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

; 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" }

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [103 x i8], align 1

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #1

declare noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) #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: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) #4

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800)) #5 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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800)) #5 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) #6 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) #6 align 2

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES7getSqrtEd(double noundef) #6

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800), double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800), double noundef, double noundef, double noundef, double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem16removeConstraintEiNS_11BooleanTypeES1_S1_(ptr noundef nonnull align 8 dereferenceable(1064) %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 i32, align 4
  %16 = alloca i32, align 4
  %17 = alloca i32, align 4
  %18 = alloca i32, align 4
  %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 i32, align 4
  %25 = alloca i32, align 4
  %26 = alloca i32, align 4
  %27 = alloca i32, align 4
  %28 = alloca i32, align 4
  %29 = alloca ptr, align 8
  %30 = alloca double, align 8
  %31 = alloca double, align 8
  %32 = alloca double, align 8
  %33 = alloca ptr, align 8
  %34 = alloca ptr, align 8
  %35 = alloca double, align 8
  %36 = alloca ptr, align 8
  %37 = alloca ptr, align 8
  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 !11
  store i32 %4, ptr %11, align 4, !tbaa !11
  %38 = load ptr, ptr %7, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #8
  store i32 0, ptr %16, align 4, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #8
  store i32 0, ptr %17, align 4, !tbaa !11
  %39 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %38)
  %40 = icmp eq i32 %39, 0
  br i1 %40, label %50, label %41

41:                                               ; preds = %5
  %42 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %38)
  %43 = icmp eq i32 %42, 2
  br i1 %43, label %50, label %44

44:                                               ; preds = %41
  %45 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %38)
  %46 = icmp eq i32 %45, 4
  br i1 %46, label %50, label %47

47:                                               ; preds = %44
  %48 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %38)
  %49 = icmp eq i32 %48, 5
  br i1 %49, label %50, label %53

50:                                               ; preds = %47, %44, %41, %5
  %51 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %52 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %51, i32 noundef 9, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3798, i32 noundef 1)
  store i32 %52, ptr %6, align 4
  store i32 1, ptr %18, align 4
  br label %889

53:                                               ; preds = %47
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #8
  %54 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %38)
  store i32 %54, ptr %19, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #8
  %55 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %38)
  store i32 %55, ptr %20, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #8
  %56 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %38)
  store i32 %56, ptr %21, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #8
  %57 = load ptr, ptr %38, align 8, !tbaa !15
  %58 = getelementptr inbounds ptr, ptr %57, i64 7
  %59 = load ptr, ptr %58, align 8
  %60 = call noundef i32 %59(ptr noundef nonnull align 8 dereferenceable(1064) %38)
  store i32 %60, ptr %22, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #8
  %61 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 8
  %62 = load i32, ptr %61, align 8, !tbaa !17
  %63 = load i32, ptr %21, align 4, !tbaa !9
  %64 = sub nsw i32 %62, %63
  store i32 %64, ptr %23, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #8
  %65 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 5
  %66 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %65)
  %67 = load i32, ptr %8, align 4, !tbaa !9
  %68 = call noundef i32 @_ZNK7qpOASES9Indexlist8getIndexEi(ptr noundef nonnull align 8 dereferenceable(36) %66, i32 noundef %67)
  store i32 %68, ptr %24, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #8
  store i32 0, ptr %28, align 4, !tbaa !11
  %69 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 5
  %70 = load i32, ptr %8, align 4, !tbaa !9
  %71 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %69, i32 noundef %70)
  %72 = icmp eq i32 %71, 0
  br i1 %72, label %73, label %76

73:                                               ; preds = %53
  %74 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %75 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %74, i32 noundef 97, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3818, i32 noundef 1)
  store i32 %75, ptr %6, align 4
  store i32 1, ptr %18, align 4
  br label %888

76:                                               ; preds = %53
  %77 = load i32, ptr %24, align 4, !tbaa !9
  %78 = icmp slt i32 %77, 0
  br i1 %78, label %83, label %79

79:                                               ; preds = %76
  %80 = load i32, ptr %24, align 4, !tbaa !9
  %81 = load i32, ptr %21, align 4, !tbaa !9
  %82 = icmp sge i32 %80, %81
  br i1 %82, label %83, label %86

83:                                               ; preds = %79, %76
  %84 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %85 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %84, i32 noundef 97, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3821, i32 noundef 1)
  store i32 %85, ptr %6, align 4
  store i32 1, ptr %18, align 4
  br label %888

86:                                               ; preds = %79
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #8
  %87 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 6
  %88 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %87)
  %89 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %88, ptr noundef %29)
  %90 = load i32, ptr %11, align 4, !tbaa !11
  %91 = icmp eq i32 %90, 1
  br i1 %91, label %92, label %100

92:                                               ; preds = %86
  %93 = load i32, ptr %8, align 4, !tbaa !9
  %94 = call noundef i32 @_ZN7qpOASES8QProblem22ensureNonzeroCurvatureENS_11BooleanTypeEiRS1_S2_RiRNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(1064) %38, i32 noundef 0, i32 noundef %93, ptr noundef nonnull align 4 dereferenceable(4) %28, ptr noundef nonnull align 4 dereferenceable(4) %26, ptr noundef nonnull align 4 dereferenceable(4) %25, ptr noundef nonnull align 4 dereferenceable(4) %27)
  store i32 %94, ptr %16, align 4, !tbaa !13
  %95 = load i32, ptr %16, align 4, !tbaa !13
  %96 = icmp ne i32 %95, 0
  br i1 %96, label %97, label %99

97:                                               ; preds = %92
  %98 = load i32, ptr %16, align 4, !tbaa !13
  store i32 %98, ptr %6, align 4
  store i32 1, ptr %18, align 4
  br label %887

99:                                               ; preds = %92
  br label %100

100:                                              ; preds = %99, %86
  %101 = load i32, ptr %28, align 4, !tbaa !11
  %102 = icmp eq i32 %101, 0
  br i1 %102, label %103, label %122

103:                                              ; preds = %100
  %104 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 23
  %105 = getelementptr inbounds %"class.qpOASES::Options", ptr %104, i32 0, i32 3
  %106 = load i32, ptr %105, align 4, !tbaa !32
  %107 = icmp eq i32 %106, 1
  br i1 %107, label %108, label %122

108:                                              ; preds = %103
  %109 = load i32, ptr %10, align 4, !tbaa !11
  %110 = icmp eq i32 %109, 1
  br i1 %110, label %111, label %122

111:                                              ; preds = %108
  %112 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 24
  %113 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 6
  %114 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 7
  %115 = load ptr, ptr %114, align 8, !tbaa !33
  %116 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 5
  %117 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 7
  %118 = load ptr, ptr %117, align 8, !tbaa !34
  %119 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 6
  %120 = load ptr, ptr %119, align 8, !tbaa !35
  %121 = call noundef i32 @_ZN7qpOASES7Flipper3setEPKNS_6BoundsEPKdPKNS_11ConstraintsES5_S5_(ptr noundef nonnull align 8 dereferenceable(272) %112, ptr noundef %113, ptr noundef %115, ptr noundef %116, ptr noundef %118, ptr noundef %120)
  br label %122

122:                                              ; preds = %111, %108, %103, %100
  %123 = load i32, ptr %24, align 4, !tbaa !9
  %124 = load i32, ptr %21, align 4, !tbaa !9
  %125 = sub nsw i32 %124, 1
  %126 = icmp slt i32 %123, %125
  br i1 %126, label %127, label %414

127:                                              ; preds = %122
  %128 = load i32, ptr %24, align 4, !tbaa !9
  %129 = add nsw i32 %128, 1
  store i32 %129, ptr %12, align 4, !tbaa !9
  br label %130

130:                                              ; preds = %174, %127
  %131 = load i32, ptr %12, align 4, !tbaa !9
  %132 = load i32, ptr %21, align 4, !tbaa !9
  %133 = icmp slt i32 %131, %132
  br i1 %133, label %134, label %177

134:                                              ; preds = %130
  %135 = load i32, ptr %21, align 4, !tbaa !9
  %136 = load i32, ptr %12, align 4, !tbaa !9
  %137 = sub nsw i32 %135, %136
  %138 = sub nsw i32 %137, 1
  store i32 %138, ptr %13, align 4, !tbaa !9
  br label %139

139:                                              ; preds = %170, %134
  %140 = load i32, ptr %13, align 4, !tbaa !9
  %141 = load i32, ptr %21, align 4, !tbaa !9
  %142 = icmp slt i32 %140, %141
  br i1 %142, label %143, label %173

143:                                              ; preds = %139
  %144 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 6
  %145 = load ptr, ptr %144, align 8, !tbaa !35
  %146 = load i32, ptr %12, align 4, !tbaa !9
  %147 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 8
  %148 = load i32, ptr %147, align 8, !tbaa !17
  %149 = mul nsw i32 %146, %148
  %150 = load i32, ptr %23, align 4, !tbaa !9
  %151 = load i32, ptr %13, align 4, !tbaa !9
  %152 = add nsw i32 %150, %151
  %153 = add nsw i32 %149, %152
  %154 = sext i32 %153 to i64
  %155 = getelementptr inbounds double, ptr %145, i64 %154
  %156 = load double, ptr %155, align 8, !tbaa !36
  %157 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 6
  %158 = load ptr, ptr %157, align 8, !tbaa !35
  %159 = load i32, ptr %12, align 4, !tbaa !9
  %160 = sub nsw i32 %159, 1
  %161 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 8
  %162 = load i32, ptr %161, align 8, !tbaa !17
  %163 = mul nsw i32 %160, %162
  %164 = load i32, ptr %23, align 4, !tbaa !9
  %165 = load i32, ptr %13, align 4, !tbaa !9
  %166 = add nsw i32 %164, %165
  %167 = add nsw i32 %163, %166
  %168 = sext i32 %167 to i64
  %169 = getelementptr inbounds double, ptr %158, i64 %168
  store double %156, ptr %169, align 8, !tbaa !36
  br label %170

170:                                              ; preds = %143
  %171 = load i32, ptr %13, align 4, !tbaa !9
  %172 = add nsw i32 %171, 1
  store i32 %172, ptr %13, align 4, !tbaa !9
  br label %139, !llvm.loop !37

173:                                              ; preds = %139
  br label %174

174:                                              ; preds = %173
  %175 = load i32, ptr %12, align 4, !tbaa !9
  %176 = add nsw i32 %175, 1
  store i32 %176, ptr %12, align 4, !tbaa !9
  br label %130, !llvm.loop !39

177:                                              ; preds = %130
  store i32 0, ptr %13, align 4, !tbaa !9
  br label %178

178:                                              ; preds = %196, %177
  %179 = load i32, ptr %13, align 4, !tbaa !9
  %180 = load i32, ptr %21, align 4, !tbaa !9
  %181 = icmp slt i32 %179, %180
  br i1 %181, label %182, label %199

182:                                              ; preds = %178
  %183 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 6
  %184 = load ptr, ptr %183, align 8, !tbaa !35
  %185 = load i32, ptr %21, align 4, !tbaa !9
  %186 = sub nsw i32 %185, 1
  %187 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 8
  %188 = load i32, ptr %187, align 8, !tbaa !17
  %189 = mul nsw i32 %186, %188
  %190 = load i32, ptr %23, align 4, !tbaa !9
  %191 = load i32, ptr %13, align 4, !tbaa !9
  %192 = add nsw i32 %190, %191
  %193 = add nsw i32 %189, %192
  %194 = sext i32 %193 to i64
  %195 = getelementptr inbounds double, ptr %184, i64 %194
  store double 0.000000e+00, ptr %195, align 8, !tbaa !36
  br label %196

196:                                              ; preds = %182
  %197 = load i32, ptr %13, align 4, !tbaa !9
  %198 = add nsw i32 %197, 1
  store i32 %198, ptr %13, align 4, !tbaa !9
  br label %178, !llvm.loop !40

199:                                              ; preds = %178
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #8
  %200 = load i32, ptr %21, align 4, !tbaa !9
  %201 = sub nsw i32 %200, 2
  %202 = load i32, ptr %24, align 4, !tbaa !9
  %203 = sub nsw i32 %201, %202
  store i32 %203, ptr %13, align 4, !tbaa !9
  br label %204

204:                                              ; preds = %410, %199
  %205 = load i32, ptr %13, align 4, !tbaa !9
  %206 = icmp sge i32 %205, 0
  br i1 %206, label %207, label %413

207:                                              ; preds = %204
  %208 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 6
  %209 = load ptr, ptr %208, align 8, !tbaa !35
  %210 = load i32, ptr %21, align 4, !tbaa !9
  %211 = sub nsw i32 %210, 2
  %212 = load i32, ptr %13, align 4, !tbaa !9
  %213 = sub nsw i32 %211, %212
  %214 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 8
  %215 = load i32, ptr %214, align 8, !tbaa !17
  %216 = mul nsw i32 %213, %215
  %217 = load i32, ptr %23, align 4, !tbaa !9
  %218 = add nsw i32 %217, 1
  %219 = load i32, ptr %13, align 4, !tbaa !9
  %220 = add nsw i32 %218, %219
  %221 = add nsw i32 %216, %220
  %222 = sext i32 %221 to i64
  %223 = getelementptr inbounds double, ptr %209, i64 %222
  %224 = load double, ptr %223, align 8, !tbaa !36
  %225 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 6
  %226 = load ptr, ptr %225, align 8, !tbaa !35
  %227 = load i32, ptr %21, align 4, !tbaa !9
  %228 = sub nsw i32 %227, 2
  %229 = load i32, ptr %13, align 4, !tbaa !9
  %230 = sub nsw i32 %228, %229
  %231 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 8
  %232 = load i32, ptr %231, align 8, !tbaa !17
  %233 = mul nsw i32 %230, %232
  %234 = load i32, ptr %23, align 4, !tbaa !9
  %235 = load i32, ptr %13, align 4, !tbaa !9
  %236 = add nsw i32 %234, %235
  %237 = add nsw i32 %233, %236
  %238 = sext i32 %237 to i64
  %239 = getelementptr inbounds double, ptr %226, i64 %238
  %240 = load double, ptr %239, align 8, !tbaa !36
  %241 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 6
  %242 = load ptr, ptr %241, align 8, !tbaa !35
  %243 = load i32, ptr %21, align 4, !tbaa !9
  %244 = sub nsw i32 %243, 2
  %245 = load i32, ptr %13, align 4, !tbaa !9
  %246 = sub nsw i32 %244, %245
  %247 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 8
  %248 = load i32, ptr %247, align 8, !tbaa !17
  %249 = mul nsw i32 %246, %248
  %250 = load i32, ptr %23, align 4, !tbaa !9
  %251 = add nsw i32 %250, 1
  %252 = load i32, ptr %13, align 4, !tbaa !9
  %253 = add nsw i32 %251, %252
  %254 = add nsw i32 %249, %253
  %255 = sext i32 %254 to i64
  %256 = getelementptr inbounds double, ptr %242, i64 %255
  %257 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 6
  %258 = load ptr, ptr %257, align 8, !tbaa !35
  %259 = load i32, ptr %21, align 4, !tbaa !9
  %260 = sub nsw i32 %259, 2
  %261 = load i32, ptr %13, align 4, !tbaa !9
  %262 = sub nsw i32 %260, %261
  %263 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 8
  %264 = load i32, ptr %263, align 8, !tbaa !17
  %265 = mul nsw i32 %262, %264
  %266 = load i32, ptr %23, align 4, !tbaa !9
  %267 = load i32, ptr %13, align 4, !tbaa !9
  %268 = add nsw i32 %266, %267
  %269 = add nsw i32 %265, %268
  %270 = sext i32 %269 to i64
  %271 = getelementptr inbounds double, ptr %258, i64 %270
  call void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800) %38, double noundef %224, double noundef %240, ptr noundef nonnull align 8 dereferenceable(8) %256, ptr noundef nonnull align 8 dereferenceable(8) %271, ptr noundef nonnull align 8 dereferenceable(8) %30, ptr noundef nonnull align 8 dereferenceable(8) %31)
  %272 = load double, ptr %31, align 8, !tbaa !36
  %273 = load double, ptr %30, align 8, !tbaa !36
  %274 = fadd double 1.000000e+00, %273
  %275 = fdiv double %272, %274
  store double %275, ptr %32, align 8, !tbaa !36
  %276 = load i32, ptr %21, align 4, !tbaa !9
  %277 = load i32, ptr %13, align 4, !tbaa !9
  %278 = sub nsw i32 %276, %277
  %279 = sub nsw i32 %278, 1
  store i32 %279, ptr %12, align 4, !tbaa !9
  br label %280

