; 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

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 i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #5 align 2

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800)) #5 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 i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800)) #5 align 2

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

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

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

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES9QProblemB11removeBoundEiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %1, i32 noundef %2) #7 align 2 {
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca i32, align 4
  %11 = alloca i32, align 4
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca double, align 8
  store ptr %0, ptr %5, align 8, !tbaa !5
  store i32 %1, ptr %6, align 4, !tbaa !9
  store i32 %2, ptr %7, align 4, !tbaa !11
  %16 = load ptr, ptr %5, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #8
  %17 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %16)
  store i32 %17, ptr %9, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #8
  %18 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %16)
  store i32 %18, ptr %10, align 4, !tbaa !9
  %19 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %16)
  %20 = icmp eq i32 %19, 0
  br i1 %20, label %30, label %21

21:                                               ; preds = %3
  %22 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %16)
  %23 = icmp eq i32 %22, 2
  br i1 %23, label %30, label %24

24:                                               ; preds = %21
  %25 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %16)
  %26 = icmp eq i32 %25, 4
  br i1 %26, label %30, label %27

27:                                               ; preds = %24
  %28 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %16)
  %29 = icmp eq i32 %28, 5
  br i1 %29, label %30, label %33

30:                                               ; preds = %27, %24, %21, %3
  %31 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %32 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %31, i32 noundef 9, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3571, i32 noundef 1)
  store i32 %32, ptr %4, align 4
  store i32 1, ptr %11, align 4
  br label %379

33:                                               ; preds = %27
  %34 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 23
  %35 = getelementptr inbounds %"class.qpOASES::Options", ptr %34, i32 0, i32 3
  %36 = load i32, ptr %35, align 4, !tbaa !13
  %37 = icmp eq i32 %36, 1
  br i1 %37, label %38, label %44

38:                                               ; preds = %33
  %39 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 24
  %40 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %41 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %42 = load ptr, ptr %41, align 8, !tbaa !27
  %43 = call noundef i32 @_ZN7qpOASES7Flipper3setEPKNS_6BoundsEPKdPKNS_11ConstraintsES5_S5_(ptr noundef nonnull align 8 dereferenceable(272) %39, ptr noundef %40, ptr noundef %42, ptr noundef null, ptr noundef null, ptr noundef null)
  br label %44

44:                                               ; preds = %38, %33
  %45 = load i32, ptr %6, align 4, !tbaa !9
  %46 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 25
  %47 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %46, i32 0, i32 1
  store i32 %45, ptr %47, align 4, !tbaa !28
  %48 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %49 = load i32, ptr %6, align 4, !tbaa !9
  %50 = call noundef i32 @_ZN7qpOASES6Bounds15moveFixedToFreeEi(ptr noundef nonnull align 8 dereferenceable(120) %48, i32 noundef %49)
  %51 = icmp ne i32 %50, 0
  br i1 %51, label %52, label %55

52:                                               ; preds = %44
  %53 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %54 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %53, i32 noundef 81, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3581, i32 noundef 1)
  store i32 %54, ptr %4, align 4
  store i32 1, ptr %11, align 4
  br label %379

55:                                               ; preds = %44
  %56 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %16)
  %57 = icmp eq i32 %56, 1
  br i1 %57, label %58, label %59

58:                                               ; preds = %55
  store i32 0, ptr %4, align 4
  store i32 1, ptr %11, align 4
  br label %379

59:                                               ; preds = %55
  %60 = load i32, ptr %7, align 4, !tbaa !11
  %61 = icmp eq i32 %60, 1
  br i1 %61, label %62, label %329

62:                                               ; preds = %59
  %63 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 15
  %64 = load i32, ptr %63, align 4, !tbaa !29
  %65 = icmp ne i32 %64, 0
  br i1 %65, label %66, label %329

66:                                               ; preds = %62
  %67 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 15
  %68 = load i32, ptr %67, align 4, !tbaa !29
  %69 = icmp ne i32 %68, 1
  br i1 %69, label %70, label %329

70:                                               ; preds = %66
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #8
  %71 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %72 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %71)
  %73 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %72, ptr noundef %12)
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #8
  %74 = load i32, ptr %10, align 4, !tbaa !9
  %75 = add nsw i32 %74, 1
  %76 = sext i32 %75 to i64
  %77 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %76, i64 8)
  %78 = extractvalue { i64, i1 } %77, 1
  %79 = extractvalue { i64, i1 } %77, 0
  %80 = select i1 %78, i64 -1, i64 %79
  %81 = call noalias noundef nonnull ptr @_Znam(i64 noundef %80) #9
  store ptr %81, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #8
  %82 = load i32, ptr %10, align 4, !tbaa !9
  %83 = sext i32 %82 to i64
  %84 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %83, i64 8)
  %85 = extractvalue { i64, i1 } %84, 1
  %86 = extractvalue { i64, i1 } %84, 0
  %87 = select i1 %85, i64 -1, i64 %86
  %88 = call noalias noundef nonnull ptr @_Znam(i64 noundef %87) #9
  store ptr %88, ptr %14, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #8
  %89 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 15
  %90 = load i32, ptr %89, align 4, !tbaa !29
  switch i32 %90, label %126 [
    i32 0, label %91
    i32 1, label %112
  ]

