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

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

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

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [104 x i8], align 1
@.str.35 = external hidden unnamed_addr constant [19 x i8], align 1
@.str.36 = external hidden unnamed_addr constant [43 x i8], align 1
@.str.37 = external hidden unnamed_addr constant [18 x i8], align 1

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #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 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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800)) #4 align 2

declare noundef i32 @_ZN7qpOASES15MessageHandling12throwWarningENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) #0

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800)) #4 align 2

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #2

declare noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) #0

; Function Attrs: nounwind
declare i32 @snprintf(ptr noundef, i64 noundef, ptr noundef, ...) #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoLowerEv(ptr noundef nonnull align 8 dereferenceable(40)) #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoUpperEv(ptr noundef nonnull align 8 dereferenceable(40)) #7 align 2

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

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) #0

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120)) #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) #8 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getMaxEdd(double noundef, double noundef) #7

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES9QProblemB11performStepEPKdS2_S2_S2_S2_S2_RiRNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5, ptr noundef %6, ptr noundef nonnull align 4 dereferenceable(4) %7, ptr noundef nonnull align 4 dereferenceable(4) %8) #8 align 2 {
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca i32, align 4
  %20 = alloca i32, align 4
  %21 = alloca i32, align 4
  %22 = alloca i32, align 4
  %23 = alloca i32, align 4
  %24 = alloca ptr, align 8
  %25 = alloca ptr, align 8
  %26 = alloca i32, align 4
  %27 = alloca ptr, align 8
  %28 = alloca ptr, align 8
  %29 = alloca [160 x i8], align 16
  store ptr %0, ptr %10, align 8, !tbaa !5
  store ptr %1, ptr %11, align 8, !tbaa !5
  store ptr %2, ptr %12, align 8, !tbaa !5
  store ptr %3, ptr %13, align 8, !tbaa !5
  store ptr %4, ptr %14, align 8, !tbaa !5
  store ptr %5, ptr %15, align 8, !tbaa !5
  store ptr %6, ptr %16, align 8, !tbaa !5
  store ptr %7, ptr %17, align 8, !tbaa !5
  store ptr %8, ptr %18, align 8, !tbaa !5
  %30 = load ptr, ptr %10, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #9
  %31 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %30)
  store i32 %31, ptr %21, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #9
  %32 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %30)
  store i32 %32, ptr %22, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #9
  %33 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %30)
  store i32 %33, ptr %23, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #9
  %34 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 6
  %35 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %34)
  %36 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %35, ptr noundef %24)
  %37 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 6
  %38 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %37)
  %39 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %38, ptr noundef %25)
  %40 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 11
  store double 1.000000e+00, ptr %40, align 8, !tbaa !11
  %41 = load ptr, ptr %17, align 8, !tbaa !5
  store i32 -1, ptr %41, align 4, !tbaa !9
  %42 = load ptr, ptr %18, align 8, !tbaa !5
  store i32 4, ptr %42, align 4, !tbaa !26
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #9
  store i32 -1, ptr %26, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #9
  %43 = load i32, ptr %21, align 4, !tbaa !9
  %44 = sext i32 %43 to i64
  %45 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %44, i64 8)
  %46 = extractvalue { i64, i1 } %45, 1
  %47 = extractvalue { i64, i1 } %45, 0
  %48 = select i1 %46, i64 -1, i64 %47
  %49 = call noalias noundef nonnull ptr @_Znam(i64 noundef %48) #10
  store ptr %49, ptr %27, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #9
  %50 = load i32, ptr %21, align 4, !tbaa !9
  %51 = sext i32 %50 to i64
  %52 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %51, i64 8)
  %53 = extractvalue { i64, i1 } %52, 1
  %54 = extractvalue { i64, i1 } %52, 0
  %55 = select i1 %53, i64 -1, i64 %54
  %56 = call noalias noundef nonnull ptr @_Znam(i64 noundef %55) #10
  store ptr %56, ptr %28, align 8, !tbaa !5
  store i32 0, ptr %19, align 4, !tbaa !9
  br label %57

57:                                               ; preds = %87, %9
  %58 = load i32, ptr %19, align 4, !tbaa !9
  %59 = load i32, ptr %23, align 4, !tbaa !9
  %60 = icmp slt i32 %58, %59
  br i1 %60, label %61, label %90

61:                                               ; preds = %57
  %62 = load ptr, ptr %25, align 8, !tbaa !5
  %63 = load i32, ptr %19, align 4, !tbaa !9
  %64 = sext i32 %63 to i64
  %65 = getelementptr inbounds i32, ptr %62, i64 %64
  %66 = load i32, ptr %65, align 4, !tbaa !9
  store i32 %66, ptr %20, align 4, !tbaa !9
  %67 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 10
  %68 = load ptr, ptr %67, align 8, !tbaa !27
  %69 = load i32, ptr %20, align 4, !tbaa !9
  %70 = sext i32 %69 to i64
  %71 = getelementptr inbounds double, ptr %68, i64 %70
  %72 = load double, ptr %71, align 8, !tbaa !28
  %73 = load ptr, ptr %27, align 8, !tbaa !5
  %74 = load i32, ptr %19, align 4, !tbaa !9
  %75 = sext i32 %74 to i64
  %76 = getelementptr inbounds double, ptr %73, i64 %75
  store double %72, ptr %76, align 8, !tbaa !28
  %77 = load ptr, ptr %16, align 8, !tbaa !5
  %78 = load i32, ptr %19, align 4, !tbaa !9
  %79 = sext i32 %78 to i64
  %80 = getelementptr inbounds double, ptr %77, i64 %79
  %81 = load double, ptr %80, align 8, !tbaa !28
  %82 = fneg double %81
  %83 = load ptr, ptr %28, align 8, !tbaa !5
  %84 = load i32, ptr %19, align 4, !tbaa !9
  %85 = sext i32 %84 to i64
  %86 = getelementptr inbounds double, ptr %83, i64 %85
  store double %82, ptr %86, align 8, !tbaa !28
  br label %87

87:                                               ; preds = %61
  %88 = load i32, ptr %19, align 4, !tbaa !9
  %89 = add nsw i32 %88, 1
  store i32 %89, ptr %19, align 4, !tbaa !9
  br label %57, !llvm.loop !29

90:                                               ; preds = %57
  %91 = load i32, ptr %23, align 4, !tbaa !9
  %92 = load ptr, ptr %25, align 8, !tbaa !5
  %93 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 6
  %94 = load ptr, ptr %27, align 8, !tbaa !5
  %95 = load ptr, ptr %28, align 8, !tbaa !5
  %96 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 23
  %97 = getelementptr inbounds %"class.qpOASES::Options", ptr %96, i32 0, i32 13
  %98 = load double, ptr %97, align 8, !tbaa !31
  %99 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 23
  %100 = getelementptr inbounds %"class.qpOASES::Options", ptr %99, i32 0, i32 14
  %101 = load double, ptr %100, align 8, !tbaa !32
  %102 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 11
  %103 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %30, i32 noundef %91, ptr noundef %92, ptr noundef %93, ptr noundef %94, ptr noundef %95, double noundef %98, double noundef %101, ptr noundef nonnull align 8 dereferenceable(8) %102, ptr noundef nonnull align 4 dereferenceable(4) %26)
  %104 = load i32, ptr %26, align 4, !tbaa !9
  %105 = icmp sge i32 %104, 0
  br i1 %105, label %106, label %110

106:                                              ; preds = %90
  %107 = load i32, ptr %26, align 4, !tbaa !9
  %108 = load ptr, ptr %17, align 8, !tbaa !5
  store i32 %107, ptr %108, align 4, !tbaa !9
  %109 = load ptr, ptr %18, align 8, !tbaa !5
  store i32 0, ptr %109, align 4, !tbaa !26
  br label %110

110:                                              ; preds = %106, %90
  %111 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 6
  %112 = call noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoLowerEv(ptr noundef nonnull align 8 dereferenceable(40) %111)
  %113 = icmp eq i32 %112, 0
  br i1 %113, label %114, label %182

114:                                              ; preds = %110
  store i32 0, ptr %19, align 4, !tbaa !9
  br label %115

115:                                              ; preds = %158, %114
  %116 = load i32, ptr %19, align 4, !tbaa !9
  %117 = load i32, ptr %22, align 4, !tbaa !9
  %118 = icmp slt i32 %116, %117
  br i1 %118, label %119, label %161