280:                                              ; preds = %341, %207
  %281 = load i32, ptr %12, align 4, !tbaa !9
  %282 = load i32, ptr %21, align 4, !tbaa !9
  %283 = sub nsw i32 %282, 1
  %284 = icmp slt i32 %281, %283
  br i1 %284, label %285, label %344

285:                                              ; preds = %280
  %286 = load double, ptr %30, align 8, !tbaa !36
  %287 = load double, ptr %31, align 8, !tbaa !36
  %288 = load double, ptr %32, align 8, !tbaa !36
  %289 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 6
  %290 = load ptr, ptr %289, align 8, !tbaa !35
  %291 = load i32, ptr %12, align 4, !tbaa !9
  %292 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 8
  %293 = load i32, ptr %292, align 8, !tbaa !17
  %294 = mul nsw i32 %291, %293
  %295 = load i32, ptr %23, align 4, !tbaa !9
  %296 = add nsw i32 %295, 1
  %297 = load i32, ptr %13, align 4, !tbaa !9
  %298 = add nsw i32 %296, %297
  %299 = add nsw i32 %294, %298
  %300 = sext i32 %299 to i64
  %301 = getelementptr inbounds double, ptr %290, i64 %300
  %302 = load double, ptr %301, align 8, !tbaa !36
  %303 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 6
  %304 = load ptr, ptr %303, align 8, !tbaa !35
  %305 = load i32, ptr %12, align 4, !tbaa !9
  %306 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 8
  %307 = load i32, ptr %306, align 8, !tbaa !17
  %308 = mul nsw i32 %305, %307
  %309 = load i32, ptr %23, align 4, !tbaa !9
  %310 = load i32, ptr %13, align 4, !tbaa !9
  %311 = add nsw i32 %309, %310
  %312 = add nsw i32 %308, %311
  %313 = sext i32 %312 to i64
  %314 = getelementptr inbounds double, ptr %304, i64 %313
  %315 = load double, ptr %314, align 8, !tbaa !36
  %316 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 6
  %317 = load ptr, ptr %316, align 8, !tbaa !35
  %318 = load i32, ptr %12, align 4, !tbaa !9
  %319 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 8
  %320 = load i32, ptr %319, align 8, !tbaa !17
  %321 = mul nsw i32 %318, %320
  %322 = load i32, ptr %23, align 4, !tbaa !9
  %323 = add nsw i32 %322, 1
  %324 = load i32, ptr %13, align 4, !tbaa !9
  %325 = add nsw i32 %323, %324
  %326 = add nsw i32 %321, %325
  %327 = sext i32 %326 to i64
  %328 = getelementptr inbounds double, ptr %317, i64 %327
  %329 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 6
  %330 = load ptr, ptr %329, align 8, !tbaa !35
  %331 = load i32, ptr %12, align 4, !tbaa !9
  %332 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 8
  %333 = load i32, ptr %332, align 8, !tbaa !17
  %334 = mul nsw i32 %331, %333
  %335 = load i32, ptr %23, align 4, !tbaa !9
  %336 = load i32, ptr %13, align 4, !tbaa !9
  %337 = add nsw i32 %335, %336
  %338 = add nsw i32 %334, %337
  %339 = sext i32 %338 to i64
  %340 = getelementptr inbounds double, ptr %330, i64 %339
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %38, double noundef %286, double noundef %287, double noundef %288, double noundef %302, double noundef %315, ptr noundef nonnull align 8 dereferenceable(8) %328, ptr noundef nonnull align 8 dereferenceable(8) %340)
  br label %341

341:                                              ; preds = %285
  %342 = load i32, ptr %12, align 4, !tbaa !9
  %343 = add nsw i32 %342, 1
  store i32 %343, ptr %12, align 4, !tbaa !9
  br label %280, !llvm.loop !41

344:                                              ; preds = %280
  store i32 0, ptr %12, align 4, !tbaa !9
  br label %345

345:                                              ; preds = %406, %344
  %346 = load i32, ptr %12, align 4, !tbaa !9
  %347 = load i32, ptr %20, align 4, !tbaa !9
  %348 = icmp slt i32 %346, %347
  br i1 %348, label %349, label %409

349:                                              ; preds = %345
  %350 = load ptr, ptr %29, align 8, !tbaa !5
  %351 = load i32, ptr %12, align 4, !tbaa !9
  %352 = sext i32 %351 to i64
  %353 = getelementptr inbounds i32, ptr %350, i64 %352
  %354 = load i32, ptr %353, align 4, !tbaa !9
  store i32 %354, ptr %14, align 4, !tbaa !9
  %355 = load double, ptr %30, align 8, !tbaa !36
  %356 = load double, ptr %31, align 8, !tbaa !36
  %357 = load double, ptr %32, align 8, !tbaa !36
  %358 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 7
  %359 = load ptr, ptr %358, align 8, !tbaa !34
  %360 = load i32, ptr %14, align 4, !tbaa !9
  %361 = load i32, ptr %19, align 4, !tbaa !9
  %362 = load i32, ptr %22, align 4, !tbaa !9
  %363 = add nsw i32 %362, 1
  %364 = load i32, ptr %13, align 4, !tbaa !9
  %365 = add nsw i32 %363, %364
  %366 = mul nsw i32 %361, %365
  %367 = add nsw i32 %360, %366
  %368 = sext i32 %367 to i64
  %369 = getelementptr inbounds double, ptr %359, i64 %368
  %370 = load double, ptr %369, align 8, !tbaa !36
  %371 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 7
  %372 = load ptr, ptr %371, align 8, !tbaa !34
  %373 = load i32, ptr %14, align 4, !tbaa !9
  %374 = load i32, ptr %19, align 4, !tbaa !9
  %375 = load i32, ptr %22, align 4, !tbaa !9
  %376 = load i32, ptr %13, align 4, !tbaa !9
  %377 = add nsw i32 %375, %376
  %378 = mul nsw i32 %374, %377
  %379 = add nsw i32 %373, %378
  %380 = sext i32 %379 to i64
  %381 = getelementptr inbounds double, ptr %372, i64 %380
  %382 = load double, ptr %381, align 8, !tbaa !36
  %383 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 7
  %384 = load ptr, ptr %383, align 8, !tbaa !34
  %385 = load i32, ptr %14, align 4, !tbaa !9
  %386 = load i32, ptr %19, align 4, !tbaa !9
  %387 = load i32, ptr %22, align 4, !tbaa !9
  %388 = add nsw i32 %387, 1
  %389 = load i32, ptr %13, align 4, !tbaa !9
  %390 = add nsw i32 %388, %389
  %391 = mul nsw i32 %386, %390
  %392 = add nsw i32 %385, %391
  %393 = sext i32 %392 to i64
  %394 = getelementptr inbounds double, ptr %384, i64 %393
  %395 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 7
  %396 = load ptr, ptr %395, align 8, !tbaa !34
  %397 = load i32, ptr %14, align 4, !tbaa !9
  %398 = load i32, ptr %19, align 4, !tbaa !9
  %399 = load i32, ptr %22, align 4, !tbaa !9
  %400 = load i32, ptr %13, align 4, !tbaa !9
  %401 = add nsw i32 %399, %400
  %402 = mul nsw i32 %398, %401
  %403 = add nsw i32 %397, %402
  %404 = sext i32 %403 to i64
  %405 = getelementptr inbounds double, ptr %396, i64 %404
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %38, double noundef %355, double noundef %356, double noundef %357, double noundef %370, double noundef %382, ptr noundef nonnull align 8 dereferenceable(8) %394, ptr noundef nonnull align 8 dereferenceable(8) %405)
  br label %406

406:                                              ; preds = %349
  %407 = load i32, ptr %12, align 4, !tbaa !9
  %408 = add nsw i32 %407, 1
  store i32 %408, ptr %12, align 4, !tbaa !9
  br label %345, !llvm.loop !42

409:                                              ; preds = %345
  br label %410

410:                                              ; preds = %409
  %411 = load i32, ptr %13, align 4, !tbaa !9
  %412 = add nsw i32 %411, -1
  store i32 %412, ptr %13, align 4, !tbaa !9
  br label %204, !llvm.loop !43

413:                                              ; preds = %204
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #8
  br label %437

414:                                              ; preds = %122
  store i32 0, ptr %13, align 4, !tbaa !9
  br label %415

415:                                              ; preds = %433, %414
  %416 = load i32, ptr %13, align 4, !tbaa !9
  %417 = load i32, ptr %21, align 4, !tbaa !9
  %418 = icmp slt i32 %416, %417
  br i1 %418, label %419, label %436

419:                                              ; preds = %415
  %420 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 6
  %421 = load ptr, ptr %420, align 8, !tbaa !35
  %422 = load i32, ptr %21, align 4, !tbaa !9
  %423 = sub nsw i32 %422, 1
  %424 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 8
  %425 = load i32, ptr %424, align 8, !tbaa !17
  %426 = mul nsw i32 %423, %425
  %427 = load i32, ptr %23, align 4, !tbaa !9
  %428 = load i32, ptr %13, align 4, !tbaa !9
  %429 = add nsw i32 %427, %428
  %430 = add nsw i32 %426, %429
  %431 = sext i32 %430 to i64
  %432 = getelementptr inbounds double, ptr %421, i64 %431
  store double 0.000000e+00, ptr %432, align 8, !tbaa !36
  br label %433

433:                                              ; preds = %419
  %434 = load i32, ptr %13, align 4, !tbaa !9
  %435 = add nsw i32 %434, 1
  store i32 %435, ptr %13, align 4, !tbaa !9
  br label %415, !llvm.loop !44

436:                                              ; preds = %415
  br label %437

437:                                              ; preds = %436, %413
  %438 = load i32, ptr %9, align 4, !tbaa !11
  %439 = icmp eq i32 %438, 1
  br i1 %439, label %440, label %837

440:                                              ; preds = %437
  %441 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 15
  %442 = load i32, ptr %441, align 4, !tbaa !45
  %443 = icmp ne i32 %442, 0
  br i1 %443, label %444, label %837

444:                                              ; preds = %440
  %445 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 15
  %446 = load i32, ptr %445, align 4, !tbaa !45
  %447 = icmp ne i32 %446, 1
  br i1 %447, label %448, label %837

448:                                              ; preds = %444
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #8
  %449 = load i32, ptr %20, align 4, !tbaa !9
  %450 = sext i32 %449 to i64
  %451 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %450, i64 8)
  %452 = extractvalue { i64, i1 } %451, 1
  %453 = extractvalue { i64, i1 } %451, 0
  %454 = select i1 %452, i64 -1, i64 %453
  %455 = call noalias noundef nonnull ptr @_Znam(i64 noundef %454) #9
  store ptr %455, ptr %33, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #8
  %456 = load i32, ptr %20, align 4, !tbaa !9
  %457 = sext i32 %456 to i64
  %458 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %457, i64 8)
  %459 = extractvalue { i64, i1 } %458, 1
  %460 = extractvalue { i64, i1 } %458, 0
  %461 = select i1 %459, i64 -1, i64 %460
  %462 = call noalias noundef nonnull ptr @_Znam(i64 noundef %461) #9
  store ptr %462, ptr %34, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #8
  store double 0.000000e+00, ptr %35, align 8, !tbaa !36
  store i32 0, ptr %13, align 4, !tbaa !9
  br label %463

463:                                              ; preds = %486, %448
  %464 = load i32, ptr %13, align 4, !tbaa !9
  %465 = load i32, ptr %20, align 4, !tbaa !9
  %466 = icmp slt i32 %464, %465
  br i1 %466, label %467, label %489

467:                                              ; preds = %463
  %468 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 7
  %469 = load ptr, ptr %468, align 8, !tbaa !34
  %470 = load ptr, ptr %29, align 8, !tbaa !5
  %471 = load i32, ptr %13, align 4, !tbaa !9
  %472 = sext i32 %471 to i64
  %473 = getelementptr inbounds i32, ptr %470, i64 %472
  %474 = load i32, ptr %473, align 4, !tbaa !9
  %475 = load i32, ptr %19, align 4, !tbaa !9
  %476 = load i32, ptr %22, align 4, !tbaa !9
  %477 = mul nsw i32 %475, %476
  %478 = add nsw i32 %474, %477
  %479 = sext i32 %478 to i64
  %480 = getelementptr inbounds double, ptr %469, i64 %479
  %481 = load double, ptr %480, align 8, !tbaa !36
  %482 = load ptr, ptr %34, align 8, !tbaa !5
  %483 = load i32, ptr %13, align 4, !tbaa !9
  %484 = sext i32 %483 to i64
  %485 = getelementptr inbounds double, ptr %482, i64 %484
  store double %481, ptr %485, align 8, !tbaa !36
  br label %486

486:                                              ; preds = %467
  %487 = load i32, ptr %13, align 4, !tbaa !9
  %488 = add nsw i32 %487, 1
  store i32 %488, ptr %13, align 4, !tbaa !9
  br label %463, !llvm.loop !46

489:                                              ; preds = %463
  %490 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 2
  %491 = load ptr, ptr %490, align 8, !tbaa !47
  %492 = load ptr, ptr %491, align 8, !tbaa !15
  %493 = getelementptr i8, ptr %492, i64 -24
  %494 = load i64, ptr %493, align 8
  %495 = getelementptr inbounds i8, ptr %491, i64 %494
  %496 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 6
  %497 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %496)
  %498 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 6
  %499 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %498)
  %500 = load ptr, ptr %34, align 8, !tbaa !5
  %501 = load i32, ptr %20, align 4, !tbaa !9
  %502 = load ptr, ptr %33, align 8, !tbaa !5
  %503 = load i32, ptr %20, align 4, !tbaa !9
  %504 = load ptr, ptr %495, align 8, !tbaa !15
  %505 = getelementptr inbounds ptr, ptr %504, i64 17
  %506 = load ptr, ptr %505, align 8
  %507 = call noundef i32 %506(ptr noundef nonnull align 8 dereferenceable(12) %495, ptr noundef %497, ptr noundef %499, i32 noundef 1, double noundef 1.000000e+00, ptr noundef %500, i32 noundef %501, double noundef 0.000000e+00, ptr noundef %502, i32 noundef %503, i32 noundef 1)
  %508 = load ptr, ptr %34, align 8, !tbaa !5
  %509 = icmp eq ptr %508, null
  br i1 %509, label %511, label %510

510:                                              ; preds = %489
  call void @_ZdaPv(ptr noundef %508) #10
  br label %511

511:                                              ; preds = %510, %489
  %512 = load i32, ptr %22, align 4, !tbaa !9
  %513 = icmp sgt i32 %512, 0
  br i1 %513, label %514, label %656

514:                                              ; preds = %511
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #8
  %515 = load i32, ptr %22, align 4, !tbaa !9
  %516 = sext i32 %515 to i64
  %517 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %516, i64 8)
  %518 = extractvalue { i64, i1 } %517, 1
  %519 = extractvalue { i64, i1 } %517, 0
  %520 = select i1 %518, i64 -1, i64 %519
  %521 = call noalias noundef nonnull ptr @_Znam(i64 noundef %520) #9
  store ptr %521, ptr %36, align 8, !tbaa !5
  store i32 0, ptr %12, align 4, !tbaa !9
  br label %522

522:                                              ; preds = %531, %514
  %523 = load i32, ptr %12, align 4, !tbaa !9
  %524 = load i32, ptr %22, align 4, !tbaa !9
  %525 = icmp slt i32 %523, %524
  br i1 %525, label %526, label %534

526:                                              ; preds = %522
  %527 = load ptr, ptr %36, align 8, !tbaa !5
  %528 = load i32, ptr %12, align 4, !tbaa !9
  %529 = sext i32 %528 to i64
  %530 = getelementptr inbounds double, ptr %527, i64 %529
  store double 0.000000e+00, ptr %530, align 8, !tbaa !36
  br label %531

531:                                              ; preds = %526
  %532 = load i32, ptr %12, align 4, !tbaa !9
  %533 = add nsw i32 %532, 1
  store i32 %533, ptr %12, align 4, !tbaa !9
  br label %522, !llvm.loop !48

534:                                              ; preds = %522
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #8
  %535 = load i32, ptr %22, align 4, !tbaa !9
  %536 = sext i32 %535 to i64
  %537 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %536, i64 8)
  %538 = extractvalue { i64, i1 } %537, 1
  %539 = extractvalue { i64, i1 } %537, 0
  %540 = select i1 %538, i64 -1, i64 %539
  %541 = call noalias noundef nonnull ptr @_Znam(i64 noundef %540) #9
  store ptr %541, ptr %37, align 8, !tbaa !5
  store i32 0, ptr %13, align 4, !tbaa !9
  br label %542