91:                                               ; preds = %70
  %92 = call noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800) %16)
  %93 = icmp eq i32 %92, 0
  br i1 %93, label %94, label %95

94:                                               ; preds = %91
  store double 0.000000e+00, ptr %15, align 8, !tbaa !30
  br label %98

95:                                               ; preds = %91
  %96 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 16
  %97 = load double, ptr %96, align 8, !tbaa !31
  store double %97, ptr %15, align 8, !tbaa !30
  br label %98

98:                                               ; preds = %95, %94
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %99

99:                                               ; preds = %108, %98
  %100 = load i32, ptr %8, align 4, !tbaa !9
  %101 = load i32, ptr %10, align 4, !tbaa !9
  %102 = icmp slt i32 %100, %101
  br i1 %102, label %103, label %111

103:                                              ; preds = %99
  %104 = load ptr, ptr %13, align 8, !tbaa !5
  %105 = load i32, ptr %8, align 4, !tbaa !9
  %106 = sext i32 %105 to i64
  %107 = getelementptr inbounds double, ptr %104, i64 %106
  store double 0.000000e+00, ptr %107, align 8, !tbaa !30
  br label %108

108:                                              ; preds = %103
  %109 = load i32, ptr %8, align 4, !tbaa !9
  %110 = add nsw i32 %109, 1
  store i32 %110, ptr %8, align 4, !tbaa !9
  br label %99, !llvm.loop !32

111:                                              ; preds = %99
  br label %152

112:                                              ; preds = %70
  store double 1.000000e+00, ptr %15, align 8, !tbaa !30
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %113

113:                                              ; preds = %122, %112
  %114 = load i32, ptr %8, align 4, !tbaa !9
  %115 = load i32, ptr %10, align 4, !tbaa !9
  %116 = icmp slt i32 %114, %115
  br i1 %116, label %117, label %125

117:                                              ; preds = %113
  %118 = load ptr, ptr %13, align 8, !tbaa !5
  %119 = load i32, ptr %8, align 4, !tbaa !9
  %120 = sext i32 %119 to i64
  %121 = getelementptr inbounds double, ptr %118, i64 %120
  store double 0.000000e+00, ptr %121, align 8, !tbaa !30
  br label %122

122:                                              ; preds = %117
  %123 = load i32, ptr %8, align 4, !tbaa !9
  %124 = add nsw i32 %123, 1
  store i32 %124, ptr %8, align 4, !tbaa !9
  br label %113, !llvm.loop !34

125:                                              ; preds = %113
  br label %152

126:                                              ; preds = %70
  %127 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 2
  %128 = load ptr, ptr %127, align 8, !tbaa !35
  %129 = load ptr, ptr %128, align 8, !tbaa !36
  %130 = getelementptr i8, ptr %129, i64 -24
  %131 = load i64, ptr %130, align 8
  %132 = getelementptr inbounds i8, ptr %128, i64 %131
  %133 = load i32, ptr %6, align 4, !tbaa !9
  %134 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %135 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %134)
  %136 = load ptr, ptr %13, align 8, !tbaa !5
  %137 = load ptr, ptr %132, align 8, !tbaa !36
  %138 = getelementptr inbounds ptr, ptr %137, i64 9
  %139 = load ptr, ptr %138, align 8
  %140 = call noundef i32 %139(ptr noundef nonnull align 8 dereferenceable(12) %132, i32 noundef %133, ptr noundef %135, double noundef 1.000000e+00, ptr noundef %136)
  %141 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 2
  %142 = load ptr, ptr %141, align 8, !tbaa !35
  %143 = load ptr, ptr %142, align 8, !tbaa !36
  %144 = getelementptr i8, ptr %143, i64 -24
  %145 = load i64, ptr %144, align 8
  %146 = getelementptr inbounds i8, ptr %142, i64 %145
  %147 = load i32, ptr %6, align 4, !tbaa !9
  %148 = load ptr, ptr %146, align 8, !tbaa !36
  %149 = getelementptr inbounds ptr, ptr %148, i64 4
  %150 = load ptr, ptr %149, align 8
  %151 = call noundef double %150(ptr noundef nonnull align 8 dereferenceable(12) %146, i32 noundef %147)
  store double %151, ptr %15, align 8, !tbaa !30
  br label %152

152:                                              ; preds = %126, %125, %111
  %153 = load ptr, ptr %13, align 8, !tbaa !5
  %154 = load ptr, ptr %14, align 8, !tbaa !5
  %155 = load ptr, ptr %16, align 8, !tbaa !36
  %156 = getelementptr inbounds ptr, ptr %155, i64 15
  %157 = load ptr, ptr %156, align 8
  %158 = call noundef i32 %157(ptr noundef nonnull align 8 dereferenceable(800) %16, ptr noundef %153, i32 noundef 1, i32 noundef 1, ptr noundef %154)
  %159 = icmp ne i32 %158, 0
  br i1 %159, label %160, label %171

160:                                              ; preds = %152
  %161 = load ptr, ptr %13, align 8, !tbaa !5
  %162 = icmp eq ptr %161, null
  br i1 %162, label %164, label %163

163:                                              ; preds = %160
  call void @_ZdaPv(ptr noundef %161) #10
  br label %164

164:                                              ; preds = %163, %160
  %165 = load ptr, ptr %14, align 8, !tbaa !5
  %166 = icmp eq ptr %165, null
  br i1 %166, label %168, label %167