119:                                              ; preds = %115
  %120 = load ptr, ptr %24, align 8, !tbaa !5
  %121 = load i32, ptr %19, align 4, !tbaa !9
  %122 = sext i32 %121 to i64
  %123 = getelementptr inbounds i32, ptr %120, i64 %122
  %124 = load i32, ptr %123, align 4, !tbaa !9
  store i32 %124, ptr %20, align 4, !tbaa !9
  %125 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 9
  %126 = load ptr, ptr %125, align 8, !tbaa !33
  %127 = load i32, ptr %20, align 4, !tbaa !9
  %128 = sext i32 %127 to i64
  %129 = getelementptr inbounds double, ptr %126, i64 %128
  %130 = load double, ptr %129, align 8, !tbaa !28
  %131 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 4
  %132 = load ptr, ptr %131, align 8, !tbaa !34
  %133 = load i32, ptr %20, align 4, !tbaa !9
  %134 = sext i32 %133 to i64
  %135 = getelementptr inbounds double, ptr %132, i64 %134
  %136 = load double, ptr %135, align 8, !tbaa !28
  %137 = fsub double %130, %136
  %138 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %137, double noundef 0.000000e+00)
  %139 = load ptr, ptr %27, align 8, !tbaa !5
  %140 = load i32, ptr %19, align 4, !tbaa !9
  %141 = sext i32 %140 to i64
  %142 = getelementptr inbounds double, ptr %139, i64 %141
  store double %138, ptr %142, align 8, !tbaa !28
  %143 = load ptr, ptr %12, align 8, !tbaa !5
  %144 = load i32, ptr %20, align 4, !tbaa !9
  %145 = sext i32 %144 to i64
  %146 = getelementptr inbounds double, ptr %143, i64 %145
  %147 = load double, ptr %146, align 8, !tbaa !28
  %148 = load ptr, ptr %15, align 8, !tbaa !5
  %149 = load i32, ptr %19, align 4, !tbaa !9
  %150 = sext i32 %149 to i64
  %151 = getelementptr inbounds double, ptr %148, i64 %150
  %152 = load double, ptr %151, align 8, !tbaa !28
  %153 = fsub double %147, %152
  %154 = load ptr, ptr %28, align 8, !tbaa !5
  %155 = load i32, ptr %19, align 4, !tbaa !9
  %156 = sext i32 %155 to i64
  %157 = getelementptr inbounds double, ptr %154, i64 %156
  store double %153, ptr %157, align 8, !tbaa !28
  br label %158

158:                                              ; preds = %119
  %159 = load i32, ptr %19, align 4, !tbaa !9
  %160 = add nsw i32 %159, 1
  store i32 %160, ptr %19, align 4, !tbaa !9
  br label %115, !llvm.loop !35

161:                                              ; preds = %115
  %162 = load i32, ptr %22, align 4, !tbaa !9
  %163 = load ptr, ptr %24, align 8, !tbaa !5
  %164 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 6
  %165 = load ptr, ptr %27, align 8, !tbaa !5
  %166 = load ptr, ptr %28, align 8, !tbaa !5
  %167 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 23
  %168 = getelementptr inbounds %"class.qpOASES::Options", ptr %167, i32 0, i32 13
  %169 = load double, ptr %168, align 8, !tbaa !31
  %170 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 23
  %171 = getelementptr inbounds %"class.qpOASES::Options", ptr %170, i32 0, i32 14
  %172 = load double, ptr %171, align 8, !tbaa !32
  %173 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 11
  %174 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %30, i32 noundef %162, ptr noundef %163, ptr noundef %164, ptr noundef %165, ptr noundef %166, double noundef %169, double noundef %172, ptr noundef nonnull align 8 dereferenceable(8) %173, ptr noundef nonnull align 4 dereferenceable(4) %26)
  %175 = load i32, ptr %26, align 4, !tbaa !9
  %176 = icmp sge i32 %175, 0
  br i1 %176, label %177, label %181

177:                                              ; preds = %161
  %178 = load i32, ptr %26, align 4, !tbaa !9
  %179 = load ptr, ptr %17, align 8, !tbaa !5
  store i32 %178, ptr %179, align 4, !tbaa !9
  %180 = load ptr, ptr %18, align 8, !tbaa !5
  store i32 -1, ptr %180, align 4, !tbaa !26
  br label %181

181:                                              ; preds = %177, %161
  br label %182

182:                                              ; preds = %181, %110
  %183 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 6
  %184 = call noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoUpperEv(ptr noundef nonnull align 8 dereferenceable(40) %183)
  %185 = icmp eq i32 %184, 0
  br i1 %185, label %186, label %254

186:                                              ; preds = %182
  store i32 0, ptr %19, align 4, !tbaa !9
  br label %187

187:                                              ; preds = %230, %186
  %188 = load i32, ptr %19, align 4, !tbaa !9
  %189 = load i32, ptr %22, align 4, !tbaa !9
  %190 = icmp slt i32 %188, %189
  br i1 %190, label %191, label %233

191:                                              ; preds = %187
  %192 = load ptr, ptr %24, align 8, !tbaa !5
  %193 = load i32, ptr %19, align 4, !tbaa !9
  %194 = sext i32 %193 to i64
  %195 = getelementptr inbounds i32, ptr %192, i64 %194
  %196 = load i32, ptr %195, align 4, !tbaa !9
  store i32 %196, ptr %20, align 4, !tbaa !9
  %197 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 5
  %198 = load ptr, ptr %197, align 8, !tbaa !36
  %199 = load i32, ptr %20, align 4, !tbaa !9
  %200 = sext i32 %199 to i64
  %201 = getelementptr inbounds double, ptr %198, i64 %200
  %202 = load double, ptr %201, align 8, !tbaa !28
  %203 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 9
  %204 = load ptr, ptr %203, align 8, !tbaa !33
  %205 = load i32, ptr %20, align 4, !tbaa !9
  %206 = sext i32 %205 to i64
  %207 = getelementptr inbounds double, ptr %204, i64 %206
  %208 = load double, ptr %207, align 8, !tbaa !28
  %209 = fsub double %202, %208
  %210 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %209, double noundef 0.000000e+00)
  %211 = load ptr, ptr %27, align 8, !tbaa !5
  %212 = load i32, ptr %19, align 4, !tbaa !9
  %213 = sext i32 %212 to i64
  %214 = getelementptr inbounds double, ptr %211, i64 %213
  store double %210, ptr %214, align 8, !tbaa !28
  %215 = load ptr, ptr %15, align 8, !tbaa !5
  %216 = load i32, ptr %19, align 4, !tbaa !9
  %217 = sext i32 %216 to i64
  %218 = getelementptr inbounds double, ptr %215, i64 %217
  %219 = load double, ptr %218, align 8, !tbaa !28
  %220 = load ptr, ptr %13, align 8, !tbaa !5
  %221 = load i32, ptr %20, align 4, !tbaa !9
  %222 = sext i32 %221 to i64
  %223 = getelementptr inbounds double, ptr %220, i64 %222
  %224 = load double, ptr %223, align 8, !tbaa !28
  %225 = fsub double %219, %224
  %226 = load ptr, ptr %28, align 8, !tbaa !5
  %227 = load i32, ptr %19, align 4, !tbaa !9
  %228 = sext i32 %227 to i64
  %229 = getelementptr inbounds double, ptr %226, i64 %228
  store double %225, ptr %229, align 8, !tbaa !28
  br label %230

230:                                              ; preds = %191
  %231 = load i32, ptr %19, align 4, !tbaa !9
  %232 = add nsw i32 %231, 1
  store i32 %232, ptr %19, align 4, !tbaa !9
  br label %187, !llvm.loop !37

233:                                              ; preds = %187
  %234 = load i32, ptr %22, align 4, !tbaa !9
  %235 = load ptr, ptr %24, align 8, !tbaa !5
  %236 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 6
  %237 = load ptr, ptr %27, align 8, !tbaa !5
  %238 = load ptr, ptr %28, align 8, !tbaa !5
  %239 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 23
  %240 = getelementptr inbounds %"class.qpOASES::Options", ptr %239, i32 0, i32 13
  %241 = load double, ptr %240, align 8, !tbaa !31
  %242 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 23
  %243 = getelementptr inbounds %"class.qpOASES::Options", ptr %242, i32 0, i32 14
  %244 = load double, ptr %243, align 8, !tbaa !32
  %245 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 11
  %246 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %30, i32 noundef %234, ptr noundef %235, ptr noundef %236, ptr noundef %237, ptr noundef %238, double noundef %241, double noundef %244, ptr noundef nonnull align 8 dereferenceable(8) %245, ptr noundef nonnull align 4 dereferenceable(4) %26)
  %247 = load i32, ptr %26, align 4, !tbaa !9
  %248 = icmp sge i32 %247, 0
  br i1 %248, label %249, label %253

