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

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

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

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [104 x i8], align 1
@__const._ZN7qpOASES9QProblemB14printIterationEiiNS_15SubjectToStatusEdNS_11BooleanTypeE.excStr = external hidden unnamed_addr constant [4 x i8], align 1
@.str.41 = external hidden unnamed_addr constant [34 x i8], align 1
@.str.42 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.43 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.44 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.45 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.46 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.47 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.48 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.49 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.50 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.51 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.52 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.53 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.54 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.55 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.56 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.57 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.58 = external hidden unnamed_addr constant [71 x i8], align 1
@.str.59 = external hidden unnamed_addr constant [62 x i8], align 1
@.str.60 = external hidden unnamed_addr constant [62 x i8], align 1
@.str.61 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.62 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.63 = external hidden unnamed_addr constant [55 x i8], align 1
@.str.64 = external hidden unnamed_addr constant [55 x i8], align 1
@.str.65 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.66 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.67 = external hidden unnamed_addr constant [51 x i8], align 1

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #0

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

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) #0

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

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

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getAbsEd(double noundef) #5

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) #6

declare noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef) #0

; Function Attrs: nounwind
declare i32 @snprintf(ptr noundef, i64 noundef, ptr noundef, ...) #7

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #8

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

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES9QProblemB14printIterationEiiNS_15SubjectToStatusEdNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, double noundef %4, i32 noundef %5) #9 align 2 {
  %7 = alloca i32, align 4
  %8 = alloca ptr, align 8
  %9 = alloca i32, align 4
  %10 = alloca i32, align 4
  %11 = alloca i32, align 4
  %12 = alloca double, align 8
  %13 = alloca i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca i32, align 4
  %16 = alloca double, align 8
  %17 = alloca double, align 8
  %18 = alloca double, align 8
  %19 = alloca ptr, align 8
  %20 = alloca [160 x i8], align 16
  %21 = alloca [160 x i8], align 16
  %22 = alloca [4 x i8], align 1
  store ptr %0, ptr %8, align 8, !tbaa !5
  store i32 %1, ptr %9, align 4, !tbaa !9
  store i32 %2, ptr %10, align 4, !tbaa !9
  store i32 %3, ptr %11, align 4, !tbaa !11
  store double %4, ptr %12, align 8, !tbaa !13
  store i32 %5, ptr %13, align 4, !tbaa !15
  %23 = load ptr, ptr %8, align 8
  %24 = load i32, ptr %9, align 4, !tbaa !9
  %25 = icmp slt i32 %24, 0
  br i1 %25, label %26, label %29

26:                                               ; preds = %6
  %27 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %28 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %27, i32 noundef 3, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3703, i32 noundef 1)
  store i32 %28, ptr %7, align 4
  br label %515

29:                                               ; preds = %6
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #10
  %30 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %23)
  store i32 %30, ptr %15, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #10
  store ptr null, ptr %19, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 160, ptr %20) #10
  call void @llvm.lifetime.start.p0(i64 160, ptr %21) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #10
  call void @llvm.memcpy.p0.p0.i64(ptr align 1 %22, ptr align 1 @__const._ZN7qpOASES9QProblemB14printIterationEiiNS_15SubjectToStatusEdNS_11BooleanTypeE.excStr, i64 4, i1 false)
  %31 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 23
  %32 = getelementptr inbounds %"class.qpOASES::Options", ptr %31, i32 0, i32 0
  %33 = load i32, ptr %32, align 8, !tbaa !17
  switch i32 %33, label %513 [
    i32 -2, label %34
    i32 -1, label %373
    i32 2, label %442
  ]

34:                                               ; preds = %29
  %35 = load i32, ptr %15, align 4, !tbaa !9
  %36 = sext i32 %35 to i64
  %37 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %36, i64 8)
  %38 = extractvalue { i64, i1 } %37, 1
  %39 = extractvalue { i64, i1 } %37, 0
  %40 = select i1 %38, i64 -1, i64 %39
  %41 = call noalias noundef nonnull ptr @_Znam(i64 noundef %40) #11
  store ptr %41, ptr %19, align 8, !tbaa !5
  store double 0.000000e+00, ptr %18, align 8, !tbaa !13
  store double 0.000000e+00, ptr %17, align 8, !tbaa !13
  store double 0.000000e+00, ptr %16, align 8, !tbaa !13
  store i32 0, ptr %14, align 4, !tbaa !9
  br label %42

42:                                               ; preds = %64, %34
  %43 = load i32, ptr %14, align 4, !tbaa !9
  %44 = load i32, ptr %15, align 4, !tbaa !9
  %45 = icmp slt i32 %43, %44
  br i1 %45, label %46, label %67

46:                                               ; preds = %42
  %47 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 3
  %48 = load ptr, ptr %47, align 8, !tbaa !29
  %49 = load i32, ptr %14, align 4, !tbaa !9
  %50 = sext i32 %49 to i64
  %51 = getelementptr inbounds double, ptr %48, i64 %50
  %52 = load double, ptr %51, align 8, !tbaa !13
  %53 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 10
  %54 = load ptr, ptr %53, align 8, !tbaa !30
  %55 = load i32, ptr %14, align 4, !tbaa !9
  %56 = sext i32 %55 to i64
  %57 = getelementptr inbounds double, ptr %54, i64 %56
  %58 = load double, ptr %57, align 8, !tbaa !13
  %59 = fsub double %52, %58
  %60 = load ptr, ptr %19, align 8, !tbaa !5
  %61 = load i32, ptr %14, align 4, !tbaa !9
  %62 = sext i32 %61 to i64
  %63 = getelementptr inbounds double, ptr %60, i64 %62
  store double %59, ptr %63, align 8, !tbaa !13
  br label %64

64:                                               ; preds = %46
  %65 = load i32, ptr %14, align 4, !tbaa !9
  %66 = add nsw i32 %65, 1
  store i32 %66, ptr %14, align 4, !tbaa !9
  br label %42, !llvm.loop !31

67:                                               ; preds = %42
  %68 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 2
  %69 = load ptr, ptr %68, align 8, !tbaa !33
  %70 = load ptr, ptr %69, align 8, !tbaa !34
  %71 = getelementptr i8, ptr %70, i64 -24
  %72 = load i64, ptr %71, align 8
  %73 = getelementptr inbounds i8, ptr %69, i64 %72
  %74 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 9
  %75 = load ptr, ptr %74, align 8, !tbaa !36
  %76 = load i32, ptr %15, align 4, !tbaa !9
  %77 = load ptr, ptr %19, align 8, !tbaa !5
  %78 = load i32, ptr %15, align 4, !tbaa !9
  %79 = load ptr, ptr %73, align 8, !tbaa !34
  %80 = getelementptr inbounds ptr, ptr %79, i64 15
  %81 = load ptr, ptr %80, align 8
  %82 = call noundef i32 %81(ptr noundef nonnull align 8 dereferenceable(12) %73, i32 noundef 1, double noundef 1.000000e+00, ptr noundef %75, i32 noundef %76, double noundef 1.000000e+00, ptr noundef %77, i32 noundef %78)
  store i32 0, ptr %14, align 4, !tbaa !9
  br label %83

83:                                               ; preds = %104, %67
  %84 = load i32, ptr %14, align 4, !tbaa !9
  %85 = load i32, ptr %15, align 4, !tbaa !9
  %86 = icmp slt i32 %84, %85
  br i1 %86, label %87, label %107

87:                                               ; preds = %83
  %88 = load ptr, ptr %19, align 8, !tbaa !5
  %89 = load i32, ptr %14, align 4, !tbaa !9
  %90 = sext i32 %89 to i64
  %91 = getelementptr inbounds double, ptr %88, i64 %90
  %92 = load double, ptr %91, align 8, !tbaa !13
  %93 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %92)
  %94 = load double, ptr %16, align 8, !tbaa !13
  %95 = fcmp ogt double %93, %94
  br i1 %95, label %96, label %103

96:                                               ; preds = %87
  %97 = load ptr, ptr %19, align 8, !tbaa !5
  %98 = load i32, ptr %14, align 4, !tbaa !9
  %99 = sext i32 %98 to i64
  %100 = getelementptr inbounds double, ptr %97, i64 %99
  %101 = load double, ptr %100, align 8, !tbaa !13
  %102 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %101)
  store double %102, ptr %16, align 8, !tbaa !13
  br label %103

103:                                              ; preds = %96, %87
  br label %104

104:                                              ; preds = %103
  %105 = load i32, ptr %14, align 4, !tbaa !9
  %106 = add nsw i32 %105, 1
  store i32 %106, ptr %14, align 4, !tbaa !9
  br label %83, !llvm.loop !37

107:                                              ; preds = %83
  store i32 0, ptr %14, align 4, !tbaa !9
  br label %108

108:                                              ; preds = %143, %107
  %109 = load i32, ptr %14, align 4, !tbaa !9
  %110 = load i32, ptr %15, align 4, !tbaa !9
  %111 = icmp slt i32 %109, %110
  br i1 %111, label %112, label %146