167:                                              ; preds = %164
  call void @_ZdaPv(ptr noundef %165) #10
  br label %168

168:                                              ; preds = %167, %164
  %169 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %170 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %169, i32 noundef 81, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3626, i32 noundef 1)
  store i32 %170, ptr %4, align 4
  store i32 1, ptr %11, align 4
  br label %326

171:                                              ; preds = %152
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %172

172:                                              ; preds = %190, %171
  %173 = load i32, ptr %8, align 4, !tbaa !9
  %174 = load i32, ptr %10, align 4, !tbaa !9
  %175 = icmp slt i32 %173, %174
  br i1 %175, label %176, label %193

176:                                              ; preds = %172
  %177 = load ptr, ptr %14, align 8, !tbaa !5
  %178 = load i32, ptr %8, align 4, !tbaa !9
  %179 = sext i32 %178 to i64
  %180 = getelementptr inbounds double, ptr %177, i64 %179
  %181 = load double, ptr %180, align 8, !tbaa !30
  %182 = load ptr, ptr %14, align 8, !tbaa !5
  %183 = load i32, ptr %8, align 4, !tbaa !9
  %184 = sext i32 %183 to i64
  %185 = getelementptr inbounds double, ptr %182, i64 %184
  %186 = load double, ptr %185, align 8, !tbaa !30
  %187 = load double, ptr %15, align 8, !tbaa !30
  %188 = fneg double %181
  %189 = call double @llvm.fmuladd.f64(double %188, double %186, double %187)
  store double %189, ptr %15, align 8, !tbaa !30
  br label %190

190:                                              ; preds = %176
  %191 = load i32, ptr %8, align 4, !tbaa !9
  %192 = add nsw i32 %191, 1
  store i32 %192, ptr %8, align 4, !tbaa !9
  br label %172, !llvm.loop !38

193:                                              ; preds = %172
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %194

194:                                              ; preds = %213, %193
  %195 = load i32, ptr %8, align 4, !tbaa !9
  %196 = load i32, ptr %10, align 4, !tbaa !9
  %197 = icmp slt i32 %195, %196
  br i1 %197, label %198, label %216

198:                                              ; preds = %194
  %199 = load ptr, ptr %14, align 8, !tbaa !5
  %200 = load i32, ptr %8, align 4, !tbaa !9
  %201 = sext i32 %200 to i64
  %202 = getelementptr inbounds double, ptr %199, i64 %201
  %203 = load double, ptr %202, align 8, !tbaa !30
  %204 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %205 = load ptr, ptr %204, align 8, !tbaa !27
  %206 = load i32, ptr %8, align 4, !tbaa !9
  %207 = load i32, ptr %9, align 4, !tbaa !9
  %208 = load i32, ptr %10, align 4, !tbaa !9
  %209 = mul nsw i32 %207, %208
  %210 = add nsw i32 %206, %209
  %211 = sext i32 %210 to i64
  %212 = getelementptr inbounds double, ptr %205, i64 %211
  store double %203, ptr %212, align 8, !tbaa !30
  br label %213

213:                                              ; preds = %198
  %214 = load i32, ptr %8, align 4, !tbaa !9
  %215 = add nsw i32 %214, 1
  store i32 %215, ptr %8, align 4, !tbaa !9
  br label %194, !llvm.loop !39

216:                                              ; preds = %194
  %217 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 23
  %218 = getelementptr inbounds %"class.qpOASES::Options", ptr %217, i32 0, i32 3
  %219 = load i32, ptr %218, align 4, !tbaa !13
  %220 = icmp eq i32 %219, 1
  br i1 %220, label %221, label %289

221:                                              ; preds = %216
  %222 = load double, ptr %15, align 8, !tbaa !30
  %223 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 23
  %224 = getelementptr inbounds %"class.qpOASES::Options", ptr %223, i32 0, i32 23
  %225 = load double, ptr %224, align 8, !tbaa !40
  %226 = fcmp ogt double %222, %225
  br i1 %226, label %227, label %239

227:                                              ; preds = %221
  %228 = load double, ptr %15, align 8, !tbaa !30
  %229 = call noundef double @_ZN7qpOASES7getSqrtEd(double noundef %228)
  %230 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %231 = load ptr, ptr %230, align 8, !tbaa !27
  %232 = load i32, ptr %10, align 4, !tbaa !9
  %233 = load i32, ptr %9, align 4, !tbaa !9
  %234 = load i32, ptr %10, align 4, !tbaa !9
  %235 = mul nsw i32 %233, %234
  %236 = add nsw i32 %232, %235
  %237 = sext i32 %236 to i64
  %238 = getelementptr inbounds double, ptr %231, i64 %237
  store double %229, ptr %238, align 8, !tbaa !30
  br label %288

239:                                              ; preds = %221
  %240 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 15
  store i32 4, ptr %240, align 4, !tbaa !29
  %241 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 24
  %242 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %243 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %244 = load ptr, ptr %243, align 8, !tbaa !27
  %245 = call noundef i32 @_ZNK7qpOASES7Flipper3getEPNS_6BoundsEPdPNS_11ConstraintsES3_S3_(ptr noundef nonnull align 8 dereferenceable(272) %241, ptr noundef %242, ptr noundef %244, ptr noundef null, ptr noundef null, ptr noundef null)
  %246 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %247 = load i32, ptr %6, align 4, !tbaa !9
  %248 = call noundef i32 @_ZN7qpOASES6Bounds9flipFixedEi(ptr noundef nonnull align 8 dereferenceable(120) %246, i32 noundef %247)
  %249 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %250 = load i32, ptr %6, align 4, !tbaa !9
  %251 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %249, i32 noundef %250)
  switch i32 %251, label %276 [
    i32 -1, label %252
    i32 1, label %264
  ]