542:                                              ; preds = %582, %534
  %543 = load i32, ptr %13, align 4, !tbaa !9
  %544 = load i32, ptr %20, align 4, !tbaa !9
  %545 = icmp slt i32 %543, %544
  br i1 %545, label %546, label %585

546:                                              ; preds = %542
  %547 = load ptr, ptr %29, align 8, !tbaa !5
  %548 = load i32, ptr %13, align 4, !tbaa !9
  %549 = sext i32 %548 to i64
  %550 = getelementptr inbounds i32, ptr %547, i64 %549
  %551 = load i32, ptr %550, align 4, !tbaa !9
  store i32 %551, ptr %15, align 4, !tbaa !9
  store i32 0, ptr %12, align 4, !tbaa !9
  br label %552

552:                                              ; preds = %578, %546
  %553 = load i32, ptr %12, align 4, !tbaa !9
  %554 = load i32, ptr %22, align 4, !tbaa !9
  %555 = icmp slt i32 %553, %554
  br i1 %555, label %556, label %581

556:                                              ; preds = %552
  %557 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 7
  %558 = load ptr, ptr %557, align 8, !tbaa !34
  %559 = load i32, ptr %15, align 4, !tbaa !9
  %560 = load i32, ptr %19, align 4, !tbaa !9
  %561 = load i32, ptr %12, align 4, !tbaa !9
  %562 = mul nsw i32 %560, %561
  %563 = add nsw i32 %559, %562
  %564 = sext i32 %563 to i64
  %565 = getelementptr inbounds double, ptr %558, i64 %564
  %566 = load double, ptr %565, align 8, !tbaa !36
  %567 = load ptr, ptr %33, align 8, !tbaa !5
  %568 = load i32, ptr %13, align 4, !tbaa !9
  %569 = sext i32 %568 to i64
  %570 = getelementptr inbounds double, ptr %567, i64 %569
  %571 = load double, ptr %570, align 8, !tbaa !36
  %572 = load ptr, ptr %36, align 8, !tbaa !5
  %573 = load i32, ptr %12, align 4, !tbaa !9
  %574 = sext i32 %573 to i64
  %575 = getelementptr inbounds double, ptr %572, i64 %574
  %576 = load double, ptr %575, align 8, !tbaa !36
  %577 = call double @llvm.fmuladd.f64(double %566, double %571, double %576)
  store double %577, ptr %575, align 8, !tbaa !36
  br label %578

578:                                              ; preds = %556
  %579 = load i32, ptr %12, align 4, !tbaa !9
  %580 = add nsw i32 %579, 1
  store i32 %580, ptr %12, align 4, !tbaa !9
  br label %552, !llvm.loop !49

581:                                              ; preds = %552
  br label %582

582:                                              ; preds = %581
  %583 = load i32, ptr %13, align 4, !tbaa !9
  %584 = add nsw i32 %583, 1
  store i32 %584, ptr %13, align 4, !tbaa !9
  br label %542, !llvm.loop !50

585:                                              ; preds = %542
  %586 = load ptr, ptr %36, align 8, !tbaa !5
  %587 = load ptr, ptr %37, align 8, !tbaa !5
  %588 = load ptr, ptr %38, align 8, !tbaa !15
  %589 = getelementptr inbounds ptr, ptr %588, i64 14
  %590 = load ptr, ptr %589, align 8
  %591 = call noundef i32 %590(ptr noundef nonnull align 8 dereferenceable(800) %38, ptr noundef %586, i32 noundef 1, ptr noundef %587)
  %592 = icmp ne i32 %591, 0
  br i1 %592, label %593, label %608

593:                                              ; preds = %585
  %594 = load ptr, ptr %33, align 8, !tbaa !5
  %595 = icmp eq ptr %594, null
  br i1 %595, label %597, label %596

596:                                              ; preds = %593
  call void @_ZdaPv(ptr noundef %594) #10
  br label %597

597:                                              ; preds = %596, %593
  %598 = load ptr, ptr %37, align 8, !tbaa !5
  %599 = icmp eq ptr %598, null
  br i1 %599, label %601, label %600

600:                                              ; preds = %597
  call void @_ZdaPv(ptr noundef %598) #10
  br label %601

601:                                              ; preds = %600, %597
  %602 = load ptr, ptr %36, align 8, !tbaa !5
  %603 = icmp eq ptr %602, null
  br i1 %603, label %605, label %604

604:                                              ; preds = %601
  call void @_ZdaPv(ptr noundef %602) #10
  br label %605

605:                                              ; preds = %604, %601
  %606 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %607 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %606, i32 noundef 80, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3918, i32 noundef 1)
  store i32 %607, ptr %6, align 4
  store i32 1, ptr %18, align 4
  br label %653

608:                                              ; preds = %585
  store i32 0, ptr %12, align 4, !tbaa !9
  br label %609

609:                                              ; preds = %641, %608
  %610 = load i32, ptr %12, align 4, !tbaa !9
  %611 = load i32, ptr %22, align 4, !tbaa !9
  %612 = icmp slt i32 %610, %611
  br i1 %612, label %613, label %644

613:                                              ; preds = %609
  %614 = load ptr, ptr %37, align 8, !tbaa !5
  %615 = load i32, ptr %12, align 4, !tbaa !9
  %616 = sext i32 %615 to i64
  %617 = getelementptr inbounds double, ptr %614, i64 %616
  %618 = load double, ptr %617, align 8, !tbaa !36
  %619 = load ptr, ptr %37, align 8, !tbaa !5
  %620 = load i32, ptr %12, align 4, !tbaa !9
  %621 = sext i32 %620 to i64
  %622 = getelementptr inbounds double, ptr %619, i64 %621
  %623 = load double, ptr %622, align 8, !tbaa !36
  %624 = load double, ptr %35, align 8, !tbaa !36
  %625 = fneg double %618
  %626 = call double @llvm.fmuladd.f64(double %625, double %623, double %624)
  store double %626, ptr %35, align 8, !tbaa !36
  %627 = load ptr, ptr %37, align 8, !tbaa !5
  %628 = load i32, ptr %12, align 4, !tbaa !9
  %629 = sext i32 %628 to i64
  %630 = getelementptr inbounds double, ptr %627, i64 %629
  %631 = load double, ptr %630, align 8, !tbaa !36
  %632 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 7
  %633 = load ptr, ptr %632, align 8, !tbaa !33
  %634 = load i32, ptr %12, align 4, !tbaa !9
  %635 = load i32, ptr %19, align 4, !tbaa !9
  %636 = load i32, ptr %22, align 4, !tbaa !9
  %637 = mul nsw i32 %635, %636
  %638 = add nsw i32 %634, %637
  %639 = sext i32 %638 to i64
  %640 = getelementptr inbounds double, ptr %633, i64 %639
  store double %631, ptr %640, align 8, !tbaa !36
  br label %641

641:                                              ; preds = %613
  %642 = load i32, ptr %12, align 4, !tbaa !9
  %643 = add nsw i32 %642, 1
  store i32 %643, ptr %12, align 4, !tbaa !9
  br label %609, !llvm.loop !51

644:                                              ; preds = %609
  %645 = load ptr, ptr %37, align 8, !tbaa !5
  %646 = icmp eq ptr %645, null
  br i1 %646, label %648, label %647

647:                                              ; preds = %644
  call void @_ZdaPv(ptr noundef %645) #10
  br label %648

648:                                              ; preds = %647, %644
  %649 = load ptr, ptr %36, align 8, !tbaa !5
  %650 = icmp eq ptr %649, null
  br i1 %650, label %652, label %651

651:                                              ; preds = %648
  call void @_ZdaPv(ptr noundef %649) #10
  br label %652

652:                                              ; preds = %651, %648
  store i32 0, ptr %18, align 4
  br label %653

653:                                              ; preds = %652, %605
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #8
  %654 = load i32, ptr %18, align 4
  switch i32 %654, label %834 [
    i32 0, label %655
  ]

655:                                              ; preds = %653
  br label %656

656:                                              ; preds = %655, %511
  store i32 0, ptr %13, align 4, !tbaa !9
  br label %657

657:                                              ; preds = %683, %656
  %658 = load i32, ptr %13, align 4, !tbaa !9
  %659 = load i32, ptr %20, align 4, !tbaa !9
  %660 = icmp slt i32 %658, %659
  br i1 %660, label %661, label %686

661:                                              ; preds = %657
  %662 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 7
  %663 = load ptr, ptr %662, align 8, !tbaa !34
  %664 = load ptr, ptr %29, align 8, !tbaa !5
  %665 = load i32, ptr %13, align 4, !tbaa !9
  %666 = sext i32 %665 to i64
  %667 = getelementptr inbounds i32, ptr %664, i64 %666
  %668 = load i32, ptr %667, align 4, !tbaa !9
  %669 = load i32, ptr %19, align 4, !tbaa !9
  %670 = load i32, ptr %22, align 4, !tbaa !9
  %671 = mul nsw i32 %669, %670
  %672 = add nsw i32 %668, %671
  %673 = sext i32 %672 to i64
  %674 = getelementptr inbounds double, ptr %663, i64 %673
  %675 = load double, ptr %674, align 8, !tbaa !36
  %676 = load ptr, ptr %33, align 8, !tbaa !5
  %677 = load i32, ptr %13, align 4, !tbaa !9
  %678 = sext i32 %677 to i64
  %679 = getelementptr inbounds double, ptr %676, i64 %678
  %680 = load double, ptr %679, align 8, !tbaa !36
  %681 = load double, ptr %35, align 8, !tbaa !36
  %682 = call double @llvm.fmuladd.f64(double %675, double %680, double %681)
  store double %682, ptr %35, align 8, !tbaa !36
  br label %683

683:                                              ; preds = %661
  %684 = load i32, ptr %13, align 4, !tbaa !9
  %685 = add nsw i32 %684, 1
  store i32 %685, ptr %13, align 4, !tbaa !9
  br label %657, !llvm.loop !52

686:                                              ; preds = %657
  %687 = load ptr, ptr %33, align 8, !tbaa !5
  %688 = icmp eq ptr %687, null
  br i1 %688, label %690, label %689

689:                                              ; preds = %686
  call void @_ZdaPv(ptr noundef %687) #10
  br label %690

690:                                              ; preds = %689, %686
  %691 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 23
  %692 = getelementptr inbounds %"class.qpOASES::Options", ptr %691, i32 0, i32 3
  %693 = load i32, ptr %692, align 4, !tbaa !32
  %694 = icmp eq i32 %693, 1
  br i1 %694, label %695, label %795

695:                                              ; preds = %690
  %696 = load i32, ptr %10, align 4, !tbaa !11
  %697 = icmp eq i32 %696, 1
  br i1 %697, label %698, label %795

698:                                              ; preds = %695
  %699 = load i32, ptr %28, align 4, !tbaa !11
  %700 = icmp eq i32 %699, 0
  br i1 %700, label %701, label %795

701:                                              ; preds = %698
  %702 = load double, ptr %35, align 8, !tbaa !36
  %703 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 23
  %704 = getelementptr inbounds %"class.qpOASES::Options", ptr %703, i32 0, i32 23
  %705 = load double, ptr %704, align 8, !tbaa !53
  %706 = fcmp ogt double %702, %705
  br i1 %706, label %707, label %719

707:                                              ; preds = %701
  %708 = load double, ptr %35, align 8, !tbaa !36
  %709 = call noundef double @_ZN7qpOASES7getSqrtEd(double noundef %708)
  %710 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 7
  %711 = load ptr, ptr %710, align 8, !tbaa !33
  %712 = load i32, ptr %22, align 4, !tbaa !9
  %713 = load i32, ptr %19, align 4, !tbaa !9
  %714 = load i32, ptr %22, align 4, !tbaa !9
  %715 = mul nsw i32 %713, %714
  %716 = add nsw i32 %712, %715
  %717 = sext i32 %716 to i64
  %718 = getelementptr inbounds double, ptr %711, i64 %717
  store double %709, ptr %718, align 8, !tbaa !36
  br label %794

719:                                              ; preds = %701
  %720 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 15
  store i32 4, ptr %720, align 4, !tbaa !45
  %721 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 24
  %722 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 6
  %723 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 7
  %724 = load ptr, ptr %723, align 8, !tbaa !33
  %725 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 5
  %726 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 7
  %727 = load ptr, ptr %726, align 8, !tbaa !34
  %728 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 6
  %729 = load ptr, ptr %728, align 8, !tbaa !35
  %730 = call noundef i32 @_ZNK7qpOASES7Flipper3getEPNS_6BoundsEPdPNS_11ConstraintsES3_S3_(ptr noundef nonnull align 8 dereferenceable(272) %721, ptr noundef %722, ptr noundef %724, ptr noundef %725, ptr noundef %727, ptr noundef %729)
  %731 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 5
  %732 = load i32, ptr %8, align 4, !tbaa !9
  %733 = call noundef i32 @_ZN7qpOASES11Constraints9flipFixedEi(ptr noundef nonnull align 8 dereferenceable(120) %731, i32 noundef %732)
  %734 = load i32, ptr %8, align 4, !tbaa !9
  %735 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 25
  %736 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %735, i32 0, i32 2
  store i32 %734, ptr %736, align 8, !tbaa !54
  %737 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 25
  %738 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %737, i32 0, i32 6
  store i32 2, ptr %738, align 8, !tbaa !55
  %739 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 5
  %740 = load i32, ptr %8, align 4, !tbaa !9
  %741 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %739, i32 noundef %740)
  switch i32 %741, label %790 [
    i32 -1, label %742
    i32 1, label %766
  ]

742:                                              ; preds = %719
  %743 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 4
  %744 = load ptr, ptr %743, align 8, !tbaa !56
  %745 = load i32, ptr %8, align 4, !tbaa !9
  %746 = sext i32 %745 to i64
  %747 = getelementptr inbounds double, ptr %744, i64 %746
  %748 = load double, ptr %747, align 8, !tbaa !36
  %749 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 3
  %750 = load ptr, ptr %749, align 8, !tbaa !57
  %751 = load i32, ptr %8, align 4, !tbaa !9
  %752 = sext i32 %751 to i64
  %753 = getelementptr inbounds double, ptr %750, i64 %752
  store double %748, ptr %753, align 8, !tbaa !36
  %754 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 11
  %755 = load ptr, ptr %754, align 8, !tbaa !58
  %756 = load i32, ptr %8, align 4, !tbaa !9
  %757 = sext i32 %756 to i64
  %758 = getelementptr inbounds double, ptr %755, i64 %757
  %759 = load double, ptr %758, align 8, !tbaa !36
  %760 = fneg double %759
  %761 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 10
  %762 = load ptr, ptr %761, align 8, !tbaa !59
  %763 = load i32, ptr %8, align 4, !tbaa !9
  %764 = sext i32 %763 to i64
  %765 = getelementptr inbounds double, ptr %762, i64 %764
  store double %760, ptr %765, align 8, !tbaa !36
  br label %793

766:                                              ; preds = %719
  %767 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 3
  %768 = load ptr, ptr %767, align 8, !tbaa !57
  %769 = load i32, ptr %8, align 4, !tbaa !9
  %770 = sext i32 %769 to i64
  %771 = getelementptr inbounds double, ptr %768, i64 %770
  %772 = load double, ptr %771, align 8, !tbaa !36
  %773 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 4
  %774 = load ptr, ptr %773, align 8, !tbaa !56
  %775 = load i32, ptr %8, align 4, !tbaa !9
  %776 = sext i32 %775 to i64
  %777 = getelementptr inbounds double, ptr %774, i64 %776
  store double %772, ptr %777, align 8, !tbaa !36
  %778 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 10
  %779 = load ptr, ptr %778, align 8, !tbaa !59
  %780 = load i32, ptr %8, align 4, !tbaa !9
  %781 = sext i32 %780 to i64
  %782 = getelementptr inbounds double, ptr %779, i64 %781
  %783 = load double, ptr %782, align 8, !tbaa !36
  %784 = fneg double %783
  %785 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 11
  %786 = load ptr, ptr %785, align 8, !tbaa !58
  %787 = load i32, ptr %8, align 4, !tbaa !9
  %788 = sext i32 %787 to i64
  %789 = getelementptr inbounds double, ptr %786, i64 %788
  store double %784, ptr %789, align 8, !tbaa !36
  br label %793

