %191, %185 ], [ %.0105180, %192 ]
  %.1104 = phi i32 [ %.0103181, %185 ], [ %203, %192 ]
  %indvars.iv.next201 = add nuw nsw i64 %indvars.iv200, 1
  %exitcond204.not = icmp eq i64 %indvars.iv.next201, %wide.trip.count203
  br i1 %exitcond204.not, label %._crit_edge185, label %.lr.ph184, !llvm.loop !47

205:                                              ; preds = %._crit_edge185
  %206 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %207 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %206, i32 noundef 76, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 802, i32 noundef 1)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #8
  br label %.thread

.thread153:                                       ; preds = %81, %70, %.thread164
  %.0101.ph156 = phi i32 [ -1, %.thread164 ], [ %71, %70 ], [ -1, %81 ]
  %208 = call noundef i32 @_ZN7qpOASES14SQProblemSchur13updateSchurQREi(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %.0101.ph156)
  %209 = getelementptr inbounds i8, ptr %0, i64 1112
  %210 = load double, ptr %209, align 8, !tbaa !48
  %211 = getelementptr inbounds i8, ptr %0, i64 272
  %212 = getelementptr inbounds i8, ptr %0, i64 464
  %213 = load double, ptr %212, align 8, !tbaa !49
  %214 = fcmp olt double %210, %213
  br i1 %214, label %215, label %.thread

215:                                              ; preds = %.thread153
  %216 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef 1)
  %.not134 = icmp eq i32 %216, 0
  br i1 %.not134, label %.thread, label %217

217:                                              ; preds = %215
  %218 = icmp eq i32 %216, 142
  %219 = load i32, ptr %211, align 8
  %220 = icmp eq i32 %219, 3
  %or.cond141 = select i1 %218, i1 %220, i1 false
  br i1 %or.cond141, label %221, label %222

221:                                              ; preds = %217
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.6)
  br label %224

222:                                              ; preds = %217
  br i1 %220, label %223, label %224

223:                                              ; preds = %222
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.7, i32 noundef %216)
  br label %224

224:                                              ; preds = %221, %223, %222
  %225 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %226 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %225, i32 noundef 76, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 823, i32 noundef 1)
  br label %.thread

.thread:                                          ; preds = %215, %40, %40, %45, %46, %.thread153, %224, %205, %.thread160, %91, %74, %59, %35, %20, %11
  %.9 = phi i32 [ %13, %11 ], [ %22, %20 ], [ %37, %35 ], [ %61, %59 ], [ %226, %224 ], [ %93, %91 ], [ %207, %205 ], [ %76, %74 ], [ %167, %.thread160 ], [ 0, %.thread153 ], [ 77, %40 ], [ 77, %40 ], [ 0, %45 ], [ %48, %46 ], [ 0, %215 ]
  ret i32 %.9
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES11Constraints5getNCEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES11Constraints6getNUCEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur25deleteFromSchurComplementEiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36)) local_unnamed_addr #5 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20addToSchurComplementEiNS_15SchurUpdateTypeEiPKiPKdiS3_S5_d(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, i32 noundef, ptr noundef, ptr noundef, double noundef) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur13updateSchurQREi(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef) local_unnamed_addr #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 = { 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 = { 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 #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 = { 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, !6, i64 0}
!6 = !{!"int", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"vtable pointer", !8, i64 0}
!11 = !{!12, !6, i64 776}
!12 = !{!"_ZTSN7qpOASES9QProblemBE", !13, i64 8, !14, i64 16, !14, i64 24, !14, i64 32, !14, i64 40, !15, i64 48, !14, i64 168, !13, i64 176, !14, i64 184, !14, i64 192, !18, i64 200, !19, i64 208, !13, i64 212, !13, i64 216, !20, i64 220, !18, i64 224, !6, i64 232, !14, i64 240, !18, i64 248, !18, i64 256, !6, i64 264, !21, i64 272, !24, i64 496, !26, i64 768}
!13 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!14 = !{!"any pointer", !7, i64 0}
!15 = !{!"_ZTSN7qpOASES6BoundsE", !16, i64 0, !17, i64 40, !17, i64 80}
!16 = !{!"_ZTSN7qpOASES9SubjectToE", !6, i64 8, !14, i64 16, !14, i64 24, !13, i64 32, !13, i64 36}
!17 = !{!"_ZTSN7qpOASES9IndexlistE", !14, i64 0, !14, i64 8, !6, i64 16, !6, i64 20, !6, i64 24, !6, i64 28, !6, i64 32}
!18 = !{!"double", !7, i64 0}
!19 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!20 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!21 = !{!"_ZTSN7qpOASES7OptionsE", !22, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !13, i64 24, !6, i64 28, !6, i64 32, !13, 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, !6, i64 144, !18, i64 152, !6, i64 160, !18, i64 168, !18, i64 176, !18, i64 184, !18, i64 192, !13, i64 200, !13, i64 204, !6, i64 208, !6, i64 212, !6, i64 216}
!22 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!24 = !{!"_ZTSN7qpOASES7FlipperE", !6, i64 0, !6, i64 4, !15, i64 8, !25, i64 128, !14, i64 248, !14, i64 256, !14, i64 264}
!25 = !{!"_ZTSN7qpOASES11ConstraintsE", !16, i64 0, !17, i64 40, !17, i64 80}
!26 = !{!"_ZTSN7qpOASES13TabularOutputE", !6, i64 0, !6, i64 4, !6, i64 8, !6, i64 12, !6, i64 16, !6, i64 20, !6, i64 24, !6, i64 28}
!27 = !{!28, !6, i64 1080}
!28 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !29, i64 0, !14, i64 1064, !14, i64 1072, !6, i64 1080, !6, i64 1084, !14, i64 1088, !14, i64 1096, !18, i64 1104, !18, i64 1112, !6, i64 1120, !14, i64 1128, !14, i64 1136, !6, i64 1144, !14, i64 1152, !14, i64 1160, !14, i64 1168, !17, i64 1176, !17, i64 1216}
!29 = !{!"_ZTSN7qpOASES9SQProblemE", !30, i64 0}
!30 = !{!"_ZTSN7qpOASES8QProblemE", !12, i64 0, !13, i64 800, !14, i64 808, !14, i64 816, !14, i64 824, !25, i64 832, !14, i64 952, !14, i64 960, !6, i64 968, !14, i64 976, !14, i64 984, !14, i64 992, !14, i64 1000, !14, i64 1008, !14, i64 1016, !14, i64 1024, !14, i64 1032, !14, i64 1040, !14, i64 1048, !14, i64 1056}
!31 = !{!28, !14, i64 1136}
!32 = !{!33, !33, i64 0}
!33 = !{!"_ZTSN7qpOASES15SchurUpdateTypeE", !7, i64 0}
!34 = distinct !{!34, !35}
!35 = !{!"llvm.loop.mustprogress"}
!36 = !{!14, !14, i64 0}
!37 = distinct !{!37, !38}
!38 = !{!"llvm.loop.unroll.disable"}
!39 = distinct !{!39, !35, !40, !41}
!40 = !{!"llvm.loop.isvectorized", i32 1}
!41 = !{!"llvm.loop.unroll.runtime.disable"}
!42 = distinct !{!42, !35, !40}
!43 = !{!30, !14, i64 1000}
!44 = distinct !{!44, !35}
!45 = !{!30, !14, i64 808}
!46 = !{!18, !18, i64 0}
!47 = distinct !{!47, !35}
!48 = !{!28, !18, i64 1112}
!49 = !{!12, !18, i64 464}


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