252:                                              ; preds = %239
  %253 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 5
  %254 = load ptr, ptr %253, align 8, !tbaa !41
  %255 = load i32, ptr %6, align 4, !tbaa !9
  %256 = sext i32 %255 to i64
  %257 = getelementptr inbounds double, ptr %254, i64 %256
  %258 = load double, ptr %257, align 8, !tbaa !30
  %259 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 4
  %260 = load ptr, ptr %259, align 8, !tbaa !42
  %261 = load i32, ptr %6, align 4, !tbaa !9
  %262 = sext i32 %261 to i64
  %263 = getelementptr inbounds double, ptr %260, i64 %262
  store double %258, ptr %263, align 8, !tbaa !30
  br label %287

264:                                              ; preds = %239
  %265 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 4
  %266 = load ptr, ptr %265, align 8, !tbaa !42
  %267 = load i32, ptr %6, align 4, !tbaa !9
  %268 = sext i32 %267 to i64
  %269 = getelementptr inbounds double, ptr %266, i64 %268
  %270 = load double, ptr %269, align 8, !tbaa !30
  %271 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 5
  %272 = load ptr, ptr %271, align 8, !tbaa !41
  %273 = load i32, ptr %6, align 4, !tbaa !9
  %274 = sext i32 %273 to i64
  %275 = getelementptr inbounds double, ptr %272, i64 %274
  store double %270, ptr %275, align 8, !tbaa !30
  br label %287

276:                                              ; preds = %239
  %277 = load ptr, ptr %13, align 8, !tbaa !5
  %278 = icmp eq ptr %277, null
  br i1 %278, label %280, label %279

279:                                              ; preds = %276
  call void @_ZdaPv(ptr noundef %277) #10
  br label %280

280:                                              ; preds = %279, %276
  %281 = load ptr, ptr %14, align 8, !tbaa !5
  %282 = icmp eq ptr %281, null
  br i1 %282, label %284, label %283

283:                                              ; preds = %280
  call void @_ZdaPv(ptr noundef %281) #10
  br label %284

284:                                              ; preds = %283, %280
  %285 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %286 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %285, i32 noundef 25, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3651, i32 noundef 1)
  store i32 %286, ptr %4, align 4
  store i32 1, ptr %11, align 4
  br label %326

287:                                              ; preds = %264, %252
  br label %288

288:                                              ; preds = %287, %227
  br label %317

289:                                              ; preds = %216
  %290 = load double, ptr %15, align 8, !tbaa !30
  %291 = fcmp ogt double %290, 1.000000e-25
  br i1 %291, label %292, label %304

292:                                              ; preds = %289
  %293 = load double, ptr %15, align 8, !tbaa !30
  %294 = call noundef double @_ZN7qpOASES7getSqrtEd(double noundef %293)
  %295 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %296 = load ptr, ptr %295, align 8, !tbaa !27
  %297 = load i32, ptr %10, align 4, !tbaa !9
  %298 = load i32, ptr %9, align 4, !tbaa !9
  %299 = load i32, ptr %10, align 4, !tbaa !9
  %300 = mul nsw i32 %298, %299
  %301 = add nsw i32 %297, %300
  %302 = sext i32 %301 to i64
  %303 = getelementptr inbounds double, ptr %296, i64 %302
  store double %294, ptr %303, align 8, !tbaa !30
  br label %316

304:                                              ; preds = %289
  %305 = load ptr, ptr %13, align 8, !tbaa !5
  %306 = icmp eq ptr %305, null
  br i1 %306, label %308, label %307

307:                                              ; preds = %304
  call void @_ZdaPv(ptr noundef %305) #10
  br label %308

308:                                              ; preds = %307, %304
  %309 = load ptr, ptr %14, align 8, !tbaa !5
  %310 = icmp eq ptr %309, null
  br i1 %310, label %312, label %311

311:                                              ; preds = %308
  call void @_ZdaPv(ptr noundef %309) #10
  br label %312

312:                                              ; preds = %311, %308
  %313 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 15
  store i32 4, ptr %313, align 4, !tbaa !29
  %314 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %315 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %314, i32 noundef 99, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3665, i32 noundef 1)
  store i32 %315, ptr %4, align 4
  store i32 1, ptr %11, align 4
  br label %326

316:                                              ; preds = %292
  br label %317

317:                                              ; preds = %316, %288
  %318 = load ptr, ptr %13, align 8, !tbaa !5
  %319 = icmp eq ptr %318, null
  br i1 %319, label %321, label %320

320:                                              ; preds = %317
  call void @_ZdaPv(ptr noundef %318) #10
  br label %321

321:                                              ; preds = %320, %317
  %322 = load ptr, ptr %14, align 8, !tbaa !5
  %323 = icmp eq ptr %322, null
  br i1 %323, label %325, label %324

324:                                              ; preds = %321
  call void @_ZdaPv(ptr noundef %322) #10
  br label %325