790:                                              ; preds = %719
  %791 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %792 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %791, i32 noundef 25, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3958, i32 noundef 1)
  store i32 %792, ptr %6, align 4
  store i32 1, ptr %18, align 4
  br label %834

793:                                              ; preds = %766, %742
  store i32 1, ptr %17, align 4, !tbaa !11
  br label %794

794:                                              ; preds = %793, %707
  br label %833

795:                                              ; preds = %698, %695, %690
  %796 = load i32, ptr %28, align 4, !tbaa !11
  %797 = icmp eq i32 %796, 0
  br i1 %797, label %798, label %832

798:                                              ; preds = %795
  %799 = load double, ptr %35, align 8, !tbaa !36
  %800 = fcmp ogt double %799, 1.000000e-25
  br i1 %800, label %801, label %813

801:                                              ; preds = %798
  %802 = load double, ptr %35, align 8, !tbaa !36
  %803 = call noundef double @_ZN7qpOASES7getSqrtEd(double noundef %802)
  %804 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 7
  %805 = load ptr, ptr %804, align 8, !tbaa !33
  %806 = load i32, ptr %22, align 4, !tbaa !9
  %807 = load i32, ptr %19, align 4, !tbaa !9
  %808 = load i32, ptr %22, align 4, !tbaa !9
  %809 = mul nsw i32 %807, %808
  %810 = add nsw i32 %806, %809
  %811 = sext i32 %810 to i64
  %812 = getelementptr inbounds double, ptr %805, i64 %811
  store double %803, ptr %812, align 8, !tbaa !36
  br label %831

813:                                              ; preds = %798
  %814 = load i32, ptr %10, align 4, !tbaa !11
  %815 = icmp eq i32 %814, 0
  br i1 %815, label %816, label %826

816:                                              ; preds = %813
  %817 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 7
  %818 = load ptr, ptr %817, align 8, !tbaa !33
  %819 = load i32, ptr %22, align 4, !tbaa !9
  %820 = load i32, ptr %19, align 4, !tbaa !9
  %821 = load i32, ptr %22, align 4, !tbaa !9
  %822 = mul nsw i32 %820, %821
  %823 = add nsw i32 %819, %822
  %824 = sext i32 %823 to i64
  %825 = getelementptr inbounds double, ptr %818, i64 %824
  store double 2.221000e-14, ptr %825, align 8, !tbaa !36
  br label %830

826:                                              ; preds = %813
  %827 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 15
  store i32 4, ptr %827, align 4, !tbaa !45
  %828 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %829 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %828, i32 noundef 99, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3977, i32 noundef 1)
  store i32 %829, ptr %6, align 4
  store i32 1, ptr %18, align 4
  br label %834

830:                                              ; preds = %816
  br label %831

831:                                              ; preds = %830, %801
  br label %832

832:                                              ; preds = %831, %795
  br label %833

833:                                              ; preds = %832, %794
  store i32 0, ptr %18, align 4
  br label %834

834:                                              ; preds = %833, %826, %790, %653
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #8
  %835 = load i32, ptr %18, align 4
  switch i32 %835, label %887 [
    i32 0, label %836
  ]

836:                                              ; preds = %834
  br label %837

837:                                              ; preds = %836, %444, %440, %437
  %838 = load i32, ptr %8, align 4, !tbaa !9
  %839 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 25
  %840 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %839, i32 0, i32 3
  store i32 %838, ptr %840, align 4, !tbaa !60
  %841 = load i32, ptr %17, align 4, !tbaa !11
  %842 = icmp eq i32 %841, 0
  br i1 %842, label %843, label %852

843:                                              ; preds = %837
  %844 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %38, i32 0, i32 5
  %845 = load i32, ptr %8, align 4, !tbaa !9
  %846 = call noundef i32 @_ZN7qpOASES11Constraints20moveActiveToInactiveEi(ptr noundef nonnull align 8 dereferenceable(120) %844, i32 noundef %845)
  %847 = icmp ne i32 %846, 0
  br i1 %847, label %848, label %851

848:                                              ; preds = %843
  %849 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %850 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %849, i32 noundef 80, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3989, i32 noundef 1)
  store i32 %850, ptr %6, align 4
  store i32 1, ptr %18, align 4
  br label %887

851:                                              ; preds = %843
  br label %852

852:                                              ; preds = %851, %837
  %853 = load i32, ptr %28, align 4, !tbaa !11
  %854 = icmp eq i32 %853, 1
  br i1 %854, label %855, label %886

855:                                              ; preds = %852
  %856 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 7
  %857 = load ptr, ptr %856, align 8, !tbaa !33
  %858 = load i32, ptr %22, align 4, !tbaa !9
  %859 = load i32, ptr %19, align 4, !tbaa !9
  %860 = load i32, ptr %22, align 4, !tbaa !9
  %861 = mul nsw i32 %859, %860
  %862 = add nsw i32 %858, %861
  %863 = sext i32 %862 to i64
  %864 = getelementptr inbounds double, ptr %857, i64 %863
  store double 0.000000e+00, ptr %864, align 8, !tbaa !36
  %865 = load i32, ptr %26, align 4, !tbaa !11
  %866 = icmp ne i32 %865, 0
  br i1 %866, label %867, label %876

867:                                              ; preds = %855
  %868 = load i32, ptr %25, align 4, !tbaa !9
  %869 = load i32, ptr %27, align 4, !tbaa !61
  %870 = load ptr, ptr %38, align 8, !tbaa !15
  %871 = getelementptr inbounds ptr, ptr %870, i64 28
  %872 = load ptr, ptr %871, align 8
  %873 = call noundef i32 %872(ptr noundef nonnull align 8 dereferenceable(1064) %38, i32 noundef %868, i32 noundef %869, i32 noundef 1, i32 noundef 0)
  %874 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 25
  %875 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %874, i32 0, i32 4
  store i32 1, ptr %875, align 8, !tbaa !62
  br label %885

876:                                              ; preds = %855
  %877 = load i32, ptr %25, align 4, !tbaa !9
  %878 = load i32, ptr %27, align 4, !tbaa !61
  %879 = load ptr, ptr %38, align 8, !tbaa !15
  %880 = getelementptr inbounds ptr, ptr %879, i64 25
  %881 = load ptr, ptr %880, align 8
  %882 = call noundef i32 %881(ptr noundef nonnull align 8 dereferenceable(1064) %38, i32 noundef %877, i32 noundef %878, i32 noundef 1, i32 noundef 0)
  %883 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %38, i32 0, i32 25
  %884 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %883, i32 0, i32 6
  store i32 1, ptr %884, align 8, !tbaa !55
  br label %885

885:                                              ; preds = %876, %867
  br label %886

886:                                              ; preds = %885, %852
  store i32 0, ptr %6, align 4
  store i32 1, ptr %18, align 4
  br label %887

887:                                              ; preds = %886, %848, %834, %97
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #8
  br label %888

888:                                              ; preds = %887, %83, %73
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #8
  br label %889

889:                                              ; preds = %888, %50
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #8
  %890 = load i32, ptr %6, align 4
  ret i32 %890
}

declare noundef i32 @_ZNK7qpOASES9Indexlist8getIndexEi(ptr noundef nonnull align 8 dereferenceable(36), i32 noundef) #1

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES8QProblem22ensureNonzeroCurvatureENS_11BooleanTypeEiRS1_S2_RiRNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(1064), i32 noundef, i32 noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) #7 align 2

declare noundef i32 @_ZN7qpOASES7Flipper3setEPKNS_6BoundsEPKdPKNS_11ConstraintsES5_S5_(ptr noundef nonnull align 8 dereferenceable(272), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) #1

declare noundef i32 @_ZNK7qpOASES7Flipper3getEPNS_6BoundsEPdPNS_11ConstraintsES3_S3_(ptr noundef nonnull align 8 dereferenceable(272), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) #1

declare noundef i32 @_ZN7qpOASES11Constraints9flipFixedEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) #1

declare noundef i32 @_ZN7qpOASES11Constraints20moveActiveToInactiveEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) #1

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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 = { 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 uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress 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 = { 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 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!15 = !{!16, !16, i64 0}
!16 = !{!"vtable pointer", !8, i64 0}
!17 = !{!18, !10, i64 968}
!18 = !{!"_ZTSN7qpOASES8QProblemE", !19, i64 0, !12, 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}
!19 = !{!"_ZTSN7qpOASES9QProblemBE", !12, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !20, i64 48, !6, i64 168, !12, i64 176, !6, i64 184, !6, i64 192, !23, i64 200, !24, i64 208, !12, i64 212, !12, i64 216, !25, i64 220, !23, i64 224, !10, i64 232, !6, i64 240, !23, i64 248, !23, i64 256, !10, i64 264, !26, i64 272, !29, i64 496, !31, i64 768}
!20 = !{!"_ZTSN7qpOASES6BoundsE", !21, i64 0, !22, i64 40, !22, i64 80}
!21 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !12, i64 32, !12, i64 36}
!22 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!23 = !{!"double", !7, i64 0}
!24 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!25 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES7OptionsE", !27, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !12, i64 24, !10, i64 28, !10, i64 32, !12, i64 36, !23, i64 40, !23, i64 48, !23, i64 56, !23, i64 64, !23, i64 72, !23, i64 80, !23, i64 88, !23, i64 96, !23, i64 104, !23, i64 112, !23, i64 120, !28, i64 128, !23, i64 136, !10, i64 144, !23, i64 152, !10, i64 160, !23, i64 168, !23, i64 176, !23, i64 184, !23, i64 192, !12, i64 200, !12, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!27 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!28 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!29 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !20, i64 8, !30, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!30 = !{!"_ZTSN7qpOASES11ConstraintsE", !21, i64 0, !22, i64 40, !22, 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 = !{!19, !12, i64 284}
!33 = !{!19, !6, i64 168}
!34 = !{!18, !6, i64 960}
!35 = !{!18, !6, i64 952}
!36 = !{!23, !23, i64 0}
!37 = distinct !{!37, !38}
!38 = !{!"llvm.loop.mustprogress"}
!39 = distinct !{!39, !38}
!40 = distinct !{!40, !38}
!41 = distinct !{!41, !38}
!42 = distinct !{!42, !38}
!43 = distinct !{!43, !38}
!44 = distinct !{!44, !38}
!45 = !{!19, !25, i64 220}
!46 = distinct !{!46, !38}
!47 = !{!19, !6, i64 16}
!48 = distinct !{!48, !38}
!49 = distinct !{!49, !38}
!50 = distinct !{!50, !38}
!51 = distinct !{!51, !38}
!52 = distinct !{!52, !38}
!53 = !{!19, !23, i64 408}
!54 = !{!19, !10, i64 776}
!55 = !{!19, !10, i64 792}
!56 = !{!18, !6, i64 824}
!57 = !{!18, !6, i64 816}
!58 = !{!18, !6, i64 992}
!59 = !{!18, !6, i64 984}
!60 = !{!19, !10, i64 780}
!61 = !{!28, !28, i64 0}
!62 = !{!19, !10, i64 784}


; 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 [103 x i8], align 1

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #1

declare noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) local_unnamed_addr #1

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

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #5 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #5 align 2

; 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 nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES7getSqrtEd(double noundef) local_unnamed_addr #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800), double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800), double noundef, double noundef, double noundef, double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem16removeConstraintEiNS_11BooleanTypeES1_S1_(ptr noundef nonnull align 8 dereferenceable(1064) %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 i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca ptr, align 8
  %11 = alloca double, align 8
  %12 = alloca double, align 8
  %13 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %14 = icmp eq i32 %13, 0
  br i1 %14, label %24, label %15

15:                                               ; preds = %5
  %16 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %17 = icmp eq i32 %16, 2
  br i1 %17, label %24, label %18

18:                                               ; preds = %15
  %19 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %20 = icmp eq i32 %19, 4
  br i1 %20, label %24, label %21

21:                                               ; preds = %18
  %22 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %23 = icmp eq i32 %22, 5
  br i1 %23, label %24, label %27

24:                                               ; preds = %21, %18, %15, %5
  %25 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %26 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %25, i32 noundef 9, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3798, i32 noundef 1)
  br label %572

27:                                               ; preds = %21
  %28 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %29 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %30 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %31 = load ptr, ptr %0, align 8, !tbaa !5
  %32 = getelementptr inbounds i8, ptr %31, i64 56
  %33 = load ptr, ptr %32, align 8
  %34 = tail call noundef i32 %33(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %35 = getelementptr inbounds i8, ptr %0, i64 968
  %36 = load i32, ptr %35, align 8, !tbaa !8
  %37 = sub nsw i32 %36, %30
  %38 = getelementptr inbounds i8, ptr %0, i64 832
  %39 = tail call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %38)
  %40 = tail call noundef i32 @_ZNK7qpOASES9Indexlist8getIndexEi(ptr noundef nonnull align 8 dereferenceable(36) %39, i32 noundef %1)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %6) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %7) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %8) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %9) #10
  store i32 0, ptr %9, align 4, !tbaa !27
  %41 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %38, i32 noundef %1)
  %42 = icmp eq i32 %41, 0
  br i1 %42, label %43, label %46

43:                                               ; preds = %27
  %44 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %45 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %44, i32 noundef 97, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3818, i32 noundef 1)
  br label %571

46:                                               ; preds = %27
  %47 = icmp sgt i32 %40, -1
  %.not = icmp slt i32 %40, %30
  %or.cond243 = and i1 %47, %.not
  br i1 %or.cond243, label %51, label %48

48:                                               ; preds = %46
  %49 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %50 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %49, i32 noundef 97, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3821, i32 noundef 1)
  br label %571

51:                                               ; preds = %46
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #10
  %52 = getelementptr inbounds i8, ptr %0, i64 48
  %53 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %52)
  %54 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %53, ptr noundef nonnull %10)
  %55 = icmp eq i32 %4, 1
  br i1 %55, label %56, label %58

56:                                               ; preds = %51
  %57 = call noundef i32 @_ZN7qpOASES8QProblem22ensureNonzeroCurvatureENS_11BooleanTypeEiRS1_S2_RiRNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef 0, i32 noundef %1, ptr noundef nonnull align 4 dereferenceable(4) %9, ptr noundef nonnull align 4 dereferenceable(4) %7, ptr noundef nonnull align 4 dereferenceable(4) %6, ptr noundef nonnull align 4 dereferenceable(4) %8)
  %.not237 = icmp eq i32 %57, 0
  br i1 %.not237, label %58, label %570

58:                                               ; preds = %56, %51
  %59 = load i32, ptr %9, align 4, !tbaa !27
  %60 = icmp eq i32 %59, 0
  br i1 %60, label %61, label %75

61:                                               ; preds = %58
  %62 = getelementptr inbounds i8, ptr %0, i64 284
  %63 = load i32, ptr %62, align 4, !tbaa !28
  %64 = icmp eq i32 %63, 1
  %65 = icmp eq i32 %3, 1
  %or.cond = and i1 %65, %64
  br i1 %or.cond, label %66, label %75

66:                                               ; preds = %61
  %67 = getelementptr inbounds i8, ptr %0, i64 496
  %68 = getelementptr inbounds i8, ptr %0, i64 168
  %69 = load ptr, ptr %68, align 8, !tbaa !29
  %70 = getelementptr inbounds i8, ptr %0, i64 960
  %71 = load ptr, ptr %70, align 8, !tbaa !30
  %72 = getelementptr inbounds i8, ptr %0, i64 952
  %73 = load ptr, ptr %72, align 8, !tbaa !31
  %74 = call noundef i32 @_ZN7qpOASES7Flipper3setEPKNS_6BoundsEPKdPKNS_11ConstraintsES5_S5_(ptr noundef nonnull align 8 dereferenceable(272) %67, ptr noundef nonnull %52, ptr noundef %69, ptr noundef nonnull %38, ptr noundef %71, ptr noundef %73)
  br label %75

75:                                               ; preds = %66, %61, %58
  %76 = add nsw i32 %30, -1
  %77 = icmp slt i32 %40, %76
  br i1 %77, label %.preheader258, label %.preheader259

.preheader259:                                    ; preds = %75
  %78 = icmp sgt i32 %30, 0
  br i1 %78, label %.lr.ph, label %.loopexit260