112:                                              ; preds = %108
  %113 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 4
  %114 = load ptr, ptr %113, align 8, !tbaa !38
  %115 = load i32, ptr %14, align 4, !tbaa !9
  %116 = sext i32 %115 to i64
  %117 = getelementptr inbounds double, ptr %114, i64 %116
  %118 = load double, ptr %117, align 8, !tbaa !13
  %119 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 9
  %120 = load ptr, ptr %119, align 8, !tbaa !36
  %121 = load i32, ptr %14, align 4, !tbaa !9
  %122 = sext i32 %121 to i64
  %123 = getelementptr inbounds double, ptr %120, i64 %122
  %124 = load double, ptr %123, align 8, !tbaa !13
  %125 = fsub double %118, %124
  %126 = load double, ptr %17, align 8, !tbaa !13
  %127 = fcmp ogt double %125, %126
  br i1 %127, label %128, label %142

128:                                              ; preds = %112
  %129 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 4
  %130 = load ptr, ptr %129, align 8, !tbaa !38
  %131 = load i32, ptr %14, align 4, !tbaa !9
  %132 = sext i32 %131 to i64
  %133 = getelementptr inbounds double, ptr %130, i64 %132
  %134 = load double, ptr %133, align 8, !tbaa !13
  %135 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 9
  %136 = load ptr, ptr %135, align 8, !tbaa !36
  %137 = load i32, ptr %14, align 4, !tbaa !9
  %138 = sext i32 %137 to i64
  %139 = getelementptr inbounds double, ptr %136, i64 %138
  %140 = load double, ptr %139, align 8, !tbaa !13
  %141 = fsub double %134, %140
  store double %141, ptr %17, align 8, !tbaa !13
  br label %142

142:                                              ; preds = %128, %112
  br label %143

143:                                              ; preds = %142
  %144 = load i32, ptr %14, align 4, !tbaa !9
  %145 = add nsw i32 %144, 1
  store i32 %145, ptr %14, align 4, !tbaa !9
  br label %108, !llvm.loop !39

146:                                              ; preds = %108
  store i32 0, ptr %14, align 4, !tbaa !9
  br label %147

147:                                              ; preds = %182, %146
  %148 = load i32, ptr %14, align 4, !tbaa !9
  %149 = load i32, ptr %15, align 4, !tbaa !9
  %150 = icmp slt i32 %148, %149
  br i1 %150, label %151, label %185

151:                                              ; preds = %147
  %152 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 9
  %153 = load ptr, ptr %152, align 8, !tbaa !36
  %154 = load i32, ptr %14, align 4, !tbaa !9
  %155 = sext i32 %154 to i64
  %156 = getelementptr inbounds double, ptr %153, i64 %155
  %157 = load double, ptr %156, align 8, !tbaa !13
  %158 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 5
  %159 = load ptr, ptr %158, align 8, !tbaa !40
  %160 = load i32, ptr %14, align 4, !tbaa !9
  %161 = sext i32 %160 to i64
  %162 = getelementptr inbounds double, ptr %159, i64 %161
  %163 = load double, ptr %162, align 8, !tbaa !13
  %164 = fsub double %157, %163
  %165 = load double, ptr %17, align 8, !tbaa !13
  %166 = fcmp ogt double %164, %165
  br i1 %166, label %167, label %181

167:                                              ; preds = %151
  %168 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 9
  %169 = load ptr, ptr %168, align 8, !tbaa !36
  %170 = load i32, ptr %14, align 4, !tbaa !9
  %171 = sext i32 %170 to i64
  %172 = getelementptr inbounds double, ptr %169, i64 %171
  %173 = load double, ptr %172, align 8, !tbaa !13
  %174 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 5
  %175 = load ptr, ptr %174, align 8, !tbaa !40
  %176 = load i32, ptr %14, align 4, !tbaa !9
  %177 = sext i32 %176 to i64
  %178 = getelementptr inbounds double, ptr %175, i64 %177
  %179 = load double, ptr %178, align 8, !tbaa !13
  %180 = fsub double %173, %179
  store double %180, ptr %17, align 8, !tbaa !13
  br label %181

181:                                              ; preds = %167, %151
  br label %182

182:                                              ; preds = %181
  %183 = load i32, ptr %14, align 4, !tbaa !9
  %184 = add nsw i32 %183, 1
  store i32 %184, ptr %14, align 4, !tbaa !9
  br label %147, !llvm.loop !41

185:                                              ; preds = %147
  store i32 0, ptr %14, align 4, !tbaa !9
  br label %186

186:                                              ; preds = %245, %185
  %187 = load i32, ptr %14, align 4, !tbaa !9
  %188 = load i32, ptr %15, align 4, !tbaa !9
  %189 = icmp slt i32 %187, %188
  br i1 %189, label %190, label %248

190:                                              ; preds = %186
  %191 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 10
  %192 = load ptr, ptr %191, align 8, !tbaa !30
  %193 = load i32, ptr %14, align 4, !tbaa !9
  %194 = sext i32 %193 to i64
  %195 = getelementptr inbounds double, ptr %192, i64 %194
  %196 = load double, ptr %195, align 8, !tbaa !13
  %197 = fcmp ogt double %196, 2.221000e-16
  br i1 %197, label %198, label %244

198:                                              ; preds = %190
  %199 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 4
  %200 = load ptr, ptr %199, align 8, !tbaa !38
  %201 = load i32, ptr %14, align 4, !tbaa !9
  %202 = sext i32 %201 to i64
  %203 = getelementptr inbounds double, ptr %200, i64 %202
  %204 = load double, ptr %203, align 8, !tbaa !13
  %205 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 9
  %206 = load ptr, ptr %205, align 8, !tbaa !36
  %207 = load i32, ptr %14, align 4, !tbaa !9
  %208 = sext i32 %207 to i64
  %209 = getelementptr inbounds double, ptr %206, i64 %208
  %210 = load double, ptr %209, align 8, !tbaa !13
  %211 = fsub double %204, %210
  %212 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 10
  %213 = load ptr, ptr %212, align 8, !tbaa !30
  %214 = load i32, ptr %14, align 4, !tbaa !9
  %215 = sext i32 %214 to i64
  %216 = getelementptr inbounds double, ptr %213, i64 %215
  %217 = load double, ptr %216, align 8, !tbaa !13
  %218 = fmul double %211, %217
  %219 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %218)
  %220 = load double, ptr %18, align 8, !tbaa !13
  %221 = fcmp ogt double %219, %220
  br i1 %221, label %222, label %244

222:                                              ; preds = %198
  %223 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 4
  %224 = load ptr, ptr %223, align 8, !tbaa !38
  %225 = load i32, ptr %14, align 4, !tbaa !9
  %226 = sext i32 %225 to i64
  %227 = getelementptr inbounds double, ptr %224, i64 %226
  %228 = load double, ptr %227, align 8, !tbaa !13
  %229 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 9
  %230 = load ptr, ptr %229, align 8, !tbaa !36
  %231 = load i32, ptr %14, align 4, !tbaa !9
  %232 = sext i32 %231 to i64
  %233 = getelementptr inbounds double, ptr %230, i64 %232
  %234 = load double, ptr %233, align 8, !tbaa !13
  %235 = fsub double %228, %234
  %236 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 10
  %237 = load ptr, ptr %236, align 8, !tbaa !30
  %238 = load i32, ptr %14, align 4, !tbaa !9
  %239 = sext i32 %238 to i64
  %240 = getelementptr inbounds double, ptr %237, i64 %239
  %241 = load double, ptr %240, align 8, !tbaa !13
  %242 = fmul double %235, %241
  %243 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %242)
  store double %243, ptr %18, align 8, !tbaa !13
  br label %244

244:                                              ; preds = %222, %198, %190
  br label %245

245:                                              ; preds = %244
  %246 = load i32, ptr %14, align 4, !tbaa !9
  %247 = add nsw i32 %246, 1
  store i32 %247, ptr %14, align 4, !tbaa !9
  br label %186, !llvm.loop !42

248:                                              ; preds = %186
  store i32 0, ptr %14, align 4, !tbaa !9
  br label %249

249:                                              ; preds = %308, %248
  %250 = load i32, ptr %14, align 4, !tbaa !9
  %251 = load i32, ptr %15, align 4, !tbaa !9
  %252 = icmp slt i32 %250, %251
  br i1 %252, label %253, label %311

253:                                              ; preds = %249
  %254 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 10
  %255 = load ptr, ptr %254, align 8, !tbaa !30
  %256 = load i32, ptr %14, align 4, !tbaa !9
  %257 = sext i32 %256 to i64
  %258 = getelementptr inbounds double, ptr %255, i64 %257
  %259 = load double, ptr %258, align 8, !tbaa !13
  %260 = fcmp olt double %259, -2.221000e-16
  br i1 %260, label %261, label %307