249:                                              ; preds = %233
  %250 = load i32, ptr %26, align 4, !tbaa !9
  %251 = load ptr, ptr %17, align 8, !tbaa !5
  store i32 %250, ptr %251, align 4, !tbaa !9
  %252 = load ptr, ptr %18, align 8, !tbaa !5
  store i32 1, ptr %252, align 4, !tbaa !26
  br label %253

253:                                              ; preds = %249, %233
  br label %254

254:                                              ; preds = %253, %182
  %255 = load ptr, ptr %28, align 8, !tbaa !5
  %256 = icmp eq ptr %255, null
  br i1 %256, label %258, label %257

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

258:                                              ; preds = %257, %254
  %259 = load ptr, ptr %27, align 8, !tbaa !5
  %260 = icmp eq ptr %259, null
  br i1 %260, label %262, label %261

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

262:                                              ; preds = %261, %258
  call void @llvm.lifetime.start.p0(i64 160, ptr %29) #9
  %263 = load ptr, ptr %18, align 8, !tbaa !5
  %264 = load i32, ptr %263, align 4, !tbaa !26
  %265 = icmp eq i32 %264, 4
  br i1 %265, label %266, label %271

266:                                              ; preds = %262
  %267 = getelementptr inbounds [160 x i8], ptr %29, i64 0, i64 0
  %268 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 11
  %269 = load double, ptr %268, align 8, !tbaa !11
  %270 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %267, i64 noundef 160, ptr noundef @.str.35, double noundef %269) #9
  br label %280

271:                                              ; preds = %262
  %272 = getelementptr inbounds [160 x i8], ptr %29, i64 0, i64 0
  %273 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 11
  %274 = load double, ptr %273, align 8, !tbaa !11
  %275 = load ptr, ptr %17, align 8, !tbaa !5
  %276 = load i32, ptr %275, align 4, !tbaa !9
  %277 = load ptr, ptr %18, align 8, !tbaa !5
  %278 = load i32, ptr %277, align 4, !tbaa !26
  %279 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %272, i64 noundef 160, ptr noundef @.str.36, double noundef %274, i32 noundef %276, i32 noundef %278) #9
  br label %280

280:                                              ; preds = %271, %266
  %281 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %282 = getelementptr inbounds [160 x i8], ptr %29, i64 0, i64 0
  %283 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %281, i32 noundef 74, ptr noundef %282, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3308, i32 noundef 1)
  %284 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 11
  %285 = load double, ptr %284, align 8, !tbaa !11
  %286 = fcmp ogt double %285, 1.000000e-25
  br i1 %286, label %287, label %409

287:                                              ; preds = %280
  store i32 0, ptr %19, align 4, !tbaa !9
  br label %288

288:                                              ; preds = %312, %287
  %289 = load i32, ptr %19, align 4, !tbaa !9
  %290 = load i32, ptr %22, align 4, !tbaa !9
  %291 = icmp slt i32 %289, %290
  br i1 %291, label %292, label %315

292:                                              ; preds = %288
  %293 = load ptr, ptr %24, align 8, !tbaa !5
  %294 = load i32, ptr %19, align 4, !tbaa !9
  %295 = sext i32 %294 to i64
  %296 = getelementptr inbounds i32, ptr %293, i64 %295
  %297 = load i32, ptr %296, align 4, !tbaa !9
  store i32 %297, ptr %20, align 4, !tbaa !9
  %298 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 11
  %299 = load double, ptr %298, align 8, !tbaa !11
  %300 = load ptr, ptr %15, align 8, !tbaa !5
  %301 = load i32, ptr %19, align 4, !tbaa !9
  %302 = sext i32 %301 to i64
  %303 = getelementptr inbounds double, ptr %300, i64 %302
  %304 = load double, ptr %303, align 8, !tbaa !28
  %305 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 9
  %306 = load ptr, ptr %305, align 8, !tbaa !33
  %307 = load i32, ptr %20, align 4, !tbaa !9
  %308 = sext i32 %307 to i64
  %309 = getelementptr inbounds double, ptr %306, i64 %308
  %310 = load double, ptr %309, align 8, !tbaa !28
  %311 = call double @llvm.fmuladd.f64(double %299, double %304, double %310)
  store double %311, ptr %309, align 8, !tbaa !28
  br label %312

312:                                              ; preds = %292
  %313 = load i32, ptr %19, align 4, !tbaa !9
  %314 = add nsw i32 %313, 1
  store i32 %314, ptr %19, align 4, !tbaa !9
  br label %288, !llvm.loop !38

315:                                              ; preds = %288
  store i32 0, ptr %19, align 4, !tbaa !9
  br label %316

316:                                              ; preds = %354, %315
  %317 = load i32, ptr %19, align 4, !tbaa !9
  %318 = load i32, ptr %23, align 4, !tbaa !9
  %319 = icmp slt i32 %317, %318
  br i1 %319, label %320, label %357

320:                                              ; preds = %316
  %321 = load ptr, ptr %25, align 8, !tbaa !5
  %322 = load i32, ptr %19, align 4, !tbaa !9
  %323 = sext i32 %322 to i64
  %324 = getelementptr inbounds i32, ptr %321, i64 %323
  %325 = load i32, ptr %324, align 4, !tbaa !9
  store i32 %325, ptr %20, align 4, !tbaa !9
  %326 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 11
  %327 = load double, ptr %326, align 8, !tbaa !11
  %328 = load ptr, ptr %14, align 8, !tbaa !5
  %329 = load i32, ptr %19, align 4, !tbaa !9
  %330 = sext i32 %329 to i64
  %331 = getelementptr inbounds double, ptr %328, i64 %330
  %332 = load double, ptr %331, align 8, !tbaa !28
  %333 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 9
  %334 = load ptr, ptr %333, align 8, !tbaa !33
  %335 = load i32, ptr %20, align 4, !tbaa !9
  %336 = sext i32 %335 to i64
  %337 = getelementptr inbounds double, ptr %334, i64 %336
  %338 = load double, ptr %337, align 8, !tbaa !28
  %339 = call double @llvm.fmuladd.f64(double %327, double %332, double %338)
  store double %339, ptr %337, align 8, !tbaa !28
  %340 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 11
  %341 = load double, ptr %340, align 8, !tbaa !11
  %342 = load ptr, ptr %16, align 8, !tbaa !5
  %343 = load i32, ptr %19, align 4, !tbaa !9
  %344 = sext i32 %343 to i64
  %345 = getelementptr inbounds double, ptr %342, i64 %344
  %346 = load double, ptr %345, align 8, !tbaa !28
  %347 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 10
  %348 = load ptr, ptr %347, align 8, !tbaa !27
  %349 = load i32, ptr %20, align 4, !tbaa !9
  %350 = sext i32 %349 to i64
  %351 = getelementptr inbounds double, ptr %348, i64 %350
  %352 = load double, ptr %351, align 8, !tbaa !28
  %353 = call double @llvm.fmuladd.f64(double %341, double %346, double %352)
  store double %353, ptr %351, align 8, !tbaa !28
  br label %354

354:                                              ; preds = %320
  %355 = load i32, ptr %19, align 4, !tbaa !9
  %356 = add nsw i32 %355, 1
  store i32 %356, ptr %19, align 4, !tbaa !9
  br label %316, !llvm.loop !39

357:                                              ; preds = %316
  store i32 0, ptr %19, align 4, !tbaa !9
  br label %358

358:                                              ; preds = %405, %357
  %359 = load i32, ptr %19, align 4, !tbaa !9
  %360 = load i32, ptr %21, align 4, !tbaa !9
  %361 = icmp slt i32 %359, %360
  br i1 %361, label %362, label %408