.lr.ph:                                           ; preds = %.preheader259
  %79 = getelementptr inbounds i8, ptr %0, i64 952
  %80 = load ptr, ptr %79, align 8, !tbaa !31
  %81 = load i32, ptr %35, align 8, !tbaa !8
  %82 = mul nsw i32 %81, %76
  %wide.trip.count = zext nneg i32 %30 to i64
  %min.iters.check = icmp ult i32 %30, 10
  br i1 %min.iters.check, label %scalar.ph.preheader, label %vector.scevcheck

scalar.ph.preheader:                              ; preds = %middle.block, %vector.scevcheck, %.lr.ph
  %indvars.iv.ph = phi i64 [ 0, %vector.scevcheck ], [ 0, %.lr.ph ], [ %n.vec, %middle.block ]
  %xtraiter = and i64 %wide.trip.count, 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.iv.prol = phi i64 [ %indvars.iv.next.prol, %scalar.ph.prol ], [ %indvars.iv.ph, %scalar.ph.preheader ]
  %prol.iter = phi i64 [ %prol.iter.next, %scalar.ph.prol ], [ 0, %scalar.ph.preheader ]
  %83 = trunc nuw nsw i64 %indvars.iv.prol to i32
  %84 = add nsw i32 %37, %83
  %85 = add nsw i32 %84, %82
  %86 = sext i32 %85 to i64
  %87 = getelementptr inbounds double, ptr %80, i64 %86
  store double 0.000000e+00, ptr %87, align 8, !tbaa !32
  %indvars.iv.next.prol = add nuw nsw i64 %indvars.iv.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 !33

scalar.ph.prol.loopexit:                          ; preds = %scalar.ph.prol, %scalar.ph.preheader
  %indvars.iv.unr = phi i64 [ %indvars.iv.ph, %scalar.ph.preheader ], [ %indvars.iv.next.prol, %scalar.ph.prol ]
  %88 = sub nsw i64 %indvars.iv.ph, %wide.trip.count
  %89 = icmp ugt i64 %88, -4
  br i1 %89, label %.loopexit260, label %scalar.ph

vector.scevcheck:                                 ; preds = %.lr.ph
  %90 = add nsw i64 %wide.trip.count, -1
  %91 = add i32 %36, %82
  %92 = sub i32 %91, %30
  %93 = trunc nsw i64 %90 to i32
  %94 = add i32 %92, %93
  %95 = icmp slt i32 %94, %92
  %96 = icmp ugt i64 %90, 4294967295
  %97 = or i1 %95, %96
  br i1 %97, label %scalar.ph.preheader, label %vector.ph

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

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %98 = trunc i64 %index to i32
  %99 = add nsw i32 %37, %98
  %100 = add nsw i32 %99, %82
  %101 = sext i32 %100 to i64
  %102 = getelementptr inbounds double, ptr %80, i64 %101
  %103 = getelementptr inbounds i8, ptr %102, i64 16
  store <2 x double> zeroinitializer, ptr %102, align 8, !tbaa !32
  store <2 x double> zeroinitializer, ptr %103, align 8, !tbaa !32
  %index.next = add nuw i64 %index, 4
  %104 = icmp eq i64 %index.next, %n.vec
  br i1 %104, label %middle.block, label %vector.body, !llvm.loop !35

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %wide.trip.count
  br i1 %cmp.n, label %.loopexit260, label %scalar.ph.preheader

.preheader258:                                    ; preds = %75
  %.0208264 = add nuw nsw i32 %40, 1
  %105 = icmp ult i32 %.0208264, %30
  br i1 %105, label %.lr.ph267, label %.lr.ph269

.lr.ph267:                                        ; preds = %.preheader258
  %reass.sub = add nsw i32 %30, -2
  %106 = getelementptr inbounds i8, ptr %0, i64 952
  %107 = load ptr, ptr %106, align 8
  %108 = load i32, ptr %35, align 8
  %109 = sub nsw i32 %reass.sub, %40
  %110 = add i32 %108, -1
  %111 = mul i32 %40, %110
  %112 = add i32 %36, %111
  %113 = add i32 %112, -2
  %114 = mul i32 %108, %.0208264
  %115 = add i32 %36, %114
  %116 = add i32 %115, -2
  %117 = sub i32 %116, %40
  %118 = add i32 %108, -1
  %119 = mul i32 %40, %118
  %120 = add i32 %36, %119
  %121 = add i32 %120, -2
  %122 = mul i32 %108, %.0208264
  %123 = add i32 %36, %122
  %124 = add i32 %123, -2
  %125 = sub i32 %124, %40
  %narrow = add nuw i32 %40, 2
  %126 = zext i32 %narrow to i64
  br label %154

.loopexit:                                        ; preds = %scalar.ph389.prol.loopexit, %scalar.ph389, %middle.block388, %154
  %.0208 = add nuw nsw i32 %.0208266, 1
  %indvars.iv.next307 = add i32 %indvars.iv306, -1
  %exitcond312.not = icmp eq i32 %.0208, %30
  %indvar.next = add i32 %indvar, 1
  %indvar.next387 = add i64 %indvar386, 1
  br i1 %exitcond312.not, label %.preheader257, label %154, !llvm.loop !39

.preheader257:                                    ; preds = %.loopexit
  %127 = icmp sgt i32 %30, 0
  br i1 %127, label %.lr.ph269, label %._crit_edge

.lr.ph269:                                        ; preds = %.preheader258, %.preheader257
  %128 = getelementptr inbounds i8, ptr %0, i64 952
  %129 = load ptr, ptr %128, align 8, !tbaa !31
  %130 = load i32, ptr %35, align 8, !tbaa !8
  %131 = mul nsw i32 %130, %76
  %wide.trip.count316 = zext i32 %30 to i64
  %min.iters.check403 = icmp ult i32 %30, 10
  br i1 %min.iters.check403, label %scalar.ph402.preheader, label %vector.scevcheck400

scalar.ph402.preheader:                           ; preds = %middle.block401, %vector.scevcheck400, %.lr.ph269
  %indvars.iv313.ph = phi i64 [ 0, %vector.scevcheck400 ], [ 0, %.lr.ph269 ], [ %n.vec406, %middle.block401 ]
  %xtraiter437 = and i64 %wide.trip.count316, 3
  %lcmp.mod438.not = icmp eq i64 %xtraiter437, 0
  br i1 %lcmp.mod438.not, label %scalar.ph402.prol.loopexit, label %scalar.ph402.prol

scalar.ph402.prol:                                ; preds = %scalar.ph402.preheader, %scalar.ph402.prol
  %indvars.iv313.prol = phi i64 [ %indvars.iv.next314.prol, %scalar.ph402.prol ], [ %indvars.iv313.ph, %scalar.ph402.preheader ]
  %prol.iter439 = phi i64 [ %prol.iter439.next, %scalar.ph402.prol ], [ 0, %scalar.ph402.preheader ]
  %132 = trunc nuw nsw i64 %indvars.iv313.prol to i32
  %133 = add nsw i32 %37, %132
  %134 = add nsw i32 %133, %131
  %135 = sext i32 %134 to i64
  %136 = getelementptr inbounds double, ptr %129, i64 %135
  store double 0.000000e+00, ptr %136, align 8, !tbaa !32
  %indvars.iv.next314.prol = add nuw nsw i64 %indvars.iv313.prol, 1
  %prol.iter439.next = add i64 %prol.iter439, 1
  %prol.iter439.cmp.not = icmp eq i64 %prol.iter439.next, %xtraiter437
  br i1 %prol.iter439.cmp.not, label %scalar.ph402.prol.loopexit, label %scalar.ph402.prol, !llvm.loop !40

scalar.ph402.prol.loopexit:                       ; preds = %scalar.ph402.prol, %scalar.ph402.preheader
  %indvars.iv313.unr = phi i64 [ %indvars.iv313.ph, %scalar.ph402.preheader ], [ %indvars.iv.next314.prol, %scalar.ph402.prol ]
  %137 = sub nsw i64 %indvars.iv313.ph, %wide.trip.count316
  %138 = icmp ugt i64 %137, -4
  br i1 %138, label %._crit_edge, label %scalar.ph402

vector.scevcheck400:                              ; preds = %.lr.ph269
  %139 = add nsw i64 %wide.trip.count316, -1
  %140 = add i32 %36, %131
  %141 = sub i32 %140, %30
  %142 = trunc nsw i64 %139 to i32
  %143 = add i32 %141, %142
  %144 = icmp slt i32 %143, %141
  %145 = icmp ugt i64 %139, 4294967295
  %146 = or i1 %144, %145
  br i1 %146, label %scalar.ph402.preheader, label %vector.ph404

vector.ph404:                                     ; preds = %vector.scevcheck400
  %n.vec406 = and i64 %wide.trip.count316, 2147483644
  br label %vector.body408

vector.body408:                                   ; preds = %vector.body408, %vector.ph404
  %index409 = phi i64 [ 0, %vector.ph404 ], [ %index.next410, %vector.body408 ]
  %147 = trunc i64 %index409 to i32
  %148 = add nsw i32 %37, %147
  %149 = add nsw i32 %148, %131
  %150 = sext i32 %149 to i64
  %151 = getelementptr inbounds double, ptr %129, i64 %150
  %152 = getelementptr inbounds i8, ptr %151, i64 16
  store <2 x double> zeroinitializer, ptr %151, align 8, !tbaa !32
  store <2 x double> zeroinitializer, ptr %152, align 8, !tbaa !32
  %index.next410 = add nuw i64 %index409, 4
  %153 = icmp eq i64 %index.next410, %n.vec406
  br i1 %153, label %middle.block401, label %vector.body408, !llvm.loop !41

middle.block401:                                  ; preds = %vector.body408
  %cmp.n411 = icmp eq i64 %n.vec406, %wide.trip.count316
  br i1 %cmp.n411, label %._crit_edge, label %scalar.ph402.preheader

154:                                              ; preds = %.lr.ph267, %.loopexit
  %indvar386 = phi i64 [ 0, %.lr.ph267 ], [ %indvar.next387, %.loopexit ]
  %indvar = phi i32 [ 0, %.lr.ph267 ], [ %indvar.next, %.loopexit ]
  %indvars.iv306 = phi i32 [ %109, %.lr.ph267 ], [ %indvars.iv.next307, %.loopexit ]
  %.0208266 = phi i32 [ %.0208264, %.lr.ph267 ], [ %.0208, %.loopexit ]
  %.0208.in265 = phi i32 [ %40, %.lr.ph267 ], [ %.0208266, %.loopexit ]
  %155 = add i64 %indvar386, %126
  %156 = mul i32 %118, %indvar
  %157 = add i32 %121, %156
  %158 = sext i32 %157 to i64
  %159 = add i32 %125, %156
  %160 = sext i32 %159 to i64
  %161 = sub nsw i64 %158, %160
  %162 = mul i32 %110, %indvar
  %163 = add i32 %113, %162
  %164 = add i32 %117, %162
  %165 = sub i32 %reass.sub, %.0208.in265
  %166 = icmp slt i32 %165, %30
  br i1 %166, label %.lr.ph263, label %.loopexit

.lr.ph263:                                        ; preds = %154
  %167 = zext i32 %indvars.iv306 to i64
  %168 = mul nsw i32 %108, %.0208266
  %169 = mul nsw i32 %108, %.0208.in265
  %min.iters.check390 = icmp ult i64 %155, 8
  br i1 %min.iters.check390, label %scalar.ph389.preheader, label %vector.scevcheck385

vector.scevcheck385:                              ; preds = %.lr.ph263
  %170 = add i32 %163, %.0208266
  %171 = icmp slt i32 %170, %163
  %172 = add i32 %164, %.0208266
  %173 = icmp slt i32 %172, %164
  %174 = or i1 %171, %173
  %175 = and i64 %161, 2305843009213693948
  %diff.check = icmp eq i64 %175, 0
  %or.cond431 = select i1 %174, i1 true, i1 %diff.check
  br i1 %or.cond431, label %scalar.ph389.preheader, label %vector.ph391

vector.ph391:                                     ; preds = %vector.scevcheck385
  %n.vec393 = and i64 %155, -4
  %ind.end = add i64 %n.vec393, %167
  br label %vector.body395

vector.body395:                                   ; preds = %vector.body395, %vector.ph391
  %index396 = phi i64 [ 0, %vector.ph391 ], [ %index.next398, %vector.body395 ]
  %176 = trunc i64 %index396 to i32
  %177 = add i32 %indvars.iv306, %176
  %178 = add nsw i32 %37, %177
  %179 = add nsw i32 %168, %178
  %180 = sext i32 %179 to i64
  %181 = getelementptr inbounds double, ptr %107, i64 %180
  %182 = getelementptr inbounds i8, ptr %181, i64 16
  %wide.load = load <2 x double>, ptr %181, align 8, !tbaa !32
  %wide.load397 = load <2 x double>, ptr %182, align 8, !tbaa !32
  %183 = add nsw i32 %169, %178
  %184 = sext i32 %183 to i64
  %185 = getelementptr inbounds double, ptr %107, i64 %184
  %186 = getelementptr inbounds i8, ptr %185, i64 16
  store <2 x double> %wide.load, ptr %185, align 8, !tbaa !32
  store <2 x double> %wide.load397, ptr %186, align 8, !tbaa !32
  %index.next398 = add nuw i64 %index396, 4
  %187 = icmp eq i64 %index.next398, %n.vec393
  br i1 %187, label %middle.block388, label %vector.body395, !llvm.loop !42

middle.block388:                                  ; preds = %vector.body395
  %cmp.n399 = icmp eq i64 %155, %n.vec393
  br i1 %cmp.n399, label %.loopexit, label %scalar.ph389.preheader

scalar.ph389.preheader:                           ; preds = %middle.block388, %vector.scevcheck385, %.lr.ph263
  %indvars.iv308.ph = phi i64 [ %167, %vector.scevcheck385 ], [ %167, %.lr.ph263 ], [ %ind.end, %middle.block388 ]
  %188 = trunc i64 %indvars.iv308.ph to i32
  %189 = sub i32 %30, %188
  %.neg = add i32 %188, 1
  %xtraiter434 = and i32 %189, 1
  %lcmp.mod435.not = icmp eq i32 %xtraiter434, 0
  br i1 %lcmp.mod435.not, label %scalar.ph389.prol.loopexit, label %scalar.ph389.prol

scalar.ph389.prol:                                ; preds = %scalar.ph389.preheader
  %190 = trunc i64 %indvars.iv308.ph to i32
  %191 = add nsw i32 %37, %190
  %192 = add nsw i32 %168, %191
  %193 = sext i32 %192 to i64
  %194 = getelementptr inbounds double, ptr %107, i64 %193
  %195 = load double, ptr %194, align 8, !tbaa !32
  %196 = add nsw i32 %169, %191
  %197 = sext i32 %196 to i64
  %198 = getelementptr inbounds double, ptr %107, i64 %197
  store double %195, ptr %198, align 8, !tbaa !32
  %indvars.iv.next309.prol = add i64 %indvars.iv308.ph, 1
  br label %scalar.ph389.prol.loopexit

scalar.ph389.prol.loopexit:                       ; preds = %scalar.ph389.prol, %scalar.ph389.preheader
  %indvars.iv308.unr = phi i64 [ %indvars.iv308.ph, %scalar.ph389.preheader ], [ %indvars.iv.next309.prol, %scalar.ph389.prol ]
  %199 = icmp eq i32 %30, %.neg
  br i1 %199, label %.loopexit, label %scalar.ph389

scalar.ph389:                                     ; preds = %scalar.ph389.prol.loopexit, %scalar.ph389
  %indvars.iv308 = phi i64 [ %indvars.iv.next309.1, %scalar.ph389 ], [ %indvars.iv308.unr, %scalar.ph389.prol.loopexit ]
  %200 = trunc i64 %indvars.iv308 to i32
  %201 = add nsw i32 %37, %200
  %202 = add nsw i32 %168, %201
  %203 = sext i32 %202 to i64
  %204 = getelementptr inbounds double, ptr %107, i64 %203
  %205 = load double, ptr %204, align 8, !tbaa !32
  %206 = add nsw i32 %169, %201
  %207 = sext i32 %206 to i64
  %208 = getelementptr inbounds double, ptr %107, i64 %207
  store double %205, ptr %208, align 8, !tbaa !32
  %209 = trunc i64 %indvars.iv308 to i32
  %210 = add i32 %209, 1
  %211 = add nsw i32 %37, %210
  %212 = add nsw i32 %168, %211
  %213 = sext i32 %212 to i64
  %214 = getelementptr inbounds double, ptr %107, i64 %213
  %215 = load double, ptr %214, align 8, !tbaa !32
  %216 = add nsw i32 %169, %211
  %217 = sext i32 %216 to i64
  %218 = getelementptr inbounds double, ptr %107, i64 %217
  store double %215, ptr %218, align 8, !tbaa !32
  %indvars.iv.next309.1 = add nuw nsw i64 %indvars.iv308, 2
  %lftr.wideiv.1 = trunc i64 %indvars.iv.next309.1 to i32
  %exitcond311.not.1 = icmp eq i32 %30, %lftr.wideiv.1
  br i1 %exitcond311.not.1, label %.loopexit, label %scalar.ph389, !llvm.loop !43

scalar.ph402:                                     ; preds = %scalar.ph402.prol.loopexit, %scalar.ph402
  %indvars.iv313 = phi i64 [ %indvars.iv.next314.3, %scalar.ph402 ], [ %indvars.iv313.unr, %scalar.ph402.prol.loopexit ]
  %219 = trunc nuw nsw i64 %indvars.iv313 to i32
  %220 = add nsw i32 %37, %219
  %221 = add nsw i32 %220, %131
  %222 = sext i32 %221 to i64
  %223 = getelementptr inbounds double, ptr %129, i64 %222
  store double 0.000000e+00, ptr %223, align 8, !tbaa !32
  %224 = trunc i64 %indvars.iv313 to i32
  %225 = add i32 %224, 1
  %226 = add nsw i32 %37, %225
  %227 = add nsw i32 %226, %131
  %228 = sext i32 %227 to i64
  %229 = getelementptr inbounds double, ptr %129, i64 %228
  store double 0.000000e+00, ptr %229, align 8, !tbaa !32
  %230 = trunc i64 %indvars.iv313 to i32
  %231 = add i32 %230, 2
  %232 = add nsw i32 %37, %231
  %233 = add nsw i32 %232, %131
  %234 = sext i32 %233 to i64
  %235 = getelementptr inbounds double, ptr %129, i64 %234
  store double 0.000000e+00, ptr %235, align 8, !tbaa !32
  %236 = trunc i64 %indvars.iv313 to i32
  %237 = add i32 %236, 3
  %238 = add nsw i32 %37, %237
  %239 = add nsw i32 %238, %131
  %240 = sext i32 %239 to i64
  %241 = getelementptr inbounds double, ptr %129, i64 %240
  store double 0.000000e+00, ptr %241, align 8, !tbaa !32
  %indvars.iv.next314.3 = add nuw nsw i64 %indvars.iv313, 4
  %exitcond317.not.3 = icmp eq i64 %indvars.iv.next314.3, %wide.trip.count316
  br i1 %exitcond317.not.3, label %._crit_edge, label %scalar.ph402, !llvm.loop !44