261:                                              ; preds = %253
  %262 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 5
  %263 = load ptr, ptr %262, align 8, !tbaa !40
  %264 = load i32, ptr %14, align 4, !tbaa !9
  %265 = sext i32 %264 to i64
  %266 = getelementptr inbounds double, ptr %263, i64 %265
  %267 = load double, ptr %266, align 8, !tbaa !13
  %268 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 9
  %269 = load ptr, ptr %268, align 8, !tbaa !36
  %270 = load i32, ptr %14, align 4, !tbaa !9
  %271 = sext i32 %270 to i64
  %272 = getelementptr inbounds double, ptr %269, i64 %271
  %273 = load double, ptr %272, align 8, !tbaa !13
  %274 = fsub double %267, %273
  %275 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 10
  %276 = load ptr, ptr %275, align 8, !tbaa !30
  %277 = load i32, ptr %14, align 4, !tbaa !9
  %278 = sext i32 %277 to i64
  %279 = getelementptr inbounds double, ptr %276, i64 %278
  %280 = load double, ptr %279, align 8, !tbaa !13
  %281 = fmul double %274, %280
  %282 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %281)
  %283 = load double, ptr %18, align 8, !tbaa !13
  %284 = fcmp ogt double %282, %283
  br i1 %284, label %285, label %307

285:                                              ; preds = %261
  %286 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 5
  %287 = load ptr, ptr %286, align 8, !tbaa !40
  %288 = load i32, ptr %14, align 4, !tbaa !9
  %289 = sext i32 %288 to i64
  %290 = getelementptr inbounds double, ptr %287, i64 %289
  %291 = load double, ptr %290, align 8, !tbaa !13
  %292 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 9
  %293 = load ptr, ptr %292, align 8, !tbaa !36
  %294 = load i32, ptr %14, align 4, !tbaa !9
  %295 = sext i32 %294 to i64
  %296 = getelementptr inbounds double, ptr %293, i64 %295
  %297 = load double, ptr %296, align 8, !tbaa !13
  %298 = fsub double %291, %297
  %299 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 10
  %300 = load ptr, ptr %299, align 8, !tbaa !30
  %301 = load i32, ptr %14, align 4, !tbaa !9
  %302 = sext i32 %301 to i64
  %303 = getelementptr inbounds double, ptr %300, i64 %302
  %304 = load double, ptr %303, align 8, !tbaa !13
  %305 = fmul double %298, %304
  %306 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %305)
  store double %306, ptr %18, align 8, !tbaa !13
  br label %307

307:                                              ; preds = %285, %261, %253
  br label %308

308:                                              ; preds = %307
  %309 = load i32, ptr %14, align 4, !tbaa !9
  %310 = add nsw i32 %309, 1
  store i32 %310, ptr %14, align 4, !tbaa !9
  br label %249, !llvm.loop !43

311:                                              ; preds = %249
  %312 = load i32, ptr %9, align 4, !tbaa !9
  %313 = srem i32 %312, 10
  %314 = icmp eq i32 %313, 0
  br i1 %314, label %315, label %321

315:                                              ; preds = %311
  %316 = load i32, ptr %13, align 4, !tbaa !15
  %317 = icmp eq i32 %316, 1
  br i1 %317, label %318, label %321

318:                                              ; preds = %315
  %319 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %320 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %319, i64 noundef 160, ptr noundef @.str.41, ptr noundef @.str.42, ptr noundef @.str.43, ptr noundef @.str.44, ptr noundef @.str.45, ptr noundef @.str.46, ptr noundef @.str.47, ptr noundef @.str.48, ptr noundef @.str.49) #10
  br label %321

321:                                              ; preds = %318, %315, %311
  %322 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %323 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef %322)
  %324 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %325 = load i32, ptr %9, align 4, !tbaa !9
  %326 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %324, i64 noundef 160, ptr noundef @.str.50, i32 noundef %325) #10
  %327 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %328 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef %327)
  %329 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 25
  %330 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %329, i32 0, i32 0
  %331 = load i32, ptr %330, align 8, !tbaa !44
  %332 = icmp sge i32 %331, 0
  br i1 %332, label %333, label %341

333:                                              ; preds = %321
  %334 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %335 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 25
  %336 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %335, i32 0, i32 0
  %337 = load i32, ptr %336, align 8, !tbaa !44
  %338 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %334, i64 noundef 160, ptr noundef @.str.51, i32 noundef %337) #10
  %339 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %340 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef %339)
  br label %343

341:                                              ; preds = %321
  %342 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef @.str.52)
  br label %343

343:                                              ; preds = %341, %333
  %344 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 25
  %345 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %344, i32 0, i32 1
  %346 = load i32, ptr %345, align 4, !tbaa !45
  %347 = icmp sge i32 %346, 0
  br i1 %347, label %348, label %356

348:                                              ; preds = %343
  %349 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %350 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 25
  %351 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %350, i32 0, i32 1
  %352 = load i32, ptr %351, align 4, !tbaa !45
  %353 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %349, i64 noundef 160, ptr noundef @.str.51, i32 noundef %352) #10
  %354 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %355 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef %354)
  br label %358

356:                                              ; preds = %343
  %357 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef @.str.52)
  br label %358

358:                                              ; preds = %356, %348
  %359 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %360 = load double, ptr %12, align 8, !tbaa !13
  %361 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 11
  %362 = load double, ptr %361, align 8, !tbaa !46
  %363 = load double, ptr %16, align 8, !tbaa !13
  %364 = load double, ptr %17, align 8, !tbaa !13
  %365 = load double, ptr %18, align 8, !tbaa !13
  %366 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %359, i64 noundef 160, ptr noundef @.str.53, double noundef %360, double noundef %362, double noundef %363, double noundef %364, double noundef %365) #10
  %367 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %368 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef %367)
  %369 = load ptr, ptr %19, align 8, !tbaa !5
  %370 = icmp eq ptr %369, null
  br i1 %370, label %372, label %371

371:                                              ; preds = %358
  call void @_ZdaPv(ptr noundef %369) #12
  br label %372

372:                                              ; preds = %371, %358
  br label %514

373:                                              ; preds = %29
  %374 = load i32, ptr %9, align 4, !tbaa !9
  %375 = srem i32 %374, 10
  %376 = icmp eq i32 %375, 0
  br i1 %376, label %377, label %385

377:                                              ; preds = %373
  %378 = load i32, ptr %13, align 4, !tbaa !15
  %379 = icmp eq i32 %378, 1
  br i1 %379, label %380, label %385

380:                                              ; preds = %377
  %381 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %382 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %381, i64 noundef 160, ptr noundef @.str.54, ptr noundef @.str.42, ptr noundef @.str.43, ptr noundef @.str.44, ptr noundef @.str.45, ptr noundef @.str.46) #10
  %383 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %384 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef %383)
  br label %385

385:                                              ; preds = %380, %377, %373
  %386 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %387 = load i32, ptr %9, align 4, !tbaa !9
  %388 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %386, i64 noundef 160, ptr noundef @.str.50, i32 noundef %387) #10
  %389 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %390 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef %389)
  %391 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 25
  %392 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %391, i32 0, i32 0
  %393 = load i32, ptr %392, align 8, !tbaa !44
  %394 = icmp sge i32 %393, 0
  br i1 %394, label %395, label %410

395:                                              ; preds = %385
  %396 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %397 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 25
  %398 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %397, i32 0, i32 0
  %399 = load i32, ptr %398, align 8, !tbaa !44
  %400 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 25
  %401 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %400, i32 0, i32 4
  %402 = load i32, ptr %401, align 8, !tbaa !47
  %403 = sext i32 %402 to i64
  %404 = getelementptr inbounds [4 x i8], ptr %22, i64 0, i64 %403
  %405 = load i8, ptr %404, align 1, !tbaa !48
  %406 = sext i8 %405 to i32
  %407 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %396, i64 noundef 160, ptr noundef @.str.55, i32 noundef %399, i32 noundef %406) #10
  %408 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %409 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef %408)
  br label %412

410:                                              ; preds = %385
  %411 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef @.str.56)
  br label %412

412:                                              ; preds = %410, %395
  %413 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 25
  %414 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %413, i32 0, i32 1
  %415 = load i32, ptr %414, align 4, !tbaa !45
  %416 = icmp sge i32 %415, 0
  br i1 %416, label %417, label %432

417:                                              ; preds = %412
  %418 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %419 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 25
  %420 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %419, i32 0, i32 1
  %421 = load i32, ptr %420, align 4, !tbaa !45
  %422 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 25
  %423 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %422, i32 0, i32 5
  %424 = load i32, ptr %423, align 4, !tbaa !49
  %425 = sext i32 %424 to i64
  %426 = getelementptr inbounds [4 x i8], ptr %22, i64 0, i64 %425
  %427 = load i8, ptr %426, align 1, !tbaa !48
  %428 = sext i8 %427 to i32
  %429 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %418, i64 noundef 160, ptr noundef @.str.55, i32 noundef %421, i32 noundef %428) #10
  %430 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %431 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef %430)
  br label %434

432:                                              ; preds = %412
  %433 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef @.str.56)
  br label %434

434:                                              ; preds = %432, %417
  %435 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %436 = load double, ptr %12, align 8, !tbaa !13
  %437 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 11
  %438 = load double, ptr %437, align 8, !tbaa !46
  %439 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %435, i64 noundef 160, ptr noundef @.str.57, double noundef %436, double noundef %438) #10
  %440 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %441 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef %440)
  br label %514

442:                                              ; preds = %29
  %443 = load i32, ptr %9, align 4, !tbaa !9
  %444 = icmp eq i32 %443, 0
  br i1 %444, label %445, label %457