362:                                              ; preds = %358
  %363 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 11
  %364 = load double, ptr %363, align 8, !tbaa !11
  %365 = load ptr, ptr %11, align 8, !tbaa !5
  %366 = load i32, ptr %19, align 4, !tbaa !9
  %367 = sext i32 %366 to i64
  %368 = getelementptr inbounds double, ptr %365, i64 %367
  %369 = load double, ptr %368, align 8, !tbaa !28
  %370 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 3
  %371 = load ptr, ptr %370, align 8, !tbaa !40
  %372 = load i32, ptr %19, align 4, !tbaa !9
  %373 = sext i32 %372 to i64
  %374 = getelementptr inbounds double, ptr %371, i64 %373
  %375 = load double, ptr %374, align 8, !tbaa !28
  %376 = call double @llvm.fmuladd.f64(double %364, double %369, double %375)
  store double %376, ptr %374, align 8, !tbaa !28
  %377 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 11
  %378 = load double, ptr %377, align 8, !tbaa !11
  %379 = load ptr, ptr %12, align 8, !tbaa !5
  %380 = load i32, ptr %19, align 4, !tbaa !9
  %381 = sext i32 %380 to i64
  %382 = getelementptr inbounds double, ptr %379, i64 %381
  %383 = load double, ptr %382, align 8, !tbaa !28
  %384 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 4
  %385 = load ptr, ptr %384, align 8, !tbaa !34
  %386 = load i32, ptr %19, align 4, !tbaa !9
  %387 = sext i32 %386 to i64
  %388 = getelementptr inbounds double, ptr %385, i64 %387
  %389 = load double, ptr %388, align 8, !tbaa !28
  %390 = call double @llvm.fmuladd.f64(double %378, double %383, double %389)
  store double %390, ptr %388, align 8, !tbaa !28
  %391 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 11
  %392 = load double, ptr %391, align 8, !tbaa !11
  %393 = load ptr, ptr %13, align 8, !tbaa !5
  %394 = load i32, ptr %19, align 4, !tbaa !9
  %395 = sext i32 %394 to i64
  %396 = getelementptr inbounds double, ptr %393, i64 %395
  %397 = load double, ptr %396, align 8, !tbaa !28
  %398 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 5
  %399 = load ptr, ptr %398, align 8, !tbaa !36
  %400 = load i32, ptr %19, align 4, !tbaa !9
  %401 = sext i32 %400 to i64
  %402 = getelementptr inbounds double, ptr %399, i64 %401
  %403 = load double, ptr %402, align 8, !tbaa !28
  %404 = call double @llvm.fmuladd.f64(double %392, double %397, double %403)
  store double %404, ptr %402, align 8, !tbaa !28
  br label %405

405:                                              ; preds = %362
  %406 = load i32, ptr %19, align 4, !tbaa !9
  %407 = add nsw i32 %406, 1
  store i32 %407, ptr %19, align 4, !tbaa !9
  br label %358, !llvm.loop !41

408:                                              ; preds = %358
  br label %417

409:                                              ; preds = %280
  %410 = getelementptr inbounds [160 x i8], ptr %29, i64 0, i64 0
  %411 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 11
  %412 = load double, ptr %411, align 8, !tbaa !11
  %413 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %410, i64 noundef 160, ptr noundef @.str.37, double noundef %412) #9
  %414 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %415 = getelementptr inbounds [160 x i8], ptr %29, i64 0, i64 0
  %416 = call noundef i32 @_ZN7qpOASES15MessageHandling12throwWarningENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %414, i32 noundef 73, ptr noundef %415, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3342, i32 noundef 1)
  br label %417

417:                                              ; preds = %409, %408
  call void @llvm.lifetime.end.p0(i64 160, ptr %29) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #9
  call void @llvm.lifetime.end.p0(i64 4, 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 4, ptr %23) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #9
  ret i32 0
}

attributes #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 = { 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 #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 = { 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 #7 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { 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, !17, i64 200}
!12 = !{!"_ZTSN7qpOASES9QProblemBE", !13, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !14, i64 48, !6, i64 168, !13, i64 176, !6, i64 184, !6, i64 192, !17, i64 200, !18, i64 208, !13, i64 212, !13, i64 216, !19, i64 220, !17, i64 224, !10, i64 232, !6, i64 240, !17, i64 248, !17, i64 256, !10, i64 264, !20, i64 272, !23, i64 496, !25, i64 768}
!13 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!14 = !{!"_ZTSN7qpOASES6BoundsE", !15, i64 0, !16, i64 40, !16, i64 80}
!15 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !13, i64 32, !13, i64 36}
!16 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!17 = !{!"double", !7, i64 0}
!18 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!19 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!20 = !{!"_ZTSN7qpOASES7OptionsE", !21, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !13, i64 24, !10, i64 28, !10, i64 32, !13, i64 36, !17, i64 40, !17, i64 48, !17, i64 56, !17, i64 64, !17, i64 72, !17, i64 80, !17, i64 88, !17, i64 96, !17, i64 104, !17, i64 112, !17, i64 120, !22, i64 128, !17, i64 136, !10, i64 144, !17, i64 152, !10, i64 160, !17, i64 168, !17, i64 176, !17, i64 184, !17, i64 192, !13, i64 200, !13, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!21 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!22 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !14, i64 8, !24, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!24 = !{!"_ZTSN7qpOASES11ConstraintsE", !15, i64 0, !16, i64 40, !16, i64 80}
!25 = !{!"_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}
!26 = !{!22, !22, i64 0}
!27 = !{!12, !6, i64 192}
!28 = !{!17, !17, i64 0}
!29 = distinct !{!29, !30}
!30 = !{!"llvm.loop.mustprogress"}
!31 = !{!12, !17, i64 336}
!32 = !{!12, !17, i64 344}
!33 = !{!12, !6, i64 184}
!34 = !{!12, !6, i64 32}
!35 = distinct !{!35, !30}
!36 = !{!12, !6, i64 40}
!37 = distinct !{!37, !30}
!38 = distinct !{!38, !30}
!39 = distinct !{!39, !30}
!40 = !{!12, !6, i64 24}
!41 = distinct !{!41, !30}


; 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 [104 x i8], align 1
@.str.35 = external hidden unnamed_addr constant [19 x i8], align 1
@.str.36 = external hidden unnamed_addr constant [43 x i8], align 1
@.str.37 = external hidden unnamed_addr constant [18 x i8], align 1

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() 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: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) local_unnamed_addr #2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #3 align 2

declare noundef i32 @_ZN7qpOASES15MessageHandling12throwWarningENS_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 #0

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #5

declare noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_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 #0

; Function Attrs: nofree nounwind
declare noundef i32 @snprintf(ptr noalias nocapture noundef writeonly, i64 noundef, ptr nocapture noundef readonly, ...) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoLowerEv(ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoUpperEv(ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #7 align 2

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

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) local_unnamed_addr #0

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800)) 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 #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #8 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getMaxEdd(double noundef, double noundef) local_unnamed_addr #7

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES9QProblemB11performStepEPKdS2_S2_S2_S2_S2_RiRNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr nocapture noundef readonly %1, ptr nocapture noundef readonly %2, ptr nocapture noundef readonly %3, ptr nocapture noundef readonly %4, ptr nocapture noundef readonly %5, ptr nocapture noundef readonly %6, ptr nocapture noundef nonnull align 4 dereferenceable(4) %7, ptr nocapture noundef nonnull align 4 dereferenceable(4) %8) local_unnamed_addr #8 align 2 {
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca i32, align 4
  %13 = alloca [160 x i8], align 16
  %14 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %15 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %16 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #10
  %17 = getelementptr inbounds i8, ptr %0, i64 48
  %18 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %17)
  %19 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %18, ptr noundef nonnull %10)
  %20 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %17)
  %21 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %20, ptr noundef nonnull %11)
  %22 = getelementptr inbounds i8, ptr %0, i64 200
  store double 1.000000e+00, ptr %22, align 8, !tbaa !5
  store i32 -1, ptr %7, align 4, !tbaa !24
  store i32 4, ptr %8, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %12) #10
  store i32 -1, ptr %12, align 4, !tbaa !24
  %23 = zext i32 %14 to i64
  %24 = icmp slt i32 %14, 0
  %25 = shl nuw nsw i64 %23, 3
  %26 = select i1 %24, i64 -1, i64 %25
  %27 = call noalias noundef nonnull ptr @_Znam(i64 noundef %26) #11
  %28 = call noalias noundef nonnull ptr @_Znam(i64 noundef %26) #11
  %29 = icmp sgt i32 %16, 0
  %.pre = load ptr, ptr %11, align 8, !tbaa !26
  br i1 %29, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %9
  %30 = getelementptr inbounds i8, ptr %0, i64 192
  %31 = load ptr, ptr %30, align 8, !tbaa !27
  %wide.trip.count = zext nneg i32 %16 to i64
  %xtraiter = and i64 %wide.trip.count, 1
  %32 = icmp eq i32 %16, 1
  br i1 %32, label %._crit_edge.loopexit.unr-lcssa, label %.lr.ph.new

.lr.ph.new:                                       ; preds = %.lr.ph
  %unroll_iter = and i64 %wide.trip.count, 2147483646
  br label %33