._crit_edge:                                      ; preds = %scalar.ph402.prol.loopexit, %scalar.ph402, %middle.block401, %.preheader257
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #10
  %242 = add nsw i32 %30, -2
  %243 = sub nsw i32 %242, %40
  %244 = icmp sgt i32 %243, -1
  br i1 %244, label %.lr.ph278, label %._crit_edge279

.lr.ph278:                                        ; preds = %._crit_edge
  %245 = getelementptr inbounds i8, ptr %0, i64 952
  %246 = add nsw i32 %37, 1
  %247 = icmp sgt i32 %29, 0
  %248 = getelementptr inbounds i8, ptr %0, i64 960
  %249 = add nsw i32 %34, 1
  %wide.trip.count321 = zext nneg i32 %29 to i64
  br label %250

250:                                              ; preds = %.lr.ph278, %._crit_edge275
  %.2220276 = phi i32 [ %243, %.lr.ph278 ], [ %306, %._crit_edge275 ]
  %251 = load ptr, ptr %245, align 8, !tbaa !31
  %252 = sub nsw i32 %242, %.2220276
  %253 = load i32, ptr %35, align 8, !tbaa !8
  %254 = mul nsw i32 %253, %252
  %255 = add nsw i32 %246, %.2220276
  %256 = add nsw i32 %254, %255
  %257 = sext i32 %256 to i64
  %258 = getelementptr inbounds double, ptr %251, i64 %257
  %259 = load double, ptr %258, align 8, !tbaa !32
  %260 = add nsw i32 %.2220276, %37
  %261 = add nsw i32 %254, %260
  %262 = sext i32 %261 to i64
  %263 = getelementptr inbounds double, ptr %251, i64 %262
  %264 = load double, ptr %263, align 8, !tbaa !32
  call void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %259, double noundef %264, ptr noundef nonnull align 8 dereferenceable(8) %258, ptr noundef nonnull align 8 dereferenceable(8) %263, ptr noundef nonnull align 8 dereferenceable(8) %11, ptr noundef nonnull align 8 dereferenceable(8) %12)
  %265 = load double, ptr %12, align 8, !tbaa !32
  %266 = load double, ptr %11, align 8, !tbaa !32
  %267 = fadd double %266, 1.000000e+00
  %268 = fdiv double %265, %267
  %269 = xor i32 %.2220276, -1
  %270 = add i32 %30, %269
  %271 = icmp slt i32 %270, %76
  br i1 %271, label %.lr.ph272, label %.preheader256

.preheader256:                                    ; preds = %.lr.ph272, %250
  br i1 %247, label %.lr.ph274, label %._crit_edge275

.lr.ph274:                                        ; preds = %.preheader256
  %272 = add nsw i32 %249, %.2220276
  %273 = mul nsw i32 %272, %28
  %274 = add nsw i32 %.2220276, %34
  %275 = mul nsw i32 %274, %28
  br label %291

.lr.ph272:                                        ; preds = %250, %.lr.ph272
  %.1209270 = phi i32 [ %289, %.lr.ph272 ], [ %270, %250 ]
  %276 = load double, ptr %11, align 8, !tbaa !32
  %277 = load double, ptr %12, align 8, !tbaa !32
  %278 = load ptr, ptr %245, align 8, !tbaa !31
  %279 = load i32, ptr %35, align 8, !tbaa !8
  %280 = mul nsw i32 %279, %.1209270
  %281 = add nsw i32 %280, %255
  %282 = sext i32 %281 to i64
  %283 = getelementptr inbounds double, ptr %278, i64 %282
  %284 = load double, ptr %283, align 8, !tbaa !32
  %285 = add nsw i32 %280, %260
  %286 = sext i32 %285 to i64
  %287 = getelementptr inbounds double, ptr %278, i64 %286
  %288 = load double, ptr %287, align 8, !tbaa !32
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %276, double noundef %277, double noundef %268, double noundef %284, double noundef %288, ptr noundef nonnull align 8 dereferenceable(8) %283, ptr noundef nonnull align 8 dereferenceable(8) %287)
  %289 = add nsw i32 %.1209270, 1
  %290 = icmp slt i32 %289, %76
  br i1 %290, label %.lr.ph272, label %.preheader256, !llvm.loop !45

291:                                              ; preds = %.lr.ph274, %291
  %indvars.iv318 = phi i64 [ 0, %.lr.ph274 ], [ %indvars.iv.next319, %291 ]
  %292 = load ptr, ptr %10, align 8, !tbaa !46
  %293 = getelementptr inbounds i32, ptr %292, i64 %indvars.iv318
  %294 = load i32, ptr %293, align 4, !tbaa !47
  %295 = load double, ptr %11, align 8, !tbaa !32
  %296 = load double, ptr %12, align 8, !tbaa !32
  %297 = load ptr, ptr %248, align 8, !tbaa !30
  %298 = add nsw i32 %294, %273
  %299 = sext i32 %298 to i64
  %300 = getelementptr inbounds double, ptr %297, i64 %299
  %301 = load double, ptr %300, align 8, !tbaa !32
  %302 = add nsw i32 %294, %275
  %303 = sext i32 %302 to i64
  %304 = getelementptr inbounds double, ptr %297, i64 %303
  %305 = load double, ptr %304, align 8, !tbaa !32
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %295, double noundef %296, double noundef %268, double noundef %301, double noundef %305, ptr noundef nonnull align 8 dereferenceable(8) %300, ptr noundef nonnull align 8 dereferenceable(8) %304)
  %indvars.iv.next319 = add nuw nsw i64 %indvars.iv318, 1
  %exitcond322.not = icmp eq i64 %indvars.iv.next319, %wide.trip.count321
  br i1 %exitcond322.not, label %._crit_edge275, label %291, !llvm.loop !48

._crit_edge275:                                   ; preds = %291, %.preheader256
  %306 = add nsw i32 %.2220276, -1
  %307 = icmp sgt i32 %.2220276, 0
  br i1 %307, label %250, label %._crit_edge279, !llvm.loop !49

._crit_edge279:                                   ; preds = %._crit_edge275, %._crit_edge
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #10
  br label %.loopexit260

scalar.ph:                                        ; preds = %scalar.ph.prol.loopexit, %scalar.ph
  %indvars.iv = phi i64 [ %indvars.iv.next.3, %scalar.ph ], [ %indvars.iv.unr, %scalar.ph.prol.loopexit ]
  %308 = trunc nuw nsw i64 %indvars.iv to i32
  %309 = add nsw i32 %37, %308
  %310 = add nsw i32 %309, %82
  %311 = sext i32 %310 to i64
  %312 = getelementptr inbounds double, ptr %80, i64 %311
  store double 0.000000e+00, ptr %312, align 8, !tbaa !32
  %313 = trunc i64 %indvars.iv to i32
  %314 = add i32 %313, 1
  %315 = add nsw i32 %37, %314
  %316 = add nsw i32 %315, %82
  %317 = sext i32 %316 to i64
  %318 = getelementptr inbounds double, ptr %80, i64 %317
  store double 0.000000e+00, ptr %318, align 8, !tbaa !32
  %319 = trunc i64 %indvars.iv to i32
  %320 = add i32 %319, 2
  %321 = add nsw i32 %37, %320
  %322 = add nsw i32 %321, %82
  %323 = sext i32 %322 to i64
  %324 = getelementptr inbounds double, ptr %80, i64 %323
  store double 0.000000e+00, ptr %324, align 8, !tbaa !32
  %325 = trunc i64 %indvars.iv to i32
  %326 = add i32 %325, 3
  %327 = add nsw i32 %37, %326
  %328 = add nsw i32 %327, %82
  %329 = sext i32 %328 to i64
  %330 = getelementptr inbounds double, ptr %80, i64 %329
  store double 0.000000e+00, ptr %330, align 8, !tbaa !32
  %indvars.iv.next.3 = add nuw nsw i64 %indvars.iv, 4
  %exitcond.not.3 = icmp eq i64 %indvars.iv.next.3, %wide.trip.count
  br i1 %exitcond.not.3, label %.loopexit260, label %scalar.ph, !llvm.loop !50

.loopexit260:                                     ; preds = %scalar.ph.prol.loopexit, %scalar.ph, %middle.block, %.preheader259, %._crit_edge279
  %331 = icmp eq i32 %2, 1
  br i1 %331, label %332, label %.thread251

332:                                              ; preds = %.loopexit260
  %333 = getelementptr inbounds i8, ptr %0, i64 220
  %334 = load i32, ptr %333, align 4, !tbaa !51
  %switch = icmp ult i32 %334, 2
  br i1 %switch, label %.thread251, label %335

335:                                              ; preds = %332
  %336 = zext i32 %29 to i64
  %337 = icmp slt i32 %29, 0
  %338 = shl nuw nsw i64 %336, 3
  %339 = select i1 %337, i64 -1, i64 %338
  %340 = call noalias noundef nonnull ptr @_Znam(i64 noundef %339) #11
  %341 = call noalias noundef nonnull ptr @_Znam(i64 noundef %339) #11
  %342 = icmp sgt i32 %29, 0
  br i1 %342, label %.lr.ph282, label %._crit_edge283

.lr.ph282:                                        ; preds = %335
  %343 = getelementptr inbounds i8, ptr %0, i64 960
  %344 = load ptr, ptr %343, align 8, !tbaa !30
  %345 = load ptr, ptr %10, align 8, !tbaa !46
  %346 = mul nsw i32 %34, %28
  %xtraiter440 = and i64 %336, 1
  %347 = icmp eq i32 %29, 1
  br i1 %347, label %._crit_edge283.loopexit.unr-lcssa, label %.lr.ph282.new

.lr.ph282.new:                                    ; preds = %.lr.ph282
  %unroll_iter = and i64 %336, 2147483646
  br label %348

348:                                              ; preds = %348, %.lr.ph282.new
  %indvars.iv323 = phi i64 [ 0, %.lr.ph282.new ], [ %indvars.iv.next324.1, %348 ]
  %niter = phi i64 [ 0, %.lr.ph282.new ], [ %niter.next.1, %348 ]
  %349 = getelementptr inbounds i32, ptr %345, i64 %indvars.iv323
  %350 = load i32, ptr %349, align 4, !tbaa !47
  %351 = add nsw i32 %350, %346
  %352 = sext i32 %351 to i64
  %353 = getelementptr inbounds double, ptr %344, i64 %352
  %354 = load double, ptr %353, align 8, !tbaa !32
  %355 = getelementptr inbounds double, ptr %341, i64 %indvars.iv323
  store double %354, ptr %355, align 8, !tbaa !32
  %indvars.iv.next324 = or disjoint i64 %indvars.iv323, 1
  %356 = getelementptr inbounds i32, ptr %345, i64 %indvars.iv.next324
  %357 = load i32, ptr %356, align 4, !tbaa !47
  %358 = add nsw i32 %357, %346
  %359 = sext i32 %358 to i64
  %360 = getelementptr inbounds double, ptr %344, i64 %359
  %361 = load double, ptr %360, align 8, !tbaa !32
  %362 = getelementptr inbounds double, ptr %341, i64 %indvars.iv.next324
  store double %361, ptr %362, align 8, !tbaa !32
  %indvars.iv.next324.1 = add nuw nsw i64 %indvars.iv323, 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_edge283.loopexit.unr-lcssa, label %348, !llvm.loop !52

._crit_edge283.loopexit.unr-lcssa:                ; preds = %348, %.lr.ph282
  %indvars.iv323.unr = phi i64 [ 0, %.lr.ph282 ], [ %indvars.iv.next324.1, %348 ]
  %lcmp.mod441.not = icmp eq i64 %xtraiter440, 0
  br i1 %lcmp.mod441.not, label %._crit_edge283, label %._crit_edge283.loopexit.epilog-lcssa

._crit_edge283.loopexit.epilog-lcssa:             ; preds = %._crit_edge283.loopexit.unr-lcssa
  %363 = getelementptr inbounds i32, ptr %345, i64 %indvars.iv323.unr
  %364 = load i32, ptr %363, align 4, !tbaa !47
  %365 = add nsw i32 %364, %346
  %366 = sext i32 %365 to i64
  %367 = getelementptr inbounds double, ptr %344, i64 %366
  %368 = load double, ptr %367, align 8, !tbaa !32
  %369 = getelementptr inbounds double, ptr %341, i64 %indvars.iv323.unr
  store double %368, ptr %369, align 8, !tbaa !32
  br label %._crit_edge283

._crit_edge283:                                   ; preds = %._crit_edge283.loopexit.epilog-lcssa, %._crit_edge283.loopexit.unr-lcssa, %335
  %370 = getelementptr inbounds i8, ptr %0, i64 16
  %371 = load ptr, ptr %370, align 8, !tbaa !53
  %372 = load ptr, ptr %371, align 8, !tbaa !5
  %373 = getelementptr i8, ptr %372, i64 -24
  %374 = load i64, ptr %373, align 8
  %375 = getelementptr inbounds i8, ptr %371, i64 %374
  %376 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %52)
  %377 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %52)
  %378 = load ptr, ptr %375, align 8, !tbaa !5
  %379 = getelementptr inbounds i8, ptr %378, i64 136
  %380 = load ptr, ptr %379, align 8
  %381 = call noundef i32 %380(ptr noundef nonnull align 8 dereferenceable(12) %375, ptr noundef %376, ptr noundef %377, i32 noundef 1, double noundef 1.000000e+00, ptr noundef nonnull %341, i32 noundef %29, double noundef 0.000000e+00, ptr noundef nonnull %340, i32 noundef %29, i32 noundef 1)
  call void @_ZdaPv(ptr noundef nonnull %341) #12
  %382 = icmp sgt i32 %34, 0
  br i1 %382, label %383, label %447

383:                                              ; preds = %._crit_edge283
  %384 = zext nneg i32 %34 to i64
  %385 = shl nuw nsw i64 %384, 3
  %386 = call noalias noundef nonnull ptr @_Znam(i64 noundef %385) #11
  call void @llvm.memset.p0.i64(ptr nonnull align 8 %386, i8 0, i64 %385, i1 false), !tbaa !32
  %387 = call noalias noundef nonnull ptr @_Znam(i64 noundef %385) #11
  br i1 %342, label %.lr.ph287.us.preheader, label %._crit_edge292