445:                                              ; preds = %442
  %446 = load i32, ptr %13, align 4, !tbaa !15
  %447 = icmp eq i32 %446, 1
  br i1 %447, label %448, label %457

448:                                              ; preds = %445
  %449 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %450 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 17
  %451 = load i32, ptr %450, align 8, !tbaa !50
  %452 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %449, i64 noundef 160, ptr noundef @.str.58, i32 noundef %451) #10
  %453 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %454 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef %453)
  %455 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef @.str.59)
  %456 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef @.str.60)
  br label %457

457:                                              ; preds = %448, %445, %442
  %458 = load i32, ptr %11, align 4, !tbaa !11
  %459 = icmp eq i32 %458, 4
  br i1 %459, label %460, label %492

460:                                              ; preds = %457
  %461 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 15
  %462 = load i32, ptr %461, align 4, !tbaa !51
  %463 = icmp eq i32 %462, 0
  br i1 %463, label %464, label %467

464:                                              ; preds = %460
  %465 = getelementptr inbounds [160 x i8], ptr %21, i64 0, i64 0
  %466 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %465, i64 noundef 3, ptr noundef @.str.61) #10
  br label %470

467:                                              ; preds = %460
  %468 = getelementptr inbounds [160 x i8], ptr %21, i64 0, i64 0
  %469 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %468, i64 noundef 3, ptr noundef @.str.62) #10
  br label %470

470:                                              ; preds = %467, %464
  %471 = load i32, ptr %13, align 4, !tbaa !15
  %472 = icmp eq i32 %471, 1
  br i1 %472, label %473, label %481

473:                                              ; preds = %470
  %474 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %475 = load i32, ptr %9, align 4, !tbaa !9
  %476 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 11
  %477 = load double, ptr %476, align 8, !tbaa !46
  %478 = getelementptr inbounds [160 x i8], ptr %21, i64 0, i64 0
  %479 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %23)
  %480 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %474, i64 noundef 160, ptr noundef @.str.63, i32 noundef %475, double noundef %477, ptr noundef %478, i32 noundef %479) #10
  br label %489

481:                                              ; preds = %470
  %482 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %483 = load i32, ptr %9, align 4, !tbaa !9
  %484 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 11
  %485 = load double, ptr %484, align 8, !tbaa !46
  %486 = getelementptr inbounds [160 x i8], ptr %21, i64 0, i64 0
  %487 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %23)
  %488 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %482, i64 noundef 160, ptr noundef @.str.64, i32 noundef %483, double noundef %485, ptr noundef %486, i32 noundef %487) #10
  br label %489

489:                                              ; preds = %481, %473
  %490 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %491 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef %490)
  br label %512

492:                                              ; preds = %457
  %493 = load i32, ptr %11, align 4, !tbaa !11
  %494 = icmp eq i32 %493, 0
  br i1 %494, label %495, label %498

495:                                              ; preds = %492
  %496 = getelementptr inbounds [160 x i8], ptr %21, i64 0, i64 0
  %497 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %496, i64 noundef 8, ptr noundef @.str.65) #10
  br label %501

498:                                              ; preds = %492
  %499 = getelementptr inbounds [160 x i8], ptr %21, i64 0, i64 0
  %500 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %499, i64 noundef 8, ptr noundef @.str.66) #10
  br label %501

501:                                              ; preds = %498, %495
  %502 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %503 = load i32, ptr %9, align 4, !tbaa !9
  %504 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %23, i32 0, i32 11
  %505 = load double, ptr %504, align 8, !tbaa !46
  %506 = getelementptr inbounds [160 x i8], ptr %21, i64 0, i64 0
  %507 = load i32, ptr %10, align 4, !tbaa !9
  %508 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %23)
  %509 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %502, i64 noundef 160, ptr noundef @.str.67, i32 noundef %503, double noundef %505, ptr noundef %506, i32 noundef %507, i32 noundef %508) #10
  %510 = getelementptr inbounds [160 x i8], ptr %20, i64 0, i64 0
  %511 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef %510)
  br label %512

512:                                              ; preds = %501, %489
  br label %514

513:                                              ; preds = %29
  br label %514

514:                                              ; preds = %513, %512, %434, %372
  store i32 0, ptr %7, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #10
  call void @llvm.lifetime.end.p0(i64 160, ptr %21) #10
  call void @llvm.lifetime.end.p0(i64 160, ptr %20) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #10
  br label %515

515:                                              ; preds = %514, %26
  %516 = load i32, ptr %7, align 4
  ret i32 %516
}

attributes #0 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 = { 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 #7 = { 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 #8 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #9 = { 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 #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 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"double", !7, i64 0}
!15 = !{!16, !16, i64 0}
!16 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!17 = !{!18, !25, i64 272}
!18 = !{!"_ZTSN7qpOASES9QProblemBE", !16, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !19, i64 48, !6, i64 168, !16, i64 176, !6, i64 184, !6, i64 192, !14, i64 200, !22, i64 208, !16, i64 212, !16, i64 216, !23, i64 220, !14, i64 224, !10, i64 232, !6, i64 240, !14, i64 248, !14, i64 256, !10, i64 264, !24, i64 272, !26, i64 496, !28, i64 768}
!19 = !{!"_ZTSN7qpOASES6BoundsE", !20, i64 0, !21, i64 40, !21, i64 80}
!20 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !16, i64 32, !16, i64 36}
!21 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!22 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!24 = !{!"_ZTSN7qpOASES7OptionsE", !25, i64 0, !16, i64 4, !16, i64 8, !16, i64 12, !16, i64 16, !16, i64 20, !16, i64 24, !10, i64 28, !10, i64 32, !16, i64 36, !14, i64 40, !14, i64 48, !14, i64 56, !14, i64 64, !14, i64 72, !14, i64 80, !14, i64 88, !14, i64 96, !14, i64 104, !14, i64 112, !14, i64 120, !12, i64 128, !14, i64 136, !10, i64 144, !14, i64 152, !10, i64 160, !14, i64 168, !14, i64 176, !14, i64 184, !14, i64 192, !16, i64 200, !16, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!25 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !19, i64 8, !27, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!27 = !{!"_ZTSN7qpOASES11ConstraintsE", !20, i64 0, !21, i64 40, !21, i64 80}
!28 = !{!"_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}
!29 = !{!18, !6, i64 24}
!30 = !{!18, !6, i64 192}
!31 = distinct !{!31, !32}
!32 = !{!"llvm.loop.mustprogress"}
!33 = !{!18, !6, i64 16}
!34 = !{!35, !35, i64 0}
!35 = !{!"vtable pointer", !8, i64 0}
!36 = !{!18, !6, i64 184}
!37 = distinct !{!37, !32}
!38 = !{!18, !6, i64 32}
!39 = distinct !{!39, !32}
!40 = !{!18, !6, i64 40}
!41 = distinct !{!41, !32}
!42 = distinct !{!42, !32}
!43 = distinct !{!43, !32}
!44 = !{!18, !10, i64 768}
!45 = !{!18, !10, i64 772}
!46 = !{!18, !14, i64 200}
!47 = !{!18, !10, i64 784}
!48 = !{!7, !7, i64 0}
!49 = !{!18, !10, i64 788}
!50 = !{!18, !10, i64 232}
!51 = !{!18, !23, i64 220}


; Optimized IR (opt -passes='default<O3>'):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [104 x i8], align 1
@__const._ZN7qpOASES9QProblemB14printIterationEiiNS_15SubjectToStatusEdNS_11BooleanTypeE.excStr = external hidden unnamed_addr constant [4 x i8], align 1
@.str.41 = external hidden unnamed_addr constant [34 x i8], align 1
@.str.42 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.43 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.44 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.45 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.46 = external hidden unnamed_addr constant [4 x i8], align 1
@.str.47 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.48 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.49 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.50 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.51 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.52 = external hidden unnamed_addr constant [6 x i8], align 1
@.str.53 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.54 = external hidden unnamed_addr constant [22 x i8], align 1
@.str.55 = external hidden unnamed_addr constant [7 x i8], align 1
@.str.56 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.57 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.58 = external hidden unnamed_addr constant [71 x i8], align 1
@.str.59 = external hidden unnamed_addr constant [62 x i8], align 1
@.str.60 = external hidden unnamed_addr constant [62 x i8], align 1
@.str.61 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.62 = external hidden unnamed_addr constant [3 x i8], align 1
@.str.63 = external hidden unnamed_addr constant [55 x i8], align 1
@.str.64 = external hidden unnamed_addr constant [55 x i8], align 1
@.str.65 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.66 = external hidden unnamed_addr constant [8 x i8], align 1
@.str.67 = external hidden unnamed_addr constant [51 x i8], align 1

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #0

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

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 #0

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

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

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

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

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

declare noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef) local_unnamed_addr #0

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES9QProblemB14printIterationEiiNS_15SubjectToStatusEdNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, double noundef %4, i32 noundef %5) local_unnamed_addr #7 align 2 {
  %7 = alloca [160 x i8], align 16
  %8 = alloca [160 x i8], align 16
  %9 = icmp slt i32 %1, 0
  br i1 %9, label %10, label %13