33:                                               ; preds = %33, %.lr.ph.new
  %indvars.iv = phi i64 [ 0, %.lr.ph.new ], [ %indvars.iv.next.1, %33 ]
  %niter = phi i64 [ 0, %.lr.ph.new ], [ %niter.next.1, %33 ]
  %34 = getelementptr inbounds i32, ptr %.pre, i64 %indvars.iv
  %35 = load i32, ptr %34, align 4, !tbaa !24
  %36 = sext i32 %35 to i64
  %37 = getelementptr inbounds double, ptr %31, i64 %36
  %38 = load double, ptr %37, align 8, !tbaa !28
  %39 = getelementptr inbounds double, ptr %27, i64 %indvars.iv
  store double %38, ptr %39, align 8, !tbaa !28
  %40 = getelementptr inbounds double, ptr %6, i64 %indvars.iv
  %41 = load double, ptr %40, align 8, !tbaa !28
  %42 = fneg double %41
  %43 = getelementptr inbounds double, ptr %28, i64 %indvars.iv
  store double %42, ptr %43, align 8, !tbaa !28
  %indvars.iv.next = or disjoint i64 %indvars.iv, 1
  %44 = getelementptr inbounds i32, ptr %.pre, i64 %indvars.iv.next
  %45 = load i32, ptr %44, align 4, !tbaa !24
  %46 = sext i32 %45 to i64
  %47 = getelementptr inbounds double, ptr %31, i64 %46
  %48 = load double, ptr %47, align 8, !tbaa !28
  %49 = getelementptr inbounds double, ptr %27, i64 %indvars.iv.next
  store double %48, ptr %49, align 8, !tbaa !28
  %50 = getelementptr inbounds double, ptr %6, i64 %indvars.iv.next
  %51 = load double, ptr %50, align 8, !tbaa !28
  %52 = fneg double %51
  %53 = getelementptr inbounds double, ptr %28, i64 %indvars.iv.next
  store double %52, ptr %53, align 8, !tbaa !28
  %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 %._crit_edge.loopexit.unr-lcssa, label %33, !llvm.loop !29

._crit_edge.loopexit.unr-lcssa:                   ; preds = %33, %.lr.ph
  %indvars.iv.unr = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next.1, %33 ]
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %._crit_edge, label %._crit_edge.loopexit.epilog-lcssa

._crit_edge.loopexit.epilog-lcssa:                ; preds = %._crit_edge.loopexit.unr-lcssa
  %54 = getelementptr inbounds i32, ptr %.pre, i64 %indvars.iv.unr
  %55 = load i32, ptr %54, align 4, !tbaa !24
  %56 = sext i32 %55 to i64
  %57 = getelementptr inbounds double, ptr %31, i64 %56
  %58 = load double, ptr %57, align 8, !tbaa !28
  %59 = getelementptr inbounds double, ptr %27, i64 %indvars.iv.unr
  store double %58, ptr %59, align 8, !tbaa !28
  %60 = getelementptr inbounds double, ptr %6, i64 %indvars.iv.unr
  %61 = load double, ptr %60, align 8, !tbaa !28
  %62 = fneg double %61
  %63 = getelementptr inbounds double, ptr %28, i64 %indvars.iv.unr
  store double %62, ptr %63, align 8, !tbaa !28
  br label %._crit_edge

._crit_edge:                                      ; preds = %._crit_edge.loopexit.epilog-lcssa, %._crit_edge.loopexit.unr-lcssa, %9
  %64 = getelementptr inbounds i8, ptr %0, i64 336
  %65 = load double, ptr %64, align 8, !tbaa !31
  %66 = getelementptr inbounds i8, ptr %0, i64 344
  %67 = load double, ptr %66, align 8, !tbaa !32
  %68 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %16, ptr noundef %.pre, ptr noundef nonnull %17, ptr noundef nonnull %27, ptr noundef nonnull %28, double noundef %65, double noundef %67, ptr noundef nonnull align 8 dereferenceable(8) %22, ptr noundef nonnull align 4 dereferenceable(4) %12)
  %69 = load i32, ptr %12, align 4, !tbaa !24
  %70 = icmp sgt i32 %69, -1
  br i1 %70, label %71, label %72

71:                                               ; preds = %._crit_edge
  store i32 %69, ptr %7, align 4, !tbaa !24
  store i32 0, ptr %8, align 4, !tbaa !25
  br label %72

72:                                               ; preds = %71, %._crit_edge
  %73 = call noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoLowerEv(ptr noundef nonnull align 8 dereferenceable(40) %17)
  %74 = icmp eq i32 %73, 0
  br i1 %74, label %.preheader103, label %105

.preheader103:                                    ; preds = %72
  %75 = icmp sgt i32 %15, 0
  br i1 %75, label %.lr.ph106, label %._crit_edge107

.lr.ph106:                                        ; preds = %.preheader103
  %76 = getelementptr inbounds i8, ptr %0, i64 184
  %77 = getelementptr inbounds i8, ptr %0, i64 32
  %wide.trip.count121 = zext nneg i32 %15 to i64
  br label %78

78:                                               ; preds = %.lr.ph106, %78
  %indvars.iv118 = phi i64 [ 0, %.lr.ph106 ], [ %indvars.iv.next119, %78 ]
  %79 = load ptr, ptr %10, align 8, !tbaa !26
  %80 = getelementptr inbounds i32, ptr %79, i64 %indvars.iv118
  %81 = load i32, ptr %80, align 4, !tbaa !24
  %82 = load ptr, ptr %76, align 8, !tbaa !33
  %83 = sext i32 %81 to i64
  %84 = getelementptr inbounds double, ptr %82, i64 %83
  %85 = load double, ptr %84, align 8, !tbaa !28
  %86 = load ptr, ptr %77, align 8, !tbaa !34
  %87 = getelementptr inbounds double, ptr %86, i64 %83
  %88 = load double, ptr %87, align 8, !tbaa !28
  %89 = fsub double %85, %88
  %90 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %89, double noundef 0.000000e+00)
  %91 = getelementptr inbounds double, ptr %27, i64 %indvars.iv118
  store double %90, ptr %91, align 8, !tbaa !28
  %92 = getelementptr inbounds double, ptr %2, i64 %83
  %93 = load double, ptr %92, align 8, !tbaa !28
  %94 = getelementptr inbounds double, ptr %5, i64 %indvars.iv118
  %95 = load double, ptr %94, align 8, !tbaa !28
  %96 = fsub double %93, %95
  %97 = getelementptr inbounds double, ptr %28, i64 %indvars.iv118
  store double %96, ptr %97, align 8, !tbaa !28
  %indvars.iv.next119 = add nuw nsw i64 %indvars.iv118, 1
  %exitcond122.not = icmp eq i64 %indvars.iv.next119, %wide.trip.count121
  br i1 %exitcond122.not, label %._crit_edge107, label %78, !llvm.loop !35

._crit_edge107:                                   ; preds = %78, %.preheader103
  %98 = load ptr, ptr %10, align 8, !tbaa !26
  %99 = load double, ptr %64, align 8, !tbaa !31
  %100 = load double, ptr %66, align 8, !tbaa !32
  %101 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %15, ptr noundef %98, ptr noundef nonnull %17, ptr noundef nonnull %27, ptr noundef nonnull %28, double noundef %99, double noundef %100, ptr noundef nonnull align 8 dereferenceable(8) %22, ptr noundef nonnull align 4 dereferenceable(4) %12)
  %102 = load i32, ptr %12, align 4, !tbaa !24
  %103 = icmp sgt i32 %102, -1
  br i1 %103, label %104, label %105

104:                                              ; preds = %._crit_edge107
  store i32 %102, ptr %7, align 4, !tbaa !24
  store i32 -1, ptr %8, align 4, !tbaa !25
  br label %105

105:                                              ; preds = %._crit_edge107, %104, %72
  %106 = call noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoUpperEv(ptr noundef nonnull align 8 dereferenceable(40) %17)
  %107 = icmp eq i32 %106, 0
  br i1 %107, label %.preheader102, label %138

.preheader102:                                    ; preds = %105
  %108 = icmp sgt i32 %15, 0
  br i1 %108, label %.lr.ph109, label %._crit_edge110

.lr.ph109:                                        ; preds = %.preheader102
  %109 = getelementptr inbounds i8, ptr %0, i64 40
  %110 = getelementptr inbounds i8, ptr %0, i64 184
  %wide.trip.count126 = zext nneg i32 %15 to i64
  br label %111