.lr.ph287.us.preheader:                           ; preds = %383
  %388 = load ptr, ptr %10, align 8, !tbaa !46
  %389 = getelementptr inbounds i8, ptr %0, i64 960
  %390 = load ptr, ptr %389, align 8
  %391 = sext i32 %28 to i64
  %392 = shl nuw nsw i64 %384, 3
  %scevgep = getelementptr i8, ptr %386, i64 %392
  %scevgep414 = getelementptr i8, ptr %390, i64 %392
  %min.iters.check418 = icmp ugt i32 %34, 3
  %ident.check.not = icmp eq i32 %28, 1
  %or.cond432 = and i1 %min.iters.check418, %ident.check.not
  %n.vec421 = and i64 %384, 2147483644
  %cmp.n430 = icmp eq i64 %n.vec421, %384
  %xtraiter442 = and i64 %384, 1
  %lcmp.mod443.not = icmp eq i64 %xtraiter442, 0
  %393 = add nsw i64 %384, -1
  br label %.lr.ph287.us

.lr.ph287.us:                                     ; preds = %.lr.ph287.us.preheader, %._crit_edge288.us
  %indvars.iv336 = phi i64 [ 0, %.lr.ph287.us.preheader ], [ %indvars.iv.next337, %._crit_edge288.us ]
  %394 = getelementptr inbounds i32, ptr %388, i64 %indvars.iv336
  %395 = load i32, ptr %394, align 4, !tbaa !47
  %396 = getelementptr inbounds double, ptr %340, i64 %indvars.iv336
  %397 = load double, ptr %396, align 8, !tbaa !32
  %398 = sext i32 %395 to i64
  %invariant.gep = getelementptr double, ptr %390, i64 %398
  br i1 %or.cond432, label %vector.memcheck413, label %scalar.ph417.preheader

vector.memcheck413:                               ; preds = %.lr.ph287.us
  %399 = shl nsw i64 %398, 3
  %scevgep415 = getelementptr i8, ptr %scevgep414, i64 %399
  %bound0 = icmp ult ptr %386, %scevgep415
  %bound1 = icmp ult ptr %invariant.gep, %scevgep
  %found.conflict = and i1 %bound0, %bound1
  br i1 %found.conflict, label %scalar.ph417.preheader, label %vector.ph419

vector.ph419:                                     ; preds = %vector.memcheck413
  %broadcast.splatinsert = insertelement <2 x double> poison, double %397, i64 0
  %broadcast.splat = shufflevector <2 x double> %broadcast.splatinsert, <2 x double> poison, <2 x i32> zeroinitializer
  br label %vector.body423

vector.body423:                                   ; preds = %vector.body423, %vector.ph419
  %index424 = phi i64 [ 0, %vector.ph419 ], [ %index.next429, %vector.body423 ]
  %400 = getelementptr double, ptr %invariant.gep, i64 %index424
  %401 = getelementptr i8, ptr %400, i64 16
  %wide.load425 = load <2 x double>, ptr %400, align 8, !tbaa !32, !alias.scope !54
  %wide.load426 = load <2 x double>, ptr %401, align 8, !tbaa !32, !alias.scope !54
  %402 = getelementptr inbounds double, ptr %386, i64 %index424
  %403 = getelementptr inbounds i8, ptr %402, i64 16
  %wide.load427 = load <2 x double>, ptr %402, align 8, !tbaa !32, !alias.scope !57, !noalias !54
  %wide.load428 = load <2 x double>, ptr %403, align 8, !tbaa !32, !alias.scope !57, !noalias !54
  %404 = call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %wide.load425, <2 x double> %broadcast.splat, <2 x double> %wide.load427)
  %405 = call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %wide.load426, <2 x double> %broadcast.splat, <2 x double> %wide.load428)
  store <2 x double> %404, ptr %402, align 8, !tbaa !32, !alias.scope !57, !noalias !54
  store <2 x double> %405, ptr %403, align 8, !tbaa !32, !alias.scope !57, !noalias !54
  %index.next429 = add nuw i64 %index424, 4
  %406 = icmp eq i64 %index.next429, %n.vec421
  br i1 %406, label %middle.block416, label %vector.body423, !llvm.loop !59

middle.block416:                                  ; preds = %vector.body423
  br i1 %cmp.n430, label %._crit_edge288.us, label %scalar.ph417.preheader

scalar.ph417.preheader:                           ; preds = %middle.block416, %vector.memcheck413, %.lr.ph287.us
  %indvars.iv331.ph = phi i64 [ 0, %vector.memcheck413 ], [ 0, %.lr.ph287.us ], [ %n.vec421, %middle.block416 ]
  br i1 %lcmp.mod443.not, label %scalar.ph417.prol.loopexit, label %scalar.ph417.prol

scalar.ph417.prol:                                ; preds = %scalar.ph417.preheader
  %407 = mul nsw i64 %indvars.iv331.ph, %391
  %gep.prol = getelementptr double, ptr %invariant.gep, i64 %407
  %408 = load double, ptr %gep.prol, align 8, !tbaa !32
  %409 = getelementptr inbounds double, ptr %386, i64 %indvars.iv331.ph
  %410 = load double, ptr %409, align 8, !tbaa !32
  %411 = call double @llvm.fmuladd.f64(double %408, double %397, double %410)
  store double %411, ptr %409, align 8, !tbaa !32
  %indvars.iv.next332.prol = or disjoint i64 %indvars.iv331.ph, 1
  br label %scalar.ph417.prol.loopexit

scalar.ph417.prol.loopexit:                       ; preds = %scalar.ph417.prol, %scalar.ph417.preheader
  %indvars.iv331.unr = phi i64 [ %indvars.iv331.ph, %scalar.ph417.preheader ], [ %indvars.iv.next332.prol, %scalar.ph417.prol ]
  %412 = icmp eq i64 %indvars.iv331.ph, %393
  br i1 %412, label %._crit_edge288.us, label %scalar.ph417

scalar.ph417:                                     ; preds = %scalar.ph417.prol.loopexit, %scalar.ph417
  %indvars.iv331 = phi i64 [ %indvars.iv.next332.1, %scalar.ph417 ], [ %indvars.iv331.unr, %scalar.ph417.prol.loopexit ]
  %413 = mul nsw i64 %indvars.iv331, %391
  %gep = getelementptr double, ptr %invariant.gep, i64 %413
  %414 = load double, ptr %gep, align 8, !tbaa !32
  %415 = getelementptr inbounds double, ptr %386, i64 %indvars.iv331
  %416 = load double, ptr %415, align 8, !tbaa !32
  %417 = call double @llvm.fmuladd.f64(double %414, double %397, double %416)
  store double %417, ptr %415, align 8, !tbaa !32
  %indvars.iv.next332 = add nuw nsw i64 %indvars.iv331, 1
  %418 = mul nsw i64 %indvars.iv.next332, %391
  %gep.1 = getelementptr double, ptr %invariant.gep, i64 %418
  %419 = load double, ptr %gep.1, align 8, !tbaa !32
  %420 = getelementptr inbounds double, ptr %386, i64 %indvars.iv.next332
  %421 = load double, ptr %420, align 8, !tbaa !32
  %422 = call double @llvm.fmuladd.f64(double %419, double %397, double %421)
  store double %422, ptr %420, align 8, !tbaa !32
  %indvars.iv.next332.1 = add nuw nsw i64 %indvars.iv331, 2
  %exitcond335.not.1 = icmp eq i64 %indvars.iv.next332.1, %384
  br i1 %exitcond335.not.1, label %._crit_edge288.us, label %scalar.ph417, !llvm.loop !60

._crit_edge288.us:                                ; preds = %scalar.ph417.prol.loopexit, %scalar.ph417, %middle.block416
  %indvars.iv.next337 = add nuw nsw i64 %indvars.iv336, 1
  %exitcond340.not = icmp eq i64 %indvars.iv.next337, %336
  br i1 %exitcond340.not, label %._crit_edge292, label %.lr.ph287.us, !llvm.loop !61

._crit_edge292:                                   ; preds = %._crit_edge288.us, %383
  %423 = load ptr, ptr %0, align 8, !tbaa !5
  %424 = getelementptr inbounds i8, ptr %423, i64 112
  %425 = load ptr, ptr %424, align 8
  %426 = call noundef i32 %425(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef nonnull %386, i32 noundef 1, ptr noundef nonnull %387)
  %.not240 = icmp eq i32 %426, 0
  br i1 %.not240, label %.lr.ph295, label %.thread

.lr.ph295:                                        ; preds = %._crit_edge292
  %427 = getelementptr inbounds i8, ptr %0, i64 168
  %428 = load ptr, ptr %427, align 8, !tbaa !29
  %429 = mul nsw i32 %34, %28
  %430 = sext i32 %429 to i64
  %smax = call i32 @llvm.smax.i32(i32 %34, i32 1)
  %wide.trip.count344 = zext nneg i32 %smax to i64
  %invariant.gep352 = getelementptr double, ptr %428, i64 %430
  %xtraiter446 = and i64 %wide.trip.count344, 1
  %431 = icmp eq i32 %34, 1
  br i1 %431, label %._crit_edge296.unr-lcssa, label %.lr.ph295.new

.lr.ph295.new:                                    ; preds = %.lr.ph295
  %unroll_iter449 = and i64 %wide.trip.count344, 2147483646
  br label %434

.thread:                                          ; preds = %._crit_edge292
  call void @_ZdaPv(ptr noundef nonnull %340) #12
  call void @_ZdaPv(ptr noundef nonnull %387) #12
  call void @_ZdaPv(ptr noundef nonnull %386) #12
  %432 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %433 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %432, i32 noundef 80, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3918, i32 noundef 1)
  br label %570

434:                                              ; preds = %434, %.lr.ph295.new
  %indvars.iv341 = phi i64 [ 0, %.lr.ph295.new ], [ %indvars.iv.next342.1, %434 ]
  %.0214293 = phi double [ 0.000000e+00, %.lr.ph295.new ], [ %442, %434 ]
  %niter450 = phi i64 [ 0, %.lr.ph295.new ], [ %niter450.next.1, %434 ]
  %435 = getelementptr inbounds double, ptr %387, i64 %indvars.iv341
  %436 = load double, ptr %435, align 8, !tbaa !32
  %437 = fneg double %436
  %438 = call double @llvm.fmuladd.f64(double %437, double %436, double %.0214293)
  %gep353 = getelementptr double, ptr %invariant.gep352, i64 %indvars.iv341
  store double %436, ptr %gep353, align 8, !tbaa !32
  %indvars.iv.next342 = or disjoint i64 %indvars.iv341, 1
  %439 = getelementptr inbounds double, ptr %387, i64 %indvars.iv.next342
  %440 = load double, ptr %439, align 8, !tbaa !32
  %441 = fneg double %440
  %442 = call double @llvm.fmuladd.f64(double %441, double %440, double %438)
  %gep353.1 = getelementptr double, ptr %invariant.gep352, i64 %indvars.iv.next342
  store double %440, ptr %gep353.1, align 8, !tbaa !32
  %indvars.iv.next342.1 = add nuw nsw i64 %indvars.iv341, 2
  %niter450.next.1 = add i64 %niter450, 2
  %niter450.ncmp.1 = icmp eq i64 %niter450.next.1, %unroll_iter449
  br i1 %niter450.ncmp.1, label %._crit_edge296.unr-lcssa, label %434, !llvm.loop !62

._crit_edge296.unr-lcssa:                         ; preds = %434, %.lr.ph295
  %.lcssa433.ph = phi double [ poison, %.lr.ph295 ], [ %442, %434 ]
  %indvars.iv341.unr = phi i64 [ 0, %.lr.ph295 ], [ %indvars.iv.next342.1, %434 ]
  %.0214293.unr = phi double [ 0.000000e+00, %.lr.ph295 ], [ %442, %434 ]
  %lcmp.mod447.not = icmp eq i64 %xtraiter446, 0
  br i1 %lcmp.mod447.not, label %._crit_edge296, label %._crit_edge296.epilog-lcssa

._crit_edge296.epilog-lcssa:                      ; preds = %._crit_edge296.unr-lcssa
  %443 = getelementptr inbounds double, ptr %387, i64 %indvars.iv341.unr
  %444 = load double, ptr %443, align 8, !tbaa !32
  %445 = fneg double %444
  %446 = call double @llvm.fmuladd.f64(double %445, double %444, double %.0214293.unr)
  %gep353.epil = getelementptr double, ptr %invariant.gep352, i64 %indvars.iv341.unr
  store double %444, ptr %gep353.epil, align 8, !tbaa !32
  br label %._crit_edge296

._crit_edge296:                                   ; preds = %._crit_edge296.unr-lcssa, %._crit_edge296.epilog-lcssa
  %.lcssa433 = phi double [ %.lcssa433.ph, %._crit_edge296.unr-lcssa ], [ %446, %._crit_edge296.epilog-lcssa ]
  call void @_ZdaPv(ptr noundef nonnull %387) #12
  call void @_ZdaPv(ptr noundef nonnull %386) #12
  br label %447

447:                                              ; preds = %._crit_edge296, %._crit_edge283
  %.2216 = phi double [ %.lcssa433, %._crit_edge296 ], [ 0.000000e+00, %._crit_edge283 ]
  br i1 %342, label %.lr.ph300, label %._crit_edge301

.lr.ph300:                                        ; preds = %447
  %448 = getelementptr inbounds i8, ptr %0, i64 960
  %449 = load ptr, ptr %448, align 8, !tbaa !30
  %450 = load ptr, ptr %10, align 8, !tbaa !46
  %451 = mul nsw i32 %34, %28
  %xtraiter452 = and i64 %336, 1
  %452 = icmp eq i32 %29, 1
  br i1 %452, label %._crit_edge301.loopexit.unr-lcssa, label %.lr.ph300.new

.lr.ph300.new:                                    ; preds = %.lr.ph300
  %unroll_iter455 = and i64 %336, 2147483646
  br label %453

453:                                              ; preds = %453, %.lr.ph300.new
  %indvars.iv346 = phi i64 [ 0, %.lr.ph300.new ], [ %indvars.iv.next347.1, %453 ]
  %.3217298 = phi double [ %.2216, %.lr.ph300.new ], [ %471, %453 ]
  %niter456 = phi i64 [ 0, %.lr.ph300.new ], [ %niter456.next.1, %453 ]
  %454 = getelementptr inbounds i32, ptr %450, i64 %indvars.iv346
  %455 = load i32, ptr %454, align 4, !tbaa !47
  %456 = add nsw i32 %455, %451
  %457 = sext i32 %456 to i64
  %458 = getelementptr inbounds double, ptr %449, i64 %457
  %459 = load double, ptr %458, align 8, !tbaa !32
  %460 = getelementptr inbounds double, ptr %340, i64 %indvars.iv346
  %461 = load double, ptr %460, align 8, !tbaa !32
  %462 = call double @llvm.fmuladd.f64(double %459, double %461, double %.3217298)
  %indvars.iv.next347 = or disjoint i64 %indvars.iv346, 1
  %463 = getelementptr inbounds i32, ptr %450, i64 %indvars.iv.next347
  %464 = load i32, ptr %463, align 4, !tbaa !47
  %465 = add nsw i32 %464, %451
  %466 = sext i32 %465 to i64
  %467 = getelementptr inbounds double, ptr %449, i64 %466
  %468 = load double, ptr %467, align 8, !tbaa !32
  %469 = getelementptr inbounds double, ptr %340, i64 %indvars.iv.next347
  %470 = load double, ptr %469, align 8, !tbaa !32
  %471 = call double @llvm.fmuladd.f64(double %468, double %470, double %462)
  %indvars.iv.next347.1 = add nuw nsw i64 %indvars.iv346, 2
  %niter456.next.1 = add i64 %niter456, 2
  %niter456.ncmp.1 = icmp eq i64 %niter456.next.1, %unroll_iter455
  br i1 %niter456.ncmp.1, label %._crit_edge301.loopexit.unr-lcssa, label %453, !llvm.loop !63

._crit_edge301.loopexit.unr-lcssa:                ; preds = %453, %.lr.ph300
  %.lcssa.ph = phi double [ poison, %.lr.ph300 ], [ %471, %453 ]
  %indvars.iv346.unr = phi i64 [ 0, %.lr.ph300 ], [ %indvars.iv.next347.1, %453 ]
  %.3217298.unr = phi double [ %.2216, %.lr.ph300 ], [ %471, %453 ]
  %lcmp.mod453.not = icmp eq i64 %xtraiter452, 0
  br i1 %lcmp.mod453.not, label %._crit_edge301, label %._crit_edge301.loopexit.epilog-lcssa