10:                                               ; preds = %6
  %11 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %12 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %11, i32 noundef 3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3703, i32 noundef 1)
  br label %302

13:                                               ; preds = %6
  %14 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  call void @llvm.lifetime.start.p0(i64 160, ptr nonnull %7) #8
  call void @llvm.lifetime.start.p0(i64 160, ptr nonnull %8) #8
  %15 = getelementptr inbounds i8, ptr %0, i64 272
  %16 = load i32, ptr %15, align 8, !tbaa !5
  switch i32 %16, label %301 [
    i32 -2, label %17
    i32 -1, label %232
    i32 2, label %272
  ]

17:                                               ; preds = %13
  %18 = zext i32 %14 to i64
  %19 = icmp slt i32 %14, 0
  %20 = shl nuw nsw i64 %18, 3
  %21 = select i1 %19, i64 -1, i64 %20
  %22 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %21) #9
  %23 = ptrtoint ptr %22 to i64
  %24 = icmp sgt i32 %14, 0
  br i1 %24, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %17
  %25 = getelementptr inbounds i8, ptr %0, i64 24
  %26 = load ptr, ptr %25, align 8, !tbaa !24
  %27 = getelementptr inbounds i8, ptr %0, i64 192
  %28 = load ptr, ptr %27, align 8, !tbaa !25
  %min.iters.check = icmp ult i32 %14, 8
  br i1 %min.iters.check, label %scalar.ph.preheader, label %vector.memcheck

vector.memcheck:                                  ; preds = %.lr.ph
  %29 = ptrtoint ptr %28 to i64
  %30 = ptrtoint ptr %26 to i64
  %31 = sub i64 %23, %30
  %diff.check = icmp ult i64 %31, 32
  %32 = sub i64 %23, %29
  %diff.check176 = icmp ult i64 %32, 32
  %conflict.rdx = or i1 %diff.check, %diff.check176
  br i1 %conflict.rdx, label %scalar.ph.preheader, label %vector.ph

vector.ph:                                        ; preds = %vector.memcheck
  %n.vec = and i64 %18, 2147483644
  br label %vector.body

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %33 = getelementptr inbounds double, ptr %26, i64 %index
  %34 = getelementptr inbounds i8, ptr %33, i64 16
  %wide.load = load <2 x double>, ptr %33, align 8, !tbaa !26
  %wide.load177 = load <2 x double>, ptr %34, align 8, !tbaa !26
  %35 = getelementptr inbounds double, ptr %28, i64 %index
  %36 = getelementptr inbounds i8, ptr %35, i64 16
  %wide.load178 = load <2 x double>, ptr %35, align 8, !tbaa !26
  %wide.load179 = load <2 x double>, ptr %36, align 8, !tbaa !26
  %37 = fsub <2 x double> %wide.load, %wide.load178
  %38 = fsub <2 x double> %wide.load177, %wide.load179
  %39 = getelementptr inbounds double, ptr %22, i64 %index
  %40 = getelementptr inbounds i8, ptr %39, i64 16
  store <2 x double> %37, ptr %39, align 8, !tbaa !26
  store <2 x double> %38, ptr %40, align 8, !tbaa !26
  %index.next = add nuw i64 %index, 4
  %41 = icmp eq i64 %index.next, %n.vec
  br i1 %41, label %middle.block, label %vector.body, !llvm.loop !27

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %18
  br i1 %cmp.n, label %._crit_edge, label %scalar.ph.preheader

scalar.ph.preheader:                              ; preds = %middle.block, %vector.memcheck, %.lr.ph
  %indvars.iv.ph = phi i64 [ 0, %vector.memcheck ], [ 0, %.lr.ph ], [ %n.vec, %middle.block ]
  %xtraiter = and i64 %18, 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 ]
  %42 = getelementptr inbounds double, ptr %26, i64 %indvars.iv.prol
  %43 = load double, ptr %42, align 8, !tbaa !26
  %44 = getelementptr inbounds double, ptr %28, i64 %indvars.iv.prol
  %45 = load double, ptr %44, align 8, !tbaa !26
  %46 = fsub double %43, %45
  %47 = getelementptr inbounds double, ptr %22, i64 %indvars.iv.prol
  store double %46, ptr %47, align 8, !tbaa !26
  %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 !31

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 ]
  %48 = sub nsw i64 %indvars.iv.ph, %18
  %49 = icmp ugt i64 %48, -4
  br i1 %49, label %._crit_edge, label %scalar.ph

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 ]
  %50 = getelementptr inbounds double, ptr %26, i64 %indvars.iv
  %51 = load double, ptr %50, align 8, !tbaa !26
  %52 = getelementptr inbounds double, ptr %28, i64 %indvars.iv
  %53 = load double, ptr %52, align 8, !tbaa !26
  %54 = fsub double %51, %53
  %55 = getelementptr inbounds double, ptr %22, i64 %indvars.iv
  store double %54, ptr %55, align 8, !tbaa !26
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %56 = getelementptr inbounds double, ptr %26, i64 %indvars.iv.next
  %57 = load double, ptr %56, align 8, !tbaa !26
  %58 = getelementptr inbounds double, ptr %28, i64 %indvars.iv.next
  %59 = load double, ptr %58, align 8, !tbaa !26
  %60 = fsub double %57, %59
  %61 = getelementptr inbounds double, ptr %22, i64 %indvars.iv.next
  store double %60, ptr %61, align 8, !tbaa !26
  %indvars.iv.next.1 = add nuw nsw i64 %indvars.iv, 2
  %62 = getelementptr inbounds double, ptr %26, i64 %indvars.iv.next.1
  %63 = load double, ptr %62, align 8, !tbaa !26
  %64 = getelementptr inbounds double, ptr %28, i64 %indvars.iv.next.1
  %65 = load double, ptr %64, align 8, !tbaa !26
  %66 = fsub double %63, %65
  %67 = getelementptr inbounds double, ptr %22, i64 %indvars.iv.next.1
  store double %66, ptr %67, align 8, !tbaa !26
  %indvars.iv.next.2 = add nuw nsw i64 %indvars.iv, 3
  %68 = getelementptr inbounds double, ptr %26, i64 %indvars.iv.next.2
  %69 = load double, ptr %68, align 8, !tbaa !26
  %70 = getelementptr inbounds double, ptr %28, i64 %indvars.iv.next.2
  %71 = load double, ptr %70, align 8, !tbaa !26
  %72 = fsub double %69, %71
  %73 = getelementptr inbounds double, ptr %22, i64 %indvars.iv.next.2
  store double %72, ptr %73, align 8, !tbaa !26
  %indvars.iv.next.3 = add nuw nsw i64 %indvars.iv, 4
  %exitcond.not.3 = icmp eq i64 %indvars.iv.next.3, %18
  br i1 %exitcond.not.3, label %._crit_edge, label %scalar.ph, !llvm.loop !33

._crit_edge:                                      ; preds = %scalar.ph.prol.loopexit, %scalar.ph, %middle.block, %17
  %74 = getelementptr inbounds i8, ptr %0, i64 16
  %75 = load ptr, ptr %74, align 8, !tbaa !34
  %76 = load ptr, ptr %75, align 8, !tbaa !35
  %77 = getelementptr i8, ptr %76, i64 -24
  %78 = load i64, ptr %77, align 8
  %79 = getelementptr inbounds i8, ptr %75, i64 %78
  %80 = getelementptr inbounds i8, ptr %0, i64 184
  %81 = load ptr, ptr %80, align 8, !tbaa !37
  %82 = load ptr, ptr %79, align 8, !tbaa !35
  %83 = getelementptr inbounds i8, ptr %82, i64 120
  %84 = load ptr, ptr %83, align 8
  %85 = tail call noundef i32 %84(ptr noundef nonnull align 8 dereferenceable(12) %79, i32 noundef 1, double noundef 1.000000e+00, ptr noundef %81, i32 noundef %14, double noundef 1.000000e+00, ptr noundef nonnull %22, i32 noundef %14)
  br i1 %24, label %.lr.ph114, label %._crit_edge130

.preheader109:                                    ; preds = %98
  br i1 %24, label %.lr.ph117, label %._crit_edge130

.lr.ph117:                                        ; preds = %.preheader109
  %86 = getelementptr inbounds i8, ptr %0, i64 32
  %87 = load ptr, ptr %86, align 8, !tbaa !38
  %88 = load ptr, ptr %80, align 8, !tbaa !37
  %89 = add nsw i64 %18, -1
  %xtraiter180 = and i64 %18, 1
  %90 = icmp eq i64 %89, 0
  br i1 %90, label %.preheader108.unr-lcssa, label %.lr.ph117.new

.lr.ph117.new:                                    ; preds = %.lr.ph117
  %unroll_iter = and i64 %18, 2147483646
  br label %109

.lr.ph114:                                        ; preds = %._crit_edge, %98
  %indvars.iv133 = phi i64 [ %indvars.iv.next134, %98 ], [ 0, %._crit_edge ]
  %.089112 = phi double [ %.190, %98 ], [ 0.000000e+00, %._crit_edge ]
  %91 = getelementptr inbounds double, ptr %22, i64 %indvars.iv133
  %92 = load double, ptr %91, align 8, !tbaa !26
  %93 = tail call noundef double @_ZN7qpOASES6getAbsEd(double noundef %92)
  %94 = fcmp ogt double %93, %.089112
  br i1 %94, label %95, label %98