325:                                              ; preds = %324, %321
  store i32 0, ptr %11, align 4
  br label %326

326:                                              ; preds = %325, %312, %284, %168
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #8
  %327 = load i32, ptr %11, align 4
  switch i32 %327, label %379 [
    i32 0, label %328
  ]

328:                                              ; preds = %326
  br label %329

329:                                              ; preds = %328, %66, %62, %59
  %330 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 15
  %331 = load i32, ptr %330, align 4, !tbaa !29
  %332 = icmp eq i32 %331, 0
  br i1 %332, label %333, label %378

333:                                              ; preds = %329
  %334 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 23
  %335 = getelementptr inbounds %"class.qpOASES::Options", ptr %334, i32 0, i32 3
  %336 = load i32, ptr %335, align 4, !tbaa !13
  %337 = icmp eq i32 %336, 1
  br i1 %337, label %338, label %378

338:                                              ; preds = %333
  %339 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 24
  %340 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %341 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %342 = load ptr, ptr %341, align 8, !tbaa !27
  %343 = call noundef i32 @_ZNK7qpOASES7Flipper3getEPNS_6BoundsEPdPNS_11ConstraintsES3_S3_(ptr noundef nonnull align 8 dereferenceable(272) %339, ptr noundef %340, ptr noundef %342, ptr noundef null, ptr noundef null, ptr noundef null)
  %344 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %345 = load i32, ptr %6, align 4, !tbaa !9
  %346 = call noundef i32 @_ZN7qpOASES6Bounds9flipFixedEi(ptr noundef nonnull align 8 dereferenceable(120) %344, i32 noundef %345)
  %347 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %348 = load i32, ptr %6, align 4, !tbaa !9
  %349 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %347, i32 noundef %348)
  switch i32 %349, label %374 [
    i32 -1, label %350
    i32 1, label %362
  ]

350:                                              ; preds = %338
  %351 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 5
  %352 = load ptr, ptr %351, align 8, !tbaa !41
  %353 = load i32, ptr %6, align 4, !tbaa !9
  %354 = sext i32 %353 to i64
  %355 = getelementptr inbounds double, ptr %352, i64 %354
  %356 = load double, ptr %355, align 8, !tbaa !30
  %357 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 4
  %358 = load ptr, ptr %357, align 8, !tbaa !42
  %359 = load i32, ptr %6, align 4, !tbaa !9
  %360 = sext i32 %359 to i64
  %361 = getelementptr inbounds double, ptr %358, i64 %360
  store double %356, ptr %361, align 8, !tbaa !30
  br label %377

362:                                              ; preds = %338
  %363 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 4
  %364 = load ptr, ptr %363, align 8, !tbaa !42
  %365 = load i32, ptr %6, align 4, !tbaa !9
  %366 = sext i32 %365 to i64
  %367 = getelementptr inbounds double, ptr %364, i64 %366
  %368 = load double, ptr %367, align 8, !tbaa !30
  %369 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 5
  %370 = load ptr, ptr %369, align 8, !tbaa !41
  %371 = load i32, ptr %6, align 4, !tbaa !9
  %372 = sext i32 %371 to i64
  %373 = getelementptr inbounds double, ptr %370, i64 %372
  store double %368, ptr %373, align 8, !tbaa !30
  br label %377

374:                                              ; preds = %338
  %375 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %376 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %375, i32 noundef 25, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3681, i32 noundef 1)
  store i32 %376, ptr %4, align 4
  store i32 1, ptr %11, align 4
  br label %379

377:                                              ; preds = %362, %350
  br label %378

378:                                              ; preds = %377, %333, %329
  store i32 0, ptr %4, align 4
  store i32 1, ptr %11, align 4
  br label %379

379:                                              ; preds = %378, %374, %326, %58, %52, %30
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #8
  %380 = load i32, ptr %4, align 4
  ret i32 %380
}

declare noundef i32 @_ZN7qpOASES7Flipper3setEPKNS_6BoundsEPKdPKNS_11ConstraintsES5_S5_(ptr noundef nonnull align 8 dereferenceable(272), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) #0

declare noundef i32 @_ZN7qpOASES6Bounds15moveFixedToFreeEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) #0

declare noundef i32 @_ZNK7qpOASES7Flipper3getEPNS_6BoundsEPdPNS_11ConstraintsES3_S3_(ptr noundef nonnull align 8 dereferenceable(272), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) #0

declare noundef i32 @_ZN7qpOASES6Bounds9flipFixedEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) #0