111:                                              ; preds = %.lr.ph109, %111
  %indvars.iv123 = phi i64 [ 0, %.lr.ph109 ], [ %indvars.iv.next124, %111 ]
  %112 = load ptr, ptr %10, align 8, !tbaa !26
  %113 = getelementptr inbounds i32, ptr %112, i64 %indvars.iv123
  %114 = load i32, ptr %113, align 4, !tbaa !24
  %115 = load ptr, ptr %109, align 8, !tbaa !36
  %116 = sext i32 %114 to i64
  %117 = getelementptr inbounds double, ptr %115, i64 %116
  %118 = load double, ptr %117, align 8, !tbaa !28
  %119 = load ptr, ptr %110, align 8, !tbaa !33
  %120 = getelementptr inbounds double, ptr %119, i64 %116
  %121 = load double, ptr %120, align 8, !tbaa !28
  %122 = fsub double %118, %121
  %123 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %122, double noundef 0.000000e+00)
  %124 = getelementptr inbounds double, ptr %27, i64 %indvars.iv123
  store double %123, ptr %124, align 8, !tbaa !28
  %125 = getelementptr inbounds double, ptr %5, i64 %indvars.iv123
  %126 = load double, ptr %125, align 8, !tbaa !28
  %127 = getelementptr inbounds double, ptr %3, i64 %116
  %128 = load double, ptr %127, align 8, !tbaa !28
  %129 = fsub double %126, %128
  %130 = getelementptr inbounds double, ptr %28, i64 %indvars.iv123
  store double %129, ptr %130, align 8, !tbaa !28
  %indvars.iv.next124 = add nuw nsw i64 %indvars.iv123, 1
  %exitcond127.not = icmp eq i64 %indvars.iv.next124, %wide.trip.count126
  br i1 %exitcond127.not, label %._crit_edge110, label %111, !llvm.loop !37

._crit_edge110:                                   ; preds = %111, %.preheader102
  %131 = load ptr, ptr %10, align 8, !tbaa !26
  %132 = load double, ptr %64, align 8, !tbaa !31
  %133 = load double, ptr %66, align 8, !tbaa !32
  %134 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %15, ptr noundef %131, ptr noundef nonnull %17, ptr noundef nonnull %27, ptr noundef nonnull %28, double noundef %132, double noundef %133, ptr noundef nonnull align 8 dereferenceable(8) %22, ptr noundef nonnull align 4 dereferenceable(4) %12)
  %135 = load i32, ptr %12, align 4, !tbaa !24
  %136 = icmp sgt i32 %135, -1
  br i1 %136, label %137, label %138

137:                                              ; preds = %._crit_edge110
  store i32 %135, ptr %7, align 4, !tbaa !24
  store i32 1, ptr %8, align 4, !tbaa !25
  br label %138

138:                                              ; preds = %105, %137, %._crit_edge110
  call void @_ZdaPv(ptr noundef nonnull %28) #12
  call void @_ZdaPv(ptr noundef nonnull %27) #12
  call void @llvm.lifetime.start.p0(i64 160, ptr nonnull %13) #10
  %139 = load i32, ptr %8, align 4, !tbaa !25
  %140 = icmp eq i32 %139, 4
  %141 = load double, ptr %22, align 8, !tbaa !5
  br i1 %140, label %142, label %144

142:                                              ; preds = %138
  %143 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %13, i64 noundef 160, ptr noundef nonnull @.str.35, double noundef %141) #10
  br label %147

144:                                              ; preds = %138
  %145 = load i32, ptr %7, align 4, !tbaa !24
  %146 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %13, i64 noundef 160, ptr noundef nonnull @.str.36, double noundef %141, i32 noundef %145, i32 noundef %139) #10
  br label %147

147:                                              ; preds = %144, %142
  %148 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %149 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %148, i32 noundef 74, ptr noundef nonnull %13, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3308, i32 noundef 1)
  %150 = load double, ptr %22, align 8, !tbaa !5
  %151 = fcmp ogt double %150, 1.000000e-25
  br i1 %151, label %.preheader101, label %277

.preheader101:                                    ; preds = %147
  %152 = icmp sgt i32 %15, 0
  br i1 %152, label %.lr.ph112, label %.preheader100

.lr.ph112:                                        ; preds = %.preheader101
  %153 = load ptr, ptr %10, align 8, !tbaa !26
  %154 = getelementptr inbounds i8, ptr %0, i64 184
  %155 = load ptr, ptr %154, align 8, !tbaa !33
  %wide.trip.count131 = zext nneg i32 %15 to i64
  %xtraiter218 = and i64 %wide.trip.count131, 1
  %156 = icmp eq i32 %15, 1
  br i1 %156, label %.preheader100.loopexit.unr-lcssa, label %.lr.ph112.new

.lr.ph112.new:                                    ; preds = %.lr.ph112
  %unroll_iter220 = and i64 %wide.trip.count131, 2147483646
  br label %171

.preheader100.loopexit.unr-lcssa:                 ; preds = %171, %.lr.ph112
  %indvars.iv128.unr = phi i64 [ 0, %.lr.ph112 ], [ %indvars.iv.next129.1, %171 ]
  %lcmp.mod219.not = icmp eq i64 %xtraiter218, 0
  br i1 %lcmp.mod219.not, label %.preheader100, label %.preheader100.loopexit.epilog-lcssa

.preheader100.loopexit.epilog-lcssa:              ; preds = %.preheader100.loopexit.unr-lcssa
  %157 = getelementptr inbounds i32, ptr %153, i64 %indvars.iv128.unr
  %158 = load i32, ptr %157, align 4, !tbaa !24
  %159 = load double, ptr %22, align 8, !tbaa !5
  %160 = getelementptr inbounds double, ptr %5, i64 %indvars.iv128.unr
  %161 = load double, ptr %160, align 8, !tbaa !28
  %162 = sext i32 %158 to i64
  %163 = getelementptr inbounds double, ptr %155, i64 %162
  %164 = load double, ptr %163, align 8, !tbaa !28
  %165 = call double @llvm.fmuladd.f64(double %159, double %161, double %164)
  store double %165, ptr %163, align 8, !tbaa !28
  br label %.preheader100

.preheader100:                                    ; preds = %.preheader100.loopexit.epilog-lcssa, %.preheader100.loopexit.unr-lcssa, %.preheader101
  br i1 %29, label %.lr.ph114, label %.preheader

.lr.ph114:                                        ; preds = %.preheader100
  %166 = load ptr, ptr %11, align 8, !tbaa !26
  %167 = getelementptr inbounds i8, ptr %0, i64 184
  %168 = load ptr, ptr %167, align 8, !tbaa !33
  %169 = getelementptr inbounds i8, ptr %0, i64 192
  %170 = load ptr, ptr %169, align 8, !tbaa !27
  %wide.trip.count136 = zext nneg i32 %16 to i64
  br label %243

171:                                              ; preds = %171, %.lr.ph112.new
  %indvars.iv128 = phi i64 [ 0, %.lr.ph112.new ], [ %indvars.iv.next129.1, %171 ]
  %niter221 = phi i64 [ 0, %.lr.ph112.new ], [ %niter221.next.1, %171 ]
  %172 = getelementptr inbounds i32, ptr %153, i64 %indvars.iv128
  %173 = load i32, ptr %172, align 4, !tbaa !24
  %174 = load double, ptr %22, align 8, !tbaa !5
  %175 = getelementptr inbounds double, ptr %5, i64 %indvars.iv128
  %176 = load double, ptr %175, align 8, !tbaa !28
  %177 = sext i32 %173 to i64
  %178 = getelementptr inbounds double, ptr %155, i64 %177
  %179 = load double, ptr %178, align 8, !tbaa !28
  %180 = call double @llvm.fmuladd.f64(double %174, double %176, double %179)
  store double %180, ptr %178, align 8, !tbaa !28
  %indvars.iv.next129 = or disjoint i64 %indvars.iv128, 1
  %181 = getelementptr inbounds i32, ptr %153, i64 %indvars.iv.next129
  %182 = load i32, ptr %181, align 4, !tbaa !24
  %183 = load double, ptr %22, align 8, !tbaa !5
  %184 = getelementptr inbounds double, ptr %5, i64 %indvars.iv.next129
  %185 = load double, ptr %184, align 8, !tbaa !28
  %186 = sext i32 %182 to i64
  %187 = getelementptr inbounds double, ptr %155, i64 %186
  %188 = load double, ptr %187, align 8, !tbaa !28
  %189 = call double @llvm.fmuladd.f64(double %183, double %185, double %188)
  store double %189, ptr %187, align 8, !tbaa !28
  %indvars.iv.next129.1 = add nuw nsw i64 %indvars.iv128, 2
  %niter221.next.1 = add i64 %niter221, 2
  %niter221.ncmp.1 = icmp eq i64 %niter221.next.1, %unroll_iter220
  br i1 %niter221.ncmp.1, label %.preheader100.loopexit.unr-lcssa, label %171, !llvm.loop !38