95:                                               ; preds = %.lr.ph114
  %96 = load double, ptr %91, align 8, !tbaa !26
  %97 = tail call noundef double @_ZN7qpOASES6getAbsEd(double noundef %96)
  br label %98

98:                                               ; preds = %.lr.ph114, %95
  %.190 = phi double [ %97, %95 ], [ %.089112, %.lr.ph114 ]
  %indvars.iv.next134 = add nuw nsw i64 %indvars.iv133, 1
  %exitcond137.not = icmp eq i64 %indvars.iv.next134, %18
  br i1 %exitcond137.not, label %.preheader109, label %.lr.ph114, !llvm.loop !39

.preheader108.unr-lcssa:                          ; preds = %109, %.lr.ph117
  %.186.lcssa.ph = phi double [ poison, %.lr.ph117 ], [ %.186.1, %109 ]
  %indvars.iv138.unr = phi i64 [ 0, %.lr.ph117 ], [ %indvars.iv.next139.1, %109 ]
  %.085116.unr = phi double [ 0.000000e+00, %.lr.ph117 ], [ %.186.1, %109 ]
  %lcmp.mod181.not = icmp eq i64 %xtraiter180, 0
  br i1 %lcmp.mod181.not, label %.preheader108, label %.preheader108.epilog-lcssa

.preheader108.epilog-lcssa:                       ; preds = %.preheader108.unr-lcssa
  %99 = getelementptr inbounds double, ptr %87, i64 %indvars.iv138.unr
  %100 = load double, ptr %99, align 8, !tbaa !26
  %101 = getelementptr inbounds double, ptr %88, i64 %indvars.iv138.unr
  %102 = load double, ptr %101, align 8, !tbaa !26
  %103 = fsub double %100, %102
  %104 = fcmp ogt double %103, %.085116.unr
  %.186.epil = select i1 %104, double %103, double %.085116.unr
  br label %.preheader108

.preheader108:                                    ; preds = %.preheader108.unr-lcssa, %.preheader108.epilog-lcssa
  %.186.lcssa = phi double [ %.186.lcssa.ph, %.preheader108.unr-lcssa ], [ %.186.epil, %.preheader108.epilog-lcssa ]
  br i1 %24, label %.lr.ph121, label %._crit_edge130

.lr.ph121:                                        ; preds = %.preheader108
  %105 = load ptr, ptr %80, align 8, !tbaa !37
  %106 = getelementptr inbounds i8, ptr %0, i64 40
  %107 = load ptr, ptr %106, align 8, !tbaa !40
  %xtraiter184 = and i64 %18, 1
  %108 = icmp eq i64 %89, 0
  br i1 %108, label %.preheader107.unr-lcssa, label %.lr.ph121.new

.lr.ph121.new:                                    ; preds = %.lr.ph121
  %unroll_iter187 = and i64 %18, 2147483646
  br label %130

109:                                              ; preds = %109, %.lr.ph117.new
  %indvars.iv138 = phi i64 [ 0, %.lr.ph117.new ], [ %indvars.iv.next139.1, %109 ]
  %.085116 = phi double [ 0.000000e+00, %.lr.ph117.new ], [ %.186.1, %109 ]
  %niter = phi i64 [ 0, %.lr.ph117.new ], [ %niter.next.1, %109 ]
  %110 = getelementptr inbounds double, ptr %87, i64 %indvars.iv138
  %111 = load double, ptr %110, align 8, !tbaa !26
  %112 = getelementptr inbounds double, ptr %88, i64 %indvars.iv138
  %113 = load double, ptr %112, align 8, !tbaa !26
  %114 = fsub double %111, %113
  %115 = fcmp ogt double %114, %.085116
  %.186 = select i1 %115, double %114, double %.085116
  %indvars.iv.next139 = or disjoint i64 %indvars.iv138, 1
  %116 = getelementptr inbounds double, ptr %87, i64 %indvars.iv.next139
  %117 = load double, ptr %116, align 8, !tbaa !26
  %118 = getelementptr inbounds double, ptr %88, i64 %indvars.iv.next139
  %119 = load double, ptr %118, align 8, !tbaa !26
  %120 = fsub double %117, %119
  %121 = fcmp ogt double %120, %.186
  %.186.1 = select i1 %121, double %120, double %.186
  %indvars.iv.next139.1 = add nuw nsw i64 %indvars.iv138, 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 %.preheader108.unr-lcssa, label %109, !llvm.loop !41

.preheader107.unr-lcssa:                          ; preds = %130, %.lr.ph121
  %.388.lcssa.ph = phi double [ poison, %.lr.ph121 ], [ %.388.1, %130 ]
  %indvars.iv143.unr = phi i64 [ 0, %.lr.ph121 ], [ %indvars.iv.next144.1, %130 ]
  %.287120.unr = phi double [ %.186.lcssa, %.lr.ph121 ], [ %.388.1, %130 ]
  %lcmp.mod185.not = icmp eq i64 %xtraiter184, 0
  br i1 %lcmp.mod185.not, label %.preheader107, label %.preheader107.epilog-lcssa

.preheader107.epilog-lcssa:                       ; preds = %.preheader107.unr-lcssa
  %122 = getelementptr inbounds double, ptr %105, i64 %indvars.iv143.unr
  %123 = load double, ptr %122, align 8, !tbaa !26
  %124 = getelementptr inbounds double, ptr %107, i64 %indvars.iv143.unr
  %125 = load double, ptr %124, align 8, !tbaa !26
  %126 = fsub double %123, %125
  %127 = fcmp ogt double %126, %.287120.unr
  %.388.epil = select i1 %127, double %126, double %.287120.unr
  br label %.preheader107

.preheader107:                                    ; preds = %.preheader107.unr-lcssa, %.preheader107.epilog-lcssa
  %.388.lcssa = phi double [ %.388.lcssa.ph, %.preheader107.unr-lcssa ], [ %.388.epil, %.preheader107.epilog-lcssa ]
  br i1 %24, label %.lr.ph125, label %._crit_edge130

.lr.ph125:                                        ; preds = %.preheader107
  %128 = getelementptr inbounds i8, ptr %0, i64 192
  %129 = getelementptr inbounds i8, ptr %0, i64 32
  br label %145

130:                                              ; preds = %130, %.lr.ph121.new
  %indvars.iv143 = phi i64 [ 0, %.lr.ph121.new ], [ %indvars.iv.next144.1, %130 ]
  %.287120 = phi double [ %.186.lcssa, %.lr.ph121.new ], [ %.388.1, %130 ]
  %niter188 = phi i64 [ 0, %.lr.ph121.new ], [ %niter188.next.1, %130 ]
  %131 = getelementptr inbounds double, ptr %105, i64 %indvars.iv143
  %132 = load double, ptr %131, align 8, !tbaa !26
  %133 = getelementptr inbounds double, ptr %107, i64 %indvars.iv143
  %134 = load double, ptr %133, align 8, !tbaa !26
  %135 = fsub double %132, %134
  %136 = fcmp ogt double %135, %.287120
  %.388 = select i1 %136, double %135, double %.287120
  %indvars.iv.next144 = or disjoint i64 %indvars.iv143, 1
  %137 = getelementptr inbounds double, ptr %105, i64 %indvars.iv.next144
  %138 = load double, ptr %137, align 8, !tbaa !26
  %139 = getelementptr inbounds double, ptr %107, i64 %indvars.iv.next144
  %140 = load double, ptr %139, align 8, !tbaa !26
  %141 = fsub double %138, %140
  %142 = fcmp ogt double %141, %.388
  %.388.1 = select i1 %142, double %141, double %.388
  %indvars.iv.next144.1 = add nuw nsw i64 %indvars.iv143, 2
  %niter188.next.1 = add i64 %niter188, 2
  %niter188.ncmp.1 = icmp eq i64 %niter188.next.1, %unroll_iter187
  br i1 %niter188.ncmp.1, label %.preheader107.unr-lcssa, label %130, !llvm.loop !42

.preheader:                                       ; preds = %174
  br i1 %24, label %.lr.ph129, label %._crit_edge130

.lr.ph129:                                        ; preds = %.preheader
  %143 = getelementptr inbounds i8, ptr %0, i64 192
  %144 = getelementptr inbounds i8, ptr %0, i64 40
  br label %175

145:                                              ; preds = %.lr.ph125, %174
  %indvars.iv148 = phi i64 [ 0, %.lr.ph125 ], [ %indvars.iv.next149, %174 ]
  %.0124 = phi double [ 0.000000e+00, %.lr.ph125 ], [ %.1, %174 ]
  %146 = load ptr, ptr %128, align 8, !tbaa !25
  %147 = getelementptr inbounds double, ptr %146, i64 %indvars.iv148
  %148 = load double, ptr %147, align 8, !tbaa !26
  %149 = fcmp ogt double %148, 2.221000e-16
  br i1 %149, label %150, label %174