attributes #0 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 = { 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, !12, i64 284}
!14 = !{!"_ZTSN7qpOASES9QProblemBE", !12, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !15, i64 48, !6, i64 168, !12, i64 176, !6, i64 184, !6, i64 192, !18, i64 200, !19, i64 208, !12, i64 212, !12, i64 216, !20, i64 220, !18, i64 224, !10, i64 232, !6, i64 240, !18, i64 248, !18, i64 256, !10, i64 264, !21, i64 272, !24, i64 496, !26, i64 768}
!15 = !{!"_ZTSN7qpOASES6BoundsE", !16, i64 0, !17, i64 40, !17, i64 80}
!16 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !12, i64 32, !12, i64 36}
!17 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!18 = !{!"double", !7, i64 0}
!19 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!20 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!21 = !{!"_ZTSN7qpOASES7OptionsE", !22, 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, !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, !10, i64 144, !18, i64 152, !10, i64 160, !18, i64 168, !18, i64 176, !18, i64 184, !18, i64 192, !12, i64 200, !12, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!22 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!24 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !15, i64 8, !25, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!25 = !{!"_ZTSN7qpOASES11ConstraintsE", !16, i64 0, !17, i64 40, !17, i64 80}
!26 = !{!"_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}
!27 = !{!14, !6, i64 168}
!28 = !{!14, !10, i64 772}
!29 = !{!14, !20, i64 220}
!30 = !{!18, !18, i64 0}
!31 = !{!14, !18, i64 224}
!32 = distinct !{!32, !33}
!33 = !{!"llvm.loop.mustprogress"}
!34 = distinct !{!34, !33}
!35 = !{!14, !6, i64 16}
!36 = !{!37, !37, i64 0}
!37 = !{!"vtable pointer", !8, i64 0}
!38 = distinct !{!38, !33}
!39 = distinct !{!39, !33}
!40 = !{!14, !18, i64 408}
!41 = !{!14, !6, i64 40}
!42 = !{!14, !6, i64 32}


; 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

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 i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) local_unnamed_addr #4 align 2

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #4 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 i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES7getSqrtEd(double noundef) local_unnamed_addr #4

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

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

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES9QProblemB11removeBoundEiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %1, i32 noundef %2) local_unnamed_addr #7 align 2 {
  %4 = alloca ptr, align 8
  %5 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %6 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %7 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %8 = icmp eq i32 %7, 0
  br i1 %8, label %18, label %9

9:                                                ; preds = %3
  %10 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %11 = icmp eq i32 %10, 2
  br i1 %11, label %18, label %12

12:                                               ; preds = %9
  %13 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %14 = icmp eq i32 %13, 4
  br i1 %14, label %18, label %15

15:                                               ; preds = %12
  %16 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %17 = icmp eq i32 %16, 5
  br i1 %17, label %18, label %21

18:                                               ; preds = %15, %12, %9, %3
  %19 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %20 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %19, i32 noundef 9, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3571, i32 noundef 1)
  br label %234

21:                                               ; preds = %15
  %22 = getelementptr inbounds i8, ptr %0, i64 284
  %23 = load i32, ptr %22, align 4, !tbaa !5
  %24 = icmp eq i32 %23, 1
  br i1 %24, label %25, label %31

25:                                               ; preds = %21
  %26 = getelementptr inbounds i8, ptr %0, i64 496
  %27 = getelementptr inbounds i8, ptr %0, i64 48
  %28 = getelementptr inbounds i8, ptr %0, i64 168
  %29 = load ptr, ptr %28, align 8, !tbaa !24
  %30 = tail call noundef i32 @_ZN7qpOASES7Flipper3setEPKNS_6BoundsEPKdPKNS_11ConstraintsES5_S5_(ptr noundef nonnull align 8 dereferenceable(272) %26, ptr noundef nonnull %27, ptr noundef %29, ptr noundef null, ptr noundef null, ptr noundef null)
  br label %31

31:                                               ; preds = %25, %21
  %32 = getelementptr inbounds i8, ptr %0, i64 772
  store i32 %1, ptr %32, align 4, !tbaa !25
  %33 = getelementptr inbounds i8, ptr %0, i64 48
  %34 = tail call noundef i32 @_ZN7qpOASES6Bounds15moveFixedToFreeEi(ptr noundef nonnull align 8 dereferenceable(120) %33, i32 noundef %1)
  %.not = icmp eq i32 %34, 0
  br i1 %.not, label %38, label %35

35:                                               ; preds = %31
  %36 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %37 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %36, i32 noundef 81, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3581, i32 noundef 1)
  br label %234

38:                                               ; preds = %31
  %39 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %40 = icmp eq i32 %39, 1
  br i1 %40, label %234, label %41

41:                                               ; preds = %38
  %42 = icmp eq i32 %2, 1
  br i1 %42, label %43, label %200

43:                                               ; preds = %41
  %44 = getelementptr inbounds i8, ptr %0, i64 220
  %45 = load i32, ptr %44, align 4, !tbaa !26
  %switch = icmp ult i32 %45, 2
  br i1 %switch, label %200, label %46

46:                                               ; preds = %43
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #9
  %47 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %33)
  %48 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %47, ptr noundef nonnull %4)
  %49 = add nsw i32 %6, 1
  %50 = zext nneg i32 %49 to i64
  %51 = icmp slt i32 %6, -1
  %52 = shl nuw nsw i64 %50, 3
  %53 = select i1 %51, i64 -1, i64 %52
  %54 = call noalias noundef nonnull ptr @_Znam(i64 noundef %53) #10
  %55 = zext i32 %6 to i64
  %56 = icmp slt i32 %6, 0
  %57 = shl nuw nsw i64 %55, 3
  %58 = select i1 %56, i64 -1, i64 %57
  %59 = call noalias noundef nonnull ptr @_Znam(i64 noundef %58) #10
  %60 = ptrtoint ptr %59 to i64
  %61 = load i32, ptr %44, align 4, !tbaa !26
  switch i32 %61, label %69 [
    i32 0, label %63
    i32 1, label %.preheader83
  ]