.preheader:                                       ; preds = %243, %.preheader100
  %190 = icmp sgt i32 %14, 0
  br i1 %190, label %.lr.ph116, label %.loopexit

.lr.ph116:                                        ; preds = %.preheader
  %191 = getelementptr inbounds i8, ptr %0, i64 24
  %192 = load ptr, ptr %191, align 8, !tbaa !39
  %193 = getelementptr inbounds i8, ptr %0, i64 32
  %194 = load ptr, ptr %193, align 8, !tbaa !34
  %195 = getelementptr inbounds i8, ptr %0, i64 40
  %196 = load ptr, ptr %195, align 8, !tbaa !36
  %min.iters.check = icmp ult i32 %14, 24
  br i1 %min.iters.check, label %scalar.ph.preheader, label %vector.memcheck

scalar.ph.preheader:                              ; preds = %middle.block, %vector.memcheck, %.lr.ph116
  %indvars.iv138.ph = phi i64 [ 0, %vector.memcheck ], [ 0, %.lr.ph116 ], [ %n.vec, %middle.block ]
  br label %scalar.ph

vector.memcheck:                                  ; preds = %.lr.ph116
  %197 = shl nuw nsw i64 %23, 3
  %scevgep = getelementptr i8, ptr %192, i64 %197
  %scevgep143 = getelementptr i8, ptr %194, i64 %197
  %scevgep144 = getelementptr i8, ptr %196, i64 %197
  %scevgep145 = getelementptr inbounds i8, ptr %0, i64 208
  %scevgep146 = getelementptr i8, ptr %1, i64 %197
  %scevgep147 = getelementptr i8, ptr %2, i64 %197
  %scevgep148 = getelementptr i8, ptr %3, i64 %197
  %bound0 = icmp ult ptr %192, %scevgep143
  %bound1 = icmp ult ptr %194, %scevgep
  %found.conflict = and i1 %bound0, %bound1
  %bound0149 = icmp ult ptr %192, %scevgep144
  %bound1150 = icmp ult ptr %196, %scevgep
  %found.conflict151 = and i1 %bound0149, %bound1150
  %198 = insertelement <4 x ptr> poison, ptr %192, i64 0
  %199 = shufflevector <4 x ptr> %198, <4 x ptr> poison, <4 x i32> zeroinitializer
  %200 = insertelement <4 x ptr> poison, ptr %scevgep145, i64 0
  %201 = insertelement <4 x ptr> %200, ptr %scevgep146, i64 1
  %202 = insertelement <4 x ptr> %201, ptr %scevgep147, i64 2
  %203 = insertelement <4 x ptr> %202, ptr %scevgep148, i64 3
  %204 = icmp ult <4 x ptr> %199, %203
  %205 = insertelement <4 x ptr> poison, ptr %22, i64 0
  %206 = insertelement <4 x ptr> %205, ptr %1, i64 1
  %207 = insertelement <4 x ptr> %206, ptr %2, i64 2
  %208 = insertelement <4 x ptr> %207, ptr %3, i64 3
  %209 = insertelement <4 x ptr> poison, ptr %scevgep, i64 0
  %210 = shufflevector <4 x ptr> %209, <4 x ptr> poison, <4 x i32> zeroinitializer
  %211 = icmp ult <4 x ptr> %208, %210
  %212 = and <4 x i1> %204, %211
  %bound0168 = icmp ult ptr %194, %scevgep144
  %bound1169 = icmp ult ptr %196, %scevgep143
  %found.conflict170 = and i1 %bound0168, %bound1169
  %213 = insertelement <4 x ptr> poison, ptr %194, i64 0
  %214 = shufflevector <4 x ptr> %213, <4 x ptr> poison, <4 x i32> zeroinitializer
  %215 = icmp ult <4 x ptr> %214, %203
  %216 = insertelement <4 x ptr> poison, ptr %scevgep143, i64 0
  %217 = shufflevector <4 x ptr> %216, <4 x ptr> poison, <4 x i32> zeroinitializer
  %218 = icmp ult <4 x ptr> %208, %217
  %219 = and <4 x i1> %215, %218
  %220 = insertelement <4 x ptr> poison, ptr %196, i64 0
  %221 = shufflevector <4 x ptr> %220, <4 x ptr> poison, <4 x i32> zeroinitializer
  %222 = icmp ult <4 x ptr> %221, %203
  %223 = insertelement <4 x ptr> poison, ptr %scevgep144, i64 0
  %224 = shufflevector <4 x ptr> %223, <4 x ptr> poison, <4 x i32> zeroinitializer
  %225 = icmp ult <4 x ptr> %208, %224
  %226 = and <4 x i1> %222, %225
  %227 = or <4 x i1> %212, %219
  %228 = or <4 x i1> %227, %226
  %229 = bitcast <4 x i1> %228 to i4
  %op.rdx213 = icmp ne i4 %229, 0
  %op.rdx214 = or i1 %op.rdx213, %found.conflict
  %op.rdx215 = or i1 %found.conflict151, %found.conflict170
  %op.rdx216 = or i1 %op.rdx214, %op.rdx215
  br i1 %op.rdx216, label %scalar.ph.preheader, label %vector.ph

vector.ph:                                        ; preds = %vector.memcheck
  %n.vec = and i64 %23, 2147483646
  br label %vector.body

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %230 = load <2 x double>, ptr %22, align 8
  %broadcast.splat = shufflevector <2 x double> %230, <2 x double> poison, <2 x i32> zeroinitializer
  %231 = getelementptr inbounds double, ptr %1, i64 %index
  %wide.load = load <2 x double>, ptr %231, align 8, !tbaa !28, !alias.scope !40
  %232 = getelementptr inbounds double, ptr %192, i64 %index
  %wide.load204 = load <2 x double>, ptr %232, align 8, !tbaa !28, !alias.scope !43, !noalias !45
  %233 = call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %broadcast.splat, <2 x double> %wide.load, <2 x double> %wide.load204)
  store <2 x double> %233, ptr %232, align 8, !tbaa !28, !alias.scope !43, !noalias !45
  %234 = load <2 x double>, ptr %22, align 8
  %broadcast.splat208 = shufflevector <2 x double> %234, <2 x double> poison, <2 x i32> zeroinitializer
  %235 = getelementptr inbounds double, ptr %2, i64 %index
  %wide.load205 = load <2 x double>, ptr %235, align 8, !tbaa !28, !alias.scope !51
  %236 = getelementptr inbounds double, ptr %194, i64 %index
  %wide.load206 = load <2 x double>, ptr %236, align 8, !tbaa !28, !alias.scope !52, !noalias !53
  %237 = call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %broadcast.splat208, <2 x double> %wide.load205, <2 x double> %wide.load206)
  store <2 x double> %237, ptr %236, align 8, !tbaa !28, !alias.scope !52, !noalias !53
  %238 = load <2 x double>, ptr %22, align 8
  %broadcast.splat212 = shufflevector <2 x double> %238, <2 x double> poison, <2 x i32> zeroinitializer
  %239 = getelementptr inbounds double, ptr %3, i64 %index
  %wide.load209 = load <2 x double>, ptr %239, align 8, !tbaa !28, !alias.scope !54
  %240 = getelementptr inbounds double, ptr %196, i64 %index
  %wide.load210 = load <2 x double>, ptr %240, align 8, !tbaa !28, !alias.scope !55, !noalias !56
  %241 = call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %broadcast.splat212, <2 x double> %wide.load209, <2 x double> %wide.load210)
  store <2 x double> %241, ptr %240, align 8, !tbaa !28, !alias.scope !55, !noalias !56
  %index.next = add nuw i64 %index, 2
  %242 = icmp eq i64 %index.next, %n.vec
  br i1 %242, label %middle.block, label %vector.body, !llvm.loop !57

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %23
  br i1 %cmp.n, label %.loopexit, label %scalar.ph.preheader