150:                                              ; preds = %145
  %151 = load ptr, ptr %129, align 8, !tbaa !38
  %152 = getelementptr inbounds double, ptr %151, i64 %indvars.iv148
  %153 = load double, ptr %152, align 8, !tbaa !26
  %154 = load ptr, ptr %80, align 8, !tbaa !37
  %155 = getelementptr inbounds double, ptr %154, i64 %indvars.iv148
  %156 = load double, ptr %155, align 8, !tbaa !26
  %157 = fsub double %153, %156
  %158 = fmul double %148, %157
  %159 = tail call noundef double @_ZN7qpOASES6getAbsEd(double noundef %158)
  %160 = fcmp ogt double %159, %.0124
  br i1 %160, label %161, label %174

161:                                              ; preds = %150
  %162 = load ptr, ptr %129, align 8, !tbaa !38
  %163 = getelementptr inbounds double, ptr %162, i64 %indvars.iv148
  %164 = load double, ptr %163, align 8, !tbaa !26
  %165 = load ptr, ptr %80, align 8, !tbaa !37
  %166 = getelementptr inbounds double, ptr %165, i64 %indvars.iv148
  %167 = load double, ptr %166, align 8, !tbaa !26
  %168 = fsub double %164, %167
  %169 = load ptr, ptr %128, align 8, !tbaa !25
  %170 = getelementptr inbounds double, ptr %169, i64 %indvars.iv148
  %171 = load double, ptr %170, align 8, !tbaa !26
  %172 = fmul double %168, %171
  %173 = tail call noundef double @_ZN7qpOASES6getAbsEd(double noundef %172)
  br label %174

174:                                              ; preds = %145, %150, %161
  %.1 = phi double [ %173, %161 ], [ %.0124, %150 ], [ %.0124, %145 ]
  %indvars.iv.next149 = add nuw nsw i64 %indvars.iv148, 1
  %exitcond152.not = icmp eq i64 %indvars.iv.next149, %18
  br i1 %exitcond152.not, label %.preheader, label %145, !llvm.loop !43

175:                                              ; preds = %.lr.ph129, %204
  %indvars.iv153 = phi i64 [ 0, %.lr.ph129 ], [ %indvars.iv.next154, %204 ]
  %.2128 = phi double [ %.1, %.lr.ph129 ], [ %.3, %204 ]
  %176 = load ptr, ptr %143, align 8, !tbaa !25
  %177 = getelementptr inbounds double, ptr %176, i64 %indvars.iv153
  %178 = load double, ptr %177, align 8, !tbaa !26
  %179 = fcmp olt double %178, -2.221000e-16
  br i1 %179, label %180, label %204

180:                                              ; preds = %175
  %181 = load ptr, ptr %144, align 8, !tbaa !40
  %182 = getelementptr inbounds double, ptr %181, i64 %indvars.iv153
  %183 = load double, ptr %182, align 8, !tbaa !26
  %184 = load ptr, ptr %80, align 8, !tbaa !37
  %185 = getelementptr inbounds double, ptr %184, i64 %indvars.iv153
  %186 = load double, ptr %185, align 8, !tbaa !26
  %187 = fsub double %183, %186
  %188 = fmul double %178, %187
  %189 = tail call noundef double @_ZN7qpOASES6getAbsEd(double noundef %188)
  %190 = fcmp ogt double %189, %.2128
  br i1 %190, label %191, label %204

191:                                              ; preds = %180
  %192 = load ptr, ptr %144, align 8, !tbaa !40
  %193 = getelementptr inbounds double, ptr %192, i64 %indvars.iv153
  %194 = load double, ptr %193, align 8, !tbaa !26
  %195 = load ptr, ptr %80, align 8, !tbaa !37
  %196 = getelementptr inbounds double, ptr %195, i64 %indvars.iv153
  %197 = load double, ptr %196, align 8, !tbaa !26
  %198 = fsub double %194, %197
  %199 = load ptr, ptr %143, align 8, !tbaa !25
  %200 = getelementptr inbounds double, ptr %199, i64 %indvars.iv153
  %201 = load double, ptr %200, align 8, !tbaa !26
  %202 = fmul double %198, %201
  %203 = tail call noundef double @_ZN7qpOASES6getAbsEd(double noundef %202)
  br label %204

204:                                              ; preds = %175, %180, %191
  %.3 = phi double [ %203, %191 ], [ %.2128, %180 ], [ %.2128, %175 ]
  %indvars.iv.next154 = add nuw nsw i64 %indvars.iv153, 1
  %exitcond157.not = icmp eq i64 %indvars.iv.next154, %18
  br i1 %exitcond157.not, label %._crit_edge130, label %175, !llvm.loop !44

._crit_edge130:                                   ; preds = %204, %._crit_edge, %.preheader109, %.preheader108, %.preheader107, %.preheader
  %.089.lcssa159162165171 = phi double [ %.190, %.preheader ], [ %.190, %.preheader107 ], [ %.190, %.preheader108 ], [ %.190, %.preheader109 ], [ 0.000000e+00, %._crit_edge ], [ %.190, %204 ]
  %.287.lcssa166170 = phi double [ %.388.lcssa, %.preheader ], [ %.388.lcssa, %.preheader107 ], [ %.186.lcssa, %.preheader108 ], [ 0.000000e+00, %.preheader109 ], [ 0.000000e+00, %._crit_edge ], [ %.388.lcssa, %204 ]
  %.2.lcssa = phi double [ %.1, %.preheader ], [ 0.000000e+00, %.preheader107 ], [ 0.000000e+00, %.preheader108 ], [ 0.000000e+00, %.preheader109 ], [ 0.000000e+00, %._crit_edge ], [ %.3, %204 ]
  %205 = urem i32 %1, 10
  %206 = icmp eq i32 %205, 0
  %207 = icmp eq i32 %5, 1
  %or.cond = and i1 %206, %207
  br i1 %or.cond, label %208, label %210

208:                                              ; preds = %._crit_edge130
  %209 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %7, i64 noundef 160, ptr noundef nonnull @.str.41, ptr noundef nonnull @.str.42, ptr noundef nonnull @.str.43, ptr noundef nonnull @.str.44, ptr noundef nonnull @.str.45, ptr noundef nonnull @.str.46, ptr noundef nonnull @.str.47, ptr noundef nonnull @.str.48, ptr noundef nonnull @.str.49) #8
  br label %210

210:                                              ; preds = %208, %._crit_edge130
  %211 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull %7)
  %212 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %7, i64 noundef 160, ptr noundef nonnull @.str.50, i32 noundef %1) #8
  %213 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull %7)
  %214 = getelementptr inbounds i8, ptr %0, i64 768
  %215 = load i32, ptr %214, align 8, !tbaa !45
  %216 = icmp sgt i32 %215, -1
  br i1 %216, label %217, label %219

217:                                              ; preds = %210
  %218 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %7, i64 noundef 160, ptr noundef nonnull @.str.51, i32 noundef %215) #8
  br label %219

219:                                              ; preds = %210, %217
  %.str.52.sink = phi ptr [ %7, %217 ], [ @.str.52, %210 ]
  %220 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull %.str.52.sink)
  %221 = getelementptr inbounds i8, ptr %0, i64 772
  %222 = load i32, ptr %221, align 4, !tbaa !46
  %223 = icmp sgt i32 %222, -1
  br i1 %223, label %224, label %226

224:                                              ; preds = %219
  %225 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %7, i64 noundef 160, ptr noundef nonnull @.str.51, i32 noundef %222) #8
  br label %226

226:                                              ; preds = %219, %224
  %.str.52.sink172 = phi ptr [ %7, %224 ], [ @.str.52, %219 ]
  %227 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull %.str.52.sink172)
  %228 = getelementptr inbounds i8, ptr %0, i64 200
  %229 = load double, ptr %228, align 8, !tbaa !47
  %230 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %7, i64 noundef 160, ptr noundef nonnull @.str.53, double noundef %4, double noundef %229, double noundef %.089.lcssa159162165171, double noundef %.287.lcssa166170, double noundef %.2.lcssa) #8
  %231 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull %7)
  call void @_ZdaPv(ptr noundef nonnull %22) #10
  br label %301

232:                                              ; preds = %13
  %233 = urem i32 %1, 10
  %234 = icmp eq i32 %233, 0
  %235 = icmp eq i32 %5, 1
  %or.cond3 = and i1 %234, %235
  br i1 %or.cond3, label %236, label %239

236:                                              ; preds = %232
  %237 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %7, i64 noundef 160, ptr noundef nonnull @.str.54, ptr noundef nonnull @.str.42, ptr noundef nonnull @.str.43, ptr noundef nonnull @.str.44, ptr noundef nonnull @.str.45, ptr noundef nonnull @.str.46) #8
  %238 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull %7)
  br label %239

239:                                              ; preds = %236, %232
  %240 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %7, i64 noundef 160, ptr noundef nonnull @.str.50, i32 noundef %1) #8
  %241 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull %7)
  %242 = getelementptr inbounds i8, ptr %0, i64 768
  %243 = load i32, ptr %242, align 8, !tbaa !45
  %244 = icmp sgt i32 %243, -1
  br i1 %244, label %245, label %253