.preheader83:                                     ; preds = %46
  %62 = icmp sgt i32 %6, 0
  br i1 %62, label %.lr.ph.preheader, label %.loopexit

.lr.ph.preheader:                                 ; preds = %.preheader83
  call void @llvm.memset.p0.i64(ptr nonnull align 8 %54, i8 0, i64 %57, i1 false), !tbaa !27
  br label %.loopexit

63:                                               ; preds = %46
  %64 = call noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %65 = icmp eq i32 %64, 0
  %66 = getelementptr inbounds i8, ptr %0, i64 224
  %67 = load double, ptr %66, align 8
  %.0 = select i1 %65, double 0.000000e+00, double %67
  %68 = icmp sgt i32 %6, 0
  br i1 %68, label %.lr.ph87.preheader, label %.loopexit

.lr.ph87.preheader:                               ; preds = %63
  call void @llvm.memset.p0.i64(ptr nonnull align 8 %54, i8 0, i64 %57, i1 false), !tbaa !27
  br label %.loopexit

69:                                               ; preds = %46
  %70 = getelementptr inbounds i8, ptr %0, i64 16
  %71 = load ptr, ptr %70, align 8, !tbaa !28
  %72 = load ptr, ptr %71, align 8, !tbaa !29
  %73 = getelementptr i8, ptr %72, i64 -24
  %74 = load i64, ptr %73, align 8
  %75 = getelementptr inbounds i8, ptr %71, i64 %74
  %76 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %33)
  %77 = load ptr, ptr %75, align 8, !tbaa !29
  %78 = getelementptr inbounds i8, ptr %77, i64 72
  %79 = load ptr, ptr %78, align 8
  %80 = call noundef i32 %79(ptr noundef nonnull align 8 dereferenceable(12) %75, i32 noundef %1, ptr noundef %76, double noundef 1.000000e+00, ptr noundef nonnull %54)
  %81 = load ptr, ptr %70, align 8, !tbaa !28
  %82 = load ptr, ptr %81, align 8, !tbaa !29
  %83 = getelementptr i8, ptr %82, i64 -24
  %84 = load i64, ptr %83, align 8
  %85 = getelementptr inbounds i8, ptr %81, i64 %84
  %86 = load ptr, ptr %85, align 8, !tbaa !29
  %87 = getelementptr inbounds i8, ptr %86, i64 32
  %88 = load ptr, ptr %87, align 8
  %89 = call noundef double %88(ptr noundef nonnull align 8 dereferenceable(12) %85, i32 noundef %1)
  br label %.loopexit

.loopexit:                                        ; preds = %.lr.ph.preheader, %.lr.ph87.preheader, %.preheader83, %63, %69
  %.1 = phi double [ %89, %69 ], [ %.0, %63 ], [ 1.000000e+00, %.preheader83 ], [ %.0, %.lr.ph87.preheader ], [ 1.000000e+00, %.lr.ph.preheader ]
  %90 = load ptr, ptr %0, align 8, !tbaa !29
  %91 = getelementptr inbounds i8, ptr %90, i64 120
  %92 = load ptr, ptr %91, align 8
  %93 = call noundef i32 %92(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef nonnull %54, i32 noundef 1, i32 noundef 1, ptr noundef nonnull %59)
  %.not78 = icmp eq i32 %93, 0
  br i1 %.not78, label %.preheader82, label %96

.preheader82:                                     ; preds = %.loopexit
  %94 = icmp sgt i32 %6, 0
  br i1 %94, label %.lr.ph90.preheader, label %._crit_edge

.lr.ph90.preheader:                               ; preds = %.preheader82
  %xtraiter = and i64 %55, 3
  %95 = icmp ult i32 %6, 4
  br i1 %95, label %.preheader.unr-lcssa, label %.lr.ph90.preheader.new

.lr.ph90.preheader.new:                           ; preds = %.lr.ph90.preheader
  %unroll_iter = and i64 %55, 2147483644
  br label %.lr.ph90

96:                                               ; preds = %.loopexit
  call void @_ZdaPv(ptr noundef nonnull %54) #11
  call void @_ZdaPv(ptr noundef nonnull %59) #11
  %97 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %98 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %97, i32 noundef 81, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3626, i32 noundef 1)
  br label %.thread

.preheader.unr-lcssa:                             ; preds = %.lr.ph90, %.lr.ph90.preheader
  %.lcssa.ph = phi double [ poison, %.lr.ph90.preheader ], [ %135, %.lr.ph90 ]
  %indvars.iv.unr = phi i64 [ 0, %.lr.ph90.preheader ], [ %indvars.iv.next.3, %.lr.ph90 ]
  %.289.unr = phi double [ %.1, %.lr.ph90.preheader ], [ %135, %.lr.ph90 ]
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %.preheader, label %.lr.ph90.epil