243:                                              ; preds = %.lr.ph114, %243
  %indvars.iv133 = phi i64 [ 0, %.lr.ph114 ], [ %indvars.iv.next134, %243 ]
  %244 = getelementptr inbounds i32, ptr %166, i64 %indvars.iv133
  %245 = load i32, ptr %244, align 4, !tbaa !24
  %246 = load double, ptr %22, align 8, !tbaa !5
  %247 = getelementptr inbounds double, ptr %4, i64 %indvars.iv133
  %248 = load double, ptr %247, align 8, !tbaa !28
  %249 = sext i32 %245 to i64
  %250 = getelementptr inbounds double, ptr %168, i64 %249
  %251 = load double, ptr %250, align 8, !tbaa !28
  %252 = call double @llvm.fmuladd.f64(double %246, double %248, double %251)
  store double %252, ptr %250, align 8, !tbaa !28
  %253 = load double, ptr %22, align 8, !tbaa !5
  %254 = getelementptr inbounds double, ptr %6, i64 %indvars.iv133
  %255 = load double, ptr %254, align 8, !tbaa !28
  %256 = getelementptr inbounds double, ptr %170, i64 %249
  %257 = load double, ptr %256, align 8, !tbaa !28
  %258 = call double @llvm.fmuladd.f64(double %253, double %255, double %257)
  store double %258, ptr %256, align 8, !tbaa !28
  %indvars.iv.next134 = add nuw nsw i64 %indvars.iv133, 1
  %exitcond137.not = icmp eq i64 %indvars.iv.next134, %wide.trip.count136
  br i1 %exitcond137.not, label %.preheader, label %243, !llvm.loop !60

scalar.ph:                                        ; preds = %scalar.ph.preheader, %scalar.ph
  %indvars.iv138 = phi i64 [ %indvars.iv.next139, %scalar.ph ], [ %indvars.iv138.ph, %scalar.ph.preheader ]
  %259 = load double, ptr %22, align 8, !tbaa !5
  %260 = getelementptr inbounds double, ptr %1, i64 %indvars.iv138
  %261 = load double, ptr %260, align 8, !tbaa !28
  %262 = getelementptr inbounds double, ptr %192, i64 %indvars.iv138
  %263 = load double, ptr %262, align 8, !tbaa !28
  %264 = call double @llvm.fmuladd.f64(double %259, double %261, double %263)
  store double %264, ptr %262, align 8, !tbaa !28
  %265 = load double, ptr %22, align 8, !tbaa !5
  %266 = getelementptr inbounds double, ptr %2, i64 %indvars.iv138
  %267 = load double, ptr %266, align 8, !tbaa !28
  %268 = getelementptr inbounds double, ptr %194, i64 %indvars.iv138
  %269 = load double, ptr %268, align 8, !tbaa !28
  %270 = call double @llvm.fmuladd.f64(double %265, double %267, double %269)
  store double %270, ptr %268, align 8, !tbaa !28
  %271 = load double, ptr %22, align 8, !tbaa !5
  %272 = getelementptr inbounds double, ptr %3, i64 %indvars.iv138
  %273 = load double, ptr %272, align 8, !tbaa !28
  %274 = getelementptr inbounds double, ptr %196, i64 %indvars.iv138
  %275 = load double, ptr %274, align 8, !tbaa !28
  %276 = call double @llvm.fmuladd.f64(double %271, double %273, double %275)
  store double %276, ptr %274, align 8, !tbaa !28
  %indvars.iv.next139 = add nuw nsw i64 %indvars.iv138, 1
  %exitcond142.not = icmp eq i64 %indvars.iv.next139, %23
  br i1 %exitcond142.not, label %.loopexit, label %scalar.ph, !llvm.loop !61

277:                                              ; preds = %147
  %278 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %13, i64 noundef 160, ptr noundef nonnull @.str.37, double noundef %150) #10
  %279 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %280 = call noundef i32 @_ZN7qpOASES15MessageHandling12throwWarningENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %279, i32 noundef 73, ptr noundef nonnull %13, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3342, i32 noundef 1)
  br label %.loopexit

.loopexit:                                        ; preds = %scalar.ph, %middle.block, %.preheader, %277
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %13) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %12) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #10
  ret i32 0
}

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare <2 x double> @llvm.fmuladd.v2f64(<2 x double>, <2 x double>, <2 x double>) #9

attributes #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 = { 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 #4 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #6 = { nofree 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 #7 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { 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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #10 = { nounwind }
attributes #11 = { builtin allocsize(0) }
attributes #12 = { 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, !15, i64 200}
!6 = !{!"_ZTSN7qpOASES9QProblemBE", !7, i64 8, !10, i64 16, !10, i64 24, !10, i64 32, !10, i64 40, !11, i64 48, !10, i64 168, !7, i64 176, !10, i64 184, !10, i64 192, !15, i64 200, !16, i64 208, !7, i64 212, !7, i64 216, !17, i64 220, !15, i64 224, !13, i64 232, !10, i64 240, !15, i64 248, !15, i64 256, !13, i64 264, !18, i64 272, !21, i64 496, !23, i64 768}
!7 = !{!"_ZTSN7qpOASES11BooleanTypeE", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"any pointer", !8, i64 0}
!11 = !{!"_ZTSN7qpOASES6BoundsE", !12, i64 0, !14, i64 40, !14, i64 80}
!12 = !{!"_ZTSN7qpOASES9SubjectToE", !13, i64 8, !10, i64 16, !10, i64 24, !7, i64 32, !7, i64 36}
!13 = !{!"int", !8, i64 0}
!14 = !{!"_ZTSN7qpOASES9IndexlistE", !10, i64 0, !10, i64 8, !13, i64 16, !13, i64 20, !13, i64 24, !13, i64 28, !13, i64 32}
!15 = !{!"double", !8, i64 0}
!16 = !{!"_ZTSN7qpOASES14QProblemStatusE", !8, i64 0}
!17 = !{!"_ZTSN7qpOASES11HessianTypeE", !8, i64 0}
!18 = !{!"_ZTSN7qpOASES7OptionsE", !19, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !7, i64 16, !7, i64 20, !7, i64 24, !13, i64 28, !13, i64 32, !7, i64 36, !15, i64 40, !15, i64 48, !15, i64 56, !15, i64 64, !15, i64 72, !15, i64 80, !15, i64 88, !15, i64 96, !15, i64 104, !15, i64 112, !15, i64 120, !20, i64 128, !15, i64 136, !13, i64 144, !15, i64 152, !13, i64 160, !15, i64 168, !15, i64 176, !15, i64 184, !15, i64 192, !7, i64 200, !7, i64 204, !13, i64 208, !13, i64 212, !13, i64 216}
!19 = !{!"_ZTSN7qpOASES10PrintLevelE", !8, i64 0}
!20 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !8, i64 0}
!21 = !{!"_ZTSN7qpOASES7FlipperE", !13, i64 0, !13, i64 4, !11, i64 8, !22, i64 128, !10, i64 248, !10, i64 256, !10, i64 264}
!22 = !{!"_ZTSN7qpOASES11ConstraintsE", !12, i64 0, !14, i64 40, !14, i64 80}
!23 = !{!"_ZTSN7qpOASES13TabularOutputE", !13, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !13, i64 24, !13, i64 28}
!24 = !{!13, !13, i64 0}
!25 = !{!20, !20, i64 0}
!26 = !{!10, !10, i64 0}
!27 = !{!6, !10, i64 192}
!28 = !{!15, !15, i64 0}
!29 = distinct !{!29, !30}
!30 = !{!"llvm.loop.mustprogress"}
!31 = !{!6, !15, i64 336}
!32 = !{!6, !15, i64 344}
!33 = !{!6, !10, i64 184}
!34 = !{!6, !10, i64 32}
!35 = distinct !{!35, !30}
!36 = !{!6, !10, i64 40}
!37 = distinct !{!37, !30}
!38 = distinct !{!38, !30}
!39 = !{!6, !10, i64 24}
!40 = !{!41}
!41 = distinct !{!41, !42}
!42 = distinct !{!42, !"LVerDomain"}
!43 = !{!44}
!44 = distinct !{!44, !42}
!45 = !{!46, !47, !48, !41, !49, !50}
!46 = distinct !{!46, !42}
!47 = distinct !{!47, !42}
!48 = distinct !{!48, !42}
!49 = distinct !{!49, !42}
!50 = distinct !{!50, !42}
!51 = !{!49}
!52 = !{!46}
!53 = !{!47, !48, !41, !49, !50}
!54 = !{!50}
!55 = !{!47}
!56 = !{!48, !41, !49, !50}
!57 = distinct !{!57, !30, !58, !59}
!58 = !{!"llvm.loop.isvectorized", i32 1}
!59 = !{!"llvm.loop.unroll.runtime.disable"}
!60 = distinct !{!60, !30}
!61 = distinct !{!61, !30, !58}


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