245:                                              ; preds = %239
  %246 = getelementptr inbounds i8, ptr %0, i64 784
  %247 = load i32, ptr %246, align 8, !tbaa !48
  %248 = sext i32 %247 to i64
  %249 = getelementptr inbounds [4 x i8], ptr @__const._ZN7qpOASES9QProblemB14printIterationEiiNS_15SubjectToStatusEdNS_11BooleanTypeE.excStr, i64 0, i64 %248
  %250 = load i8, ptr %249, align 1, !tbaa !49
  %251 = sext i8 %250 to i32
  %252 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %7, i64 noundef 160, ptr noundef nonnull @.str.55, i32 noundef %243, i32 noundef %251) #8
  br label %253

253:                                              ; preds = %239, %245
  %.str.56.sink = phi ptr [ %7, %245 ], [ @.str.56, %239 ]
  %254 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull %.str.56.sink)
  %255 = getelementptr inbounds i8, ptr %0, i64 772
  %256 = load i32, ptr %255, align 4, !tbaa !46
  %257 = icmp sgt i32 %256, -1
  br i1 %257, label %258, label %266

258:                                              ; preds = %253
  %259 = getelementptr inbounds i8, ptr %0, i64 788
  %260 = load i32, ptr %259, align 4, !tbaa !50
  %261 = sext i32 %260 to i64
  %262 = getelementptr inbounds [4 x i8], ptr @__const._ZN7qpOASES9QProblemB14printIterationEiiNS_15SubjectToStatusEdNS_11BooleanTypeE.excStr, i64 0, i64 %261
  %263 = load i8, ptr %262, align 1, !tbaa !49
  %264 = sext i8 %263 to i32
  %265 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %7, i64 noundef 160, ptr noundef nonnull @.str.55, i32 noundef %256, i32 noundef %264) #8
  br label %266

266:                                              ; preds = %253, %258
  %.str.56.sink173 = phi ptr [ %7, %258 ], [ @.str.56, %253 ]
  %267 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull %.str.56.sink173)
  %268 = getelementptr inbounds i8, ptr %0, i64 200
  %269 = load double, ptr %268, align 8, !tbaa !47
  %270 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %7, i64 noundef 160, ptr noundef nonnull @.str.57, double noundef %4, double noundef %269) #8
  %271 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull %7)
  br label %301

272:                                              ; preds = %13
  %273 = icmp eq i32 %1, 0
  %274 = icmp eq i32 %5, 1
  %or.cond5 = and i1 %273, %274
  br i1 %or.cond5, label %275, label %282

275:                                              ; preds = %272
  %276 = getelementptr inbounds i8, ptr %0, i64 232
  %277 = load i32, ptr %276, align 8, !tbaa !51
  %278 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %7, i64 noundef 160, ptr noundef nonnull @.str.58, i32 noundef %277) #8
  %279 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull %7)
  %280 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull @.str.59)
  %281 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull @.str.60)
  br label %282

282:                                              ; preds = %275, %272
  switch i32 %3, label %293 [
    i32 4, label %283
    i32 0, label %294
  ]

283:                                              ; preds = %282
  %284 = getelementptr inbounds i8, ptr %0, i64 220
  %285 = load i32, ptr %284, align 4, !tbaa !52
  %286 = icmp eq i32 %285, 0
  %.str.61..str.62 = select i1 %286, ptr @.str.61, ptr @.str.62
  %287 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %8, i64 noundef 3, ptr noundef nonnull %.str.61..str.62) #8
  %.str.64.sink = select i1 %274, ptr @.str.63, ptr @.str.64
  %288 = getelementptr inbounds i8, ptr %0, i64 200
  %289 = load double, ptr %288, align 8, !tbaa !47
  %290 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %291 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %7, i64 noundef 160, ptr noundef nonnull %.str.64.sink, i32 noundef %1, double noundef %289, ptr noundef nonnull %8, i32 noundef %290) #8
  %292 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull %7)
  br label %301

293:                                              ; preds = %282
  br label %294

294:                                              ; preds = %282, %293
  %.str.66.sink = phi ptr [ @.str.66, %293 ], [ @.str.65, %282 ]
  %295 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %8, i64 noundef 8, ptr noundef nonnull %.str.66.sink) #8
  %296 = getelementptr inbounds i8, ptr %0, i64 200
  %297 = load double, ptr %296, align 8, !tbaa !47
  %298 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %299 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %7, i64 noundef 160, ptr noundef nonnull @.str.67, i32 noundef %1, double noundef %297, ptr noundef nonnull %8, i32 noundef %2, i32 noundef %298) #8
  %300 = call noundef i32 @_ZN7qpOASES8myPrintfEPKc(ptr noundef nonnull %7)
  br label %301

301:                                              ; preds = %13, %283, %294, %226, %266
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %8) #8
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %7) #8
  br label %302

302:                                              ; preds = %301, %10
  %.091 = phi i32 [ %12, %10 ], [ 0, %301 ]
  ret i32 %.091
}

attributes #0 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nofree nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { 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, !19, i64 272}
!6 = !{!"_ZTSN7qpOASES9QProblemBE", !7, i64 8, !10, i64 16, !10, i64 24, !10, i64 32, !10, i64 40, !11, i64 48, !10, i64 168, !7, i64 176, !10, i64 184, !10, i64 192, !15, i64 200, !16, i64 208, !7, i64 212, !7, i64 216, !17, i64 220, !15, i64 224, !13, i64 232, !10, i64 240, !15, i64 248, !15, i64 256, !13, i64 264, !18, i64 272, !21, i64 496, !23, i64 768}
!7 = !{!"_ZTSN7qpOASES11BooleanTypeE", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"any pointer", !8, i64 0}
!11 = !{!"_ZTSN7qpOASES6BoundsE", !12, i64 0, !14, i64 40, !14, i64 80}
!12 = !{!"_ZTSN7qpOASES9SubjectToE", !13, i64 8, !10, i64 16, !10, i64 24, !7, i64 32, !7, i64 36}
!13 = !{!"int", !8, i64 0}
!14 = !{!"_ZTSN7qpOASES9IndexlistE", !10, i64 0, !10, i64 8, !13, i64 16, !13, i64 20, !13, i64 24, !13, i64 28, !13, i64 32}
!15 = !{!"double", !8, i64 0}
!16 = !{!"_ZTSN7qpOASES14QProblemStatusE", !8, i64 0}
!17 = !{!"_ZTSN7qpOASES11HessianTypeE", !8, i64 0}
!18 = !{!"_ZTSN7qpOASES7OptionsE", !19, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !7, i64 16, !7, i64 20, !7, i64 24, !13, i64 28, !13, i64 32, !7, i64 36, !15, i64 40, !15, i64 48, !15, i64 56, !15, i64 64, !15, i64 72, !15, i64 80, !15, i64 88, !15, i64 96, !15, i64 104, !15, i64 112, !15, i64 120, !20, i64 128, !15, i64 136, !13, i64 144, !15, i64 152, !13, i64 160, !15, i64 168, !15, i64 176, !15, i64 184, !15, i64 192, !7, i64 200, !7, i64 204, !13, i64 208, !13, i64 212, !13, i64 216}
!19 = !{!"_ZTSN7qpOASES10PrintLevelE", !8, i64 0}
!20 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !8, i64 0}
!21 = !{!"_ZTSN7qpOASES7FlipperE", !13, i64 0, !13, i64 4, !11, i64 8, !22, i64 128, !10, i64 248, !10, i64 256, !10, i64 264}
!22 = !{!"_ZTSN7qpOASES11ConstraintsE", !12, i64 0, !14, i64 40, !14, i64 80}
!23 = !{!"_ZTSN7qpOASES13TabularOutputE", !13, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !13, i64 24, !13, i64 28}
!24 = !{!6, !10, i64 24}
!25 = !{!6, !10, i64 192}
!26 = !{!15, !15, i64 0}
!27 = distinct !{!27, !28, !29, !30}
!28 = !{!"llvm.loop.mustprogress"}
!29 = !{!"llvm.loop.isvectorized", i32 1}
!30 = !{!"llvm.loop.unroll.runtime.disable"}
!31 = distinct !{!31, !32}
!32 = !{!"llvm.loop.unroll.disable"}
!33 = distinct !{!33, !28, !29}
!34 = !{!6, !10, i64 16}
!35 = !{!36, !36, i64 0}
!36 = !{!"vtable pointer", !9, i64 0}
!37 = !{!6, !10, i64 184}
!38 = !{!6, !10, i64 32}
!39 = distinct !{!39, !28}
!40 = !{!6, !10, i64 40}
!41 = distinct !{!41, !28}
!42 = distinct !{!42, !28}
!43 = distinct !{!43, !28}
!44 = distinct !{!44, !28}
!45 = !{!6, !13, i64 768}
!46 = !{!6, !13, i64 772}
!47 = !{!6, !15, i64 200}
!48 = !{!6, !13, i64 784}
!49 = !{!8, !8, i64 0}
!50 = !{!6, !13, i64 788}
!51 = !{!6, !13, i64 232}
!52 = !{!6, !17, i64 220}


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