._crit_edge301.loopexit.epilog-lcssa:             ; preds = %._crit_edge301.loopexit.unr-lcssa
  %472 = getelementptr inbounds i32, ptr %450, i64 %indvars.iv346.unr
  %473 = load i32, ptr %472, align 4, !tbaa !47
  %474 = add nsw i32 %473, %451
  %475 = sext i32 %474 to i64
  %476 = getelementptr inbounds double, ptr %449, i64 %475
  %477 = load double, ptr %476, align 8, !tbaa !32
  %478 = getelementptr inbounds double, ptr %340, i64 %indvars.iv346.unr
  %479 = load double, ptr %478, align 8, !tbaa !32
  %480 = call double @llvm.fmuladd.f64(double %477, double %479, double %.3217298.unr)
  br label %._crit_edge301

._crit_edge301:                                   ; preds = %._crit_edge301.loopexit.epilog-lcssa, %._crit_edge301.loopexit.unr-lcssa, %447
  %.3217.lcssa = phi double [ %.2216, %447 ], [ %.lcssa.ph, %._crit_edge301.loopexit.unr-lcssa ], [ %480, %._crit_edge301.loopexit.epilog-lcssa ]
  call void @_ZdaPv(ptr noundef nonnull %340) #12
  %481 = getelementptr inbounds i8, ptr %0, i64 284
  %482 = load i32, ptr %481, align 4, !tbaa !28
  %483 = icmp eq i32 %482, 1
  %484 = icmp eq i32 %3, 1
  %or.cond4 = and i1 %484, %483
  %485 = load i32, ptr %9, align 4
  %486 = icmp eq i32 %485, 0
  %or.cond6 = select i1 %or.cond4, i1 %486, i1 false
  br i1 %or.cond6, label %487, label %508

487:                                              ; preds = %._crit_edge301
  %488 = getelementptr inbounds i8, ptr %0, i64 408
  %489 = load double, ptr %488, align 8, !tbaa !64
  %490 = fcmp ogt double %.3217.lcssa, %489
  br i1 %490, label %.thread254.sink.split.sink.split, label %491

491:                                              ; preds = %487
  store i32 4, ptr %333, align 4, !tbaa !51
  %492 = getelementptr inbounds i8, ptr %0, i64 496
  %493 = getelementptr inbounds i8, ptr %0, i64 168
  %494 = load ptr, ptr %493, align 8, !tbaa !29
  %495 = getelementptr inbounds i8, ptr %0, i64 960
  %496 = load ptr, ptr %495, align 8, !tbaa !30
  %497 = getelementptr inbounds i8, ptr %0, i64 952
  %498 = load ptr, ptr %497, align 8, !tbaa !31
  %499 = call noundef i32 @_ZNK7qpOASES7Flipper3getEPNS_6BoundsEPdPNS_11ConstraintsES3_S3_(ptr noundef nonnull align 8 dereferenceable(272) %492, ptr noundef nonnull %52, ptr noundef %494, ptr noundef nonnull %38, ptr noundef %496, ptr noundef %498)
  %500 = call noundef i32 @_ZN7qpOASES11Constraints9flipFixedEi(ptr noundef nonnull align 8 dereferenceable(120) %38, i32 noundef %1)
  %501 = getelementptr inbounds i8, ptr %0, i64 776
  store i32 %1, ptr %501, align 8, !tbaa !65
  %502 = getelementptr inbounds i8, ptr %0, i64 792
  store i32 2, ptr %502, align 8, !tbaa !66
  %503 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %38, i32 noundef %1)
  switch i32 %503, label %505 [
    i32 -1, label %523
    i32 1, label %504
  ]

504:                                              ; preds = %491
  br label %523

505:                                              ; preds = %491
  %506 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %507 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %506, i32 noundef 25, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3958, i32 noundef 1)
  br label %570

508:                                              ; preds = %._crit_edge301
  br i1 %486, label %509, label %.thread251

509:                                              ; preds = %508
  %510 = fcmp ogt double %.3217.lcssa, 1.000000e-25
  br i1 %510, label %.thread254.sink.split.sink.split, label %511

511:                                              ; preds = %509
  %512 = icmp eq i32 %3, 0
  br i1 %512, label %.thread254.sink.split, label %513

513:                                              ; preds = %511
  store i32 4, ptr %333, align 4, !tbaa !51
  %514 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %515 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %514, i32 noundef 99, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3977, i32 noundef 1)
  br label %570

.thread254.sink.split.sink.split:                 ; preds = %509, %487
  %516 = call noundef double @_ZN7qpOASES7getSqrtEd(double noundef %.3217.lcssa)
  br label %.thread254.sink.split

.thread254.sink.split:                            ; preds = %.thread254.sink.split.sink.split, %511
  %.sink = phi double [ 2.221000e-14, %511 ], [ %516, %.thread254.sink.split.sink.split ]
  %517 = getelementptr inbounds i8, ptr %0, i64 168
  %518 = load ptr, ptr %517, align 8, !tbaa !29
  %519 = add i32 %28, 1
  %520 = mul i32 %34, %519
  %521 = sext i32 %520 to i64
  %522 = getelementptr inbounds double, ptr %518, i64 %521
  store double %.sink, ptr %522, align 8, !tbaa !32
  br label %.thread251

523:                                              ; preds = %491, %504
  %.sink382 = phi i64 [ 816, %504 ], [ 824, %491 ]
  %.sink377 = phi i64 [ 824, %504 ], [ 816, %491 ]
  %.sink371 = phi i64 [ 984, %504 ], [ 992, %491 ]
  %.sink365 = phi i64 [ 992, %504 ], [ 984, %491 ]
  %524 = getelementptr inbounds i8, ptr %0, i64 %.sink382
  %525 = load ptr, ptr %524, align 8, !tbaa !46
  %526 = sext i32 %1 to i64
  %527 = getelementptr inbounds double, ptr %525, i64 %526
  %528 = load double, ptr %527, align 8, !tbaa !32
  %529 = getelementptr inbounds i8, ptr %0, i64 %.sink377
  %530 = load ptr, ptr %529, align 8, !tbaa !46
  %531 = getelementptr inbounds double, ptr %530, i64 %526
  store double %528, ptr %531, align 8, !tbaa !32
  %532 = getelementptr inbounds i8, ptr %0, i64 %.sink371
  %533 = load ptr, ptr %532, align 8, !tbaa !46
  %534 = getelementptr inbounds double, ptr %533, i64 %526
  %535 = load double, ptr %534, align 8, !tbaa !32
  %536 = fneg double %535
  %537 = getelementptr inbounds i8, ptr %0, i64 %.sink365
  %538 = load ptr, ptr %537, align 8, !tbaa !46
  %539 = getelementptr inbounds double, ptr %538, i64 %526
  store double %536, ptr %539, align 8, !tbaa !32
  %540 = getelementptr inbounds i8, ptr %0, i64 780
  store i32 %1, ptr %540, align 4, !tbaa !67
  br label %546

.thread251:                                       ; preds = %508, %.thread254.sink.split, %332, %.loopexit260
  %541 = getelementptr inbounds i8, ptr %0, i64 780
  store i32 %1, ptr %541, align 4, !tbaa !67
  %542 = call noundef i32 @_ZN7qpOASES11Constraints20moveActiveToInactiveEi(ptr noundef nonnull align 8 dereferenceable(120) %38, i32 noundef %1)
  %.not241 = icmp eq i32 %542, 0
  br i1 %.not241, label %546, label %543

543:                                              ; preds = %.thread251
  %544 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %545 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %544, i32 noundef 80, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3989, i32 noundef 1)
  br label %570

546:                                              ; preds = %523, %.thread251
  %547 = load i32, ptr %9, align 4, !tbaa !27
  %548 = icmp eq i32 %547, 1
  br i1 %548, label %549, label %570

549:                                              ; preds = %546
  %550 = getelementptr inbounds i8, ptr %0, i64 168
  %551 = load ptr, ptr %550, align 8, !tbaa !29
  %552 = add i32 %28, 1
  %553 = mul i32 %34, %552
  %554 = sext i32 %553 to i64
  %555 = getelementptr inbounds double, ptr %551, i64 %554
  store double 0.000000e+00, ptr %555, align 8, !tbaa !32
  %556 = load i32, ptr %7, align 4, !tbaa !27
  %.not242 = icmp eq i32 %556, 0
  %557 = load i32, ptr %6, align 4, !tbaa !47
  %558 = load i32, ptr %8, align 4, !tbaa !68
  %559 = load ptr, ptr %0, align 8, !tbaa !5
  br i1 %.not242, label %565, label %560

560:                                              ; preds = %549
  %561 = getelementptr inbounds i8, ptr %559, i64 224
  %562 = load ptr, ptr %561, align 8
  %563 = call noundef i32 %562(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %557, i32 noundef %558, i32 noundef 1, i32 noundef 0)
  %564 = getelementptr inbounds i8, ptr %0, i64 784
  store i32 1, ptr %564, align 8, !tbaa !69
  br label %570

565:                                              ; preds = %549
  %566 = getelementptr inbounds i8, ptr %559, i64 200
  %567 = load ptr, ptr %566, align 8
  %568 = call noundef i32 %567(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %557, i32 noundef %558, i32 noundef 1, i32 noundef 0)
  %569 = getelementptr inbounds i8, ptr %0, i64 792
  store i32 1, ptr %569, align 8, !tbaa !66
  br label %570

570:                                              ; preds = %505, %513, %.thread, %546, %565, %560, %56, %543
  %.3 = phi i32 [ %545, %543 ], [ %57, %56 ], [ 0, %560 ], [ 0, %565 ], [ 0, %546 ], [ %507, %505 ], [ %515, %513 ], [ %433, %.thread ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #10
  br label %571

571:                                              ; preds = %570, %48, %43
  %.4 = phi i32 [ %45, %43 ], [ %50, %48 ], [ %.3, %570 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %9) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %7) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %6) #10
  br label %572

572:                                              ; preds = %571, %24
  %.5 = phi i32 [ %26, %24 ], [ %.4, %571 ]
  ret i32 %.5
}

declare noundef i32 @_ZNK7qpOASES9Indexlist8getIndexEi(ptr noundef nonnull align 8 dereferenceable(36), i32 noundef) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES8QProblem22ensureNonzeroCurvatureENS_11BooleanTypeEiRS1_S2_RiRNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(1064), i32 noundef, i32 noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #7 align 2

declare noundef i32 @_ZN7qpOASES7Flipper3setEPKNS_6BoundsEPKdPKNS_11ConstraintsES5_S5_(ptr noundef nonnull align 8 dereferenceable(272), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #1

declare noundef i32 @_ZNK7qpOASES7Flipper3getEPNS_6BoundsEPdPNS_11ConstraintsES3_S3_(ptr noundef nonnull align 8 dereferenceable(272), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #1

declare noundef i32 @_ZN7qpOASES11Constraints9flipFixedEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) local_unnamed_addr #1

declare noundef i32 @_ZN7qpOASES11Constraints20moveActiveToInactiveEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) local_unnamed_addr #1

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #8

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare i32 @llvm.smax.i32(i32, i32) #9

; 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 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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 = { 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 #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 = { 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 nocallback nofree nosync nounwind speculatable willreturn memory(none) }
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 = { nocallback nofree nounwind willreturn memory(argmem: write) }
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, !6, i64 0}
!6 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = !{!9, !16, i64 968}
!9 = !{!"_ZTSN7qpOASES8QProblemE", !10, i64 0, !11, i64 800, !13, i64 808, !13, i64 816, !13, i64 824, !25, i64 832, !13, i64 952, !13, i64 960, !16, i64 968, !13, i64 976, !13, i64 984, !13, i64 992, !13, i64 1000, !13, i64 1008, !13, i64 1016, !13, i64 1024, !13, i64 1032, !13, i64 1040, !13, i64 1048, !13, i64 1056}
!10 = !{!"_ZTSN7qpOASES9QProblemBE", !11, i64 8, !13, i64 16, !13, i64 24, !13, i64 32, !13, i64 40, !14, i64 48, !13, i64 168, !11, i64 176, !13, i64 184, !13, i64 192, !18, i64 200, !19, i64 208, !11, i64 212, !11, i64 216, !20, i64 220, !18, i64 224, !16, i64 232, !13, i64 240, !18, i64 248, !18, i64 256, !16, i64 264, !21, i64 272, !24, i64 496, !26, i64 768}
!11 = !{!"_ZTSN7qpOASES11BooleanTypeE", !12, i64 0}
!12 = !{!"omnipotent char", !7, i64 0}
!13 = !{!"any pointer", !12, i64 0}
!14 = !{!"_ZTSN7qpOASES6BoundsE", !15, i64 0, !17, i64 40, !17, i64 80}
!15 = !{!"_ZTSN7qpOASES9SubjectToE", !16, i64 8, !13, i64 16, !13, i64 24, !11, i64 32, !11, i64 36}
!16 = !{!"int", !12, i64 0}
!17 = !{!"_ZTSN7qpOASES9IndexlistE", !13, i64 0, !13, i64 8, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28, !16, i64 32}
!18 = !{!"double", !12, i64 0}
!19 = !{!"_ZTSN7qpOASES14QProblemStatusE", !12, i64 0}
!20 = !{!"_ZTSN7qpOASES11HessianTypeE", !12, i64 0}
!21 = !{!"_ZTSN7qpOASES7OptionsE", !22, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !11, i64 24, !16, i64 28, !16, i64 32, !11, i64 36, !18, i64 40, !18, i64 48, !18, i64 56, !18, i64 64, !18, i64 72, !18, i64 80, !18, i64 88, !18, i64 96, !18, i64 104, !18, i64 112, !18, i64 120, !23, i64 128, !18, i64 136, !16, i64 144, !18, i64 152, !16, i64 160, !18, i64 168, !18, i64 176, !18, i64 184, !18, i64 192, !11, i64 200, !11, i64 204, !16, i64 208, !16, i64 212, !16, i64 216}
!22 = !{!"_ZTSN7qpOASES10PrintLevelE", !12, i64 0}
!23 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !12, i64 0}
!24 = !{!"_ZTSN7qpOASES7FlipperE", !16, i64 0, !16, i64 4, !14, i64 8, !25, i64 128, !13, i64 248, !13, i64 256, !13, i64 264}
!25 = !{!"_ZTSN7qpOASES11ConstraintsE", !15, i64 0, !17, i64 40, !17, i64 80}
!26 = !{!"_ZTSN7qpOASES13TabularOutputE", !16, i64 0, !16, i64 4, !16, i64 8, !16, i64 12, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28}
!27 = !{!11, !11, i64 0}
!28 = !{!10, !11, i64 284}
!29 = !{!10, !13, i64 168}
!30 = !{!9, !13, i64 960}
!31 = !{!9, !13, i64 952}
!32 = !{!18, !18, i64 0}
!33 = distinct !{!33, !34}
!34 = !{!"llvm.loop.unroll.disable"}
!35 = distinct !{!35, !36, !37, !38}
!36 = !{!"llvm.loop.mustprogress"}
!37 = !{!"llvm.loop.isvectorized", i32 1}
!38 = !{!"llvm.loop.unroll.runtime.disable"}
!39 = distinct !{!39, !36}
!40 = distinct !{!40, !34}
!41 = distinct !{!41, !36, !37, !38}
!42 = distinct !{!42, !36, !37, !38}
!43 = distinct !{!43, !36, !37}
!44 = distinct !{!44, !36, !37}
!45 = distinct !{!45, !36}
!46 = !{!13, !13, i64 0}
!47 = !{!16, !16, i64 0}
!48 = distinct !{!48, !36}
!49 = distinct !{!49, !36}
!50 = distinct !{!50, !36, !37}
!51 = !{!10, !20, i64 220}
!52 = distinct !{!52, !36}
!53 = !{!10, !13, i64 16}
!54 = !{!55}
!55 = distinct !{!55, !56}
!56 = distinct !{!56, !"LVerDomain"}
!57 = !{!58}
!58 = distinct !{!58, !56}
!59 = distinct !{!59, !36, !37, !38}
!60 = distinct !{!60, !36, !37}
!61 = distinct !{!61, !36}
!62 = distinct !{!62, !36}
!63 = distinct !{!63, !36}
!64 = !{!10, !18, i64 408}
!65 = !{!10, !16, i64 776}
!66 = !{!10, !16, i64 792}
!67 = !{!10, !16, i64 780}
!68 = !{!23, !23, i64 0}
!69 = !{!10, !16, i64 784}


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