.lr.ph90.epil:                                    ; preds = %.preheader.unr-lcssa, %.lr.ph90.epil
  %indvars.iv.epil = phi i64 [ %indvars.iv.next.epil, %.lr.ph90.epil ], [ %indvars.iv.unr, %.preheader.unr-lcssa ]
  %.289.epil = phi double [ %102, %.lr.ph90.epil ], [ %.289.unr, %.preheader.unr-lcssa ]
  %epil.iter = phi i64 [ %epil.iter.next, %.lr.ph90.epil ], [ 0, %.preheader.unr-lcssa ]
  %99 = getelementptr inbounds double, ptr %59, i64 %indvars.iv.epil
  %100 = load double, ptr %99, align 8, !tbaa !27
  %101 = fneg double %100
  %102 = call double @llvm.fmuladd.f64(double %101, double %100, double %.289.epil)
  %indvars.iv.next.epil = add nuw nsw i64 %indvars.iv.epil, 1
  %epil.iter.next = add i64 %epil.iter, 1
  %epil.iter.cmp.not = icmp eq i64 %epil.iter.next, %xtraiter
  br i1 %epil.iter.cmp.not, label %.preheader, label %.lr.ph90.epil, !llvm.loop !31

.preheader:                                       ; preds = %.lr.ph90.epil, %.preheader.unr-lcssa
  %.lcssa = phi double [ %.lcssa.ph, %.preheader.unr-lcssa ], [ %102, %.lr.ph90.epil ]
  br i1 %94, label %.lr.ph92, label %._crit_edge

.lr.ph92:                                         ; preds = %.preheader
  %103 = getelementptr inbounds i8, ptr %0, i64 168
  %104 = load ptr, ptr %103, align 8, !tbaa !24
  %105 = mul nsw i32 %6, %5
  %106 = sext i32 %105 to i64
  %invariant.gep = getelementptr double, ptr %104, i64 %106
  %min.iters.check = icmp ult i32 %6, 10
  br i1 %min.iters.check, label %scalar.ph.preheader, label %vector.memcheck

scalar.ph.preheader:                              ; preds = %middle.block, %vector.memcheck, %.lr.ph92
  %indvars.iv97.ph = phi i64 [ 0, %vector.memcheck ], [ 0, %.lr.ph92 ], [ %n.vec, %middle.block ]
  %xtraiter106 = and i64 %55, 3
  %lcmp.mod107.not = icmp eq i64 %xtraiter106, 0
  br i1 %lcmp.mod107.not, label %scalar.ph.prol.loopexit, label %scalar.ph.prol

scalar.ph.prol:                                   ; preds = %scalar.ph.preheader, %scalar.ph.prol
  %indvars.iv97.prol = phi i64 [ %indvars.iv.next98.prol, %scalar.ph.prol ], [ %indvars.iv97.ph, %scalar.ph.preheader ]
  %prol.iter = phi i64 [ %prol.iter.next, %scalar.ph.prol ], [ 0, %scalar.ph.preheader ]
  %107 = getelementptr inbounds double, ptr %59, i64 %indvars.iv97.prol
  %108 = load double, ptr %107, align 8, !tbaa !27
  %gep.prol = getelementptr double, ptr %invariant.gep, i64 %indvars.iv97.prol
  store double %108, ptr %gep.prol, align 8, !tbaa !27
  %indvars.iv.next98.prol = add nuw nsw i64 %indvars.iv97.prol, 1
  %prol.iter.next = add i64 %prol.iter, 1
  %prol.iter.cmp.not = icmp eq i64 %prol.iter.next, %xtraiter106
  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.iv97.unr = phi i64 [ %indvars.iv97.ph, %scalar.ph.preheader ], [ %indvars.iv.next98.prol, %scalar.ph.prol ]
  %109 = sub nsw i64 %indvars.iv97.ph, %55
  %110 = icmp ugt i64 %109, -4
  br i1 %110, label %._crit_edge, label %scalar.ph

vector.memcheck:                                  ; preds = %.lr.ph92
  %111 = ptrtoint ptr %104 to i64
  %112 = shl nsw i64 %106, 3
  %113 = add i64 %112, %111
  %114 = sub i64 %113, %60
  %diff.check = icmp ult i64 %114, 32
  br i1 %diff.check, label %scalar.ph.preheader, label %vector.ph

vector.ph:                                        ; preds = %vector.memcheck
  %n.vec = and i64 %55, 2147483644
  br label %vector.body

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %115 = getelementptr inbounds double, ptr %59, i64 %index
  %116 = getelementptr inbounds i8, ptr %115, i64 16
  %wide.load = load <2 x double>, ptr %115, align 8, !tbaa !27
  %wide.load104 = load <2 x double>, ptr %116, align 8, !tbaa !27
  %117 = getelementptr double, ptr %invariant.gep, i64 %index
  %118 = getelementptr i8, ptr %117, i64 16
  store <2 x double> %wide.load, ptr %117, align 8, !tbaa !27
  store <2 x double> %wide.load104, ptr %118, align 8, !tbaa !27
  %index.next = add nuw i64 %index, 4
  %119 = icmp eq i64 %index.next, %n.vec
  br i1 %119, label %middle.block, label %vector.body, !llvm.loop !34

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %55
  br i1 %cmp.n, label %._crit_edge, label %scalar.ph.preheader

.lr.ph90:                                         ; preds = %.lr.ph90, %.lr.ph90.preheader.new
  %indvars.iv = phi i64 [ 0, %.lr.ph90.preheader.new ], [ %indvars.iv.next.3, %.lr.ph90 ]
  %.289 = phi double [ %.1, %.lr.ph90.preheader.new ], [ %135, %.lr.ph90 ]
  %niter = phi i64 [ 0, %.lr.ph90.preheader.new ], [ %niter.next.3, %.lr.ph90 ]
  %120 = getelementptr inbounds double, ptr %59, i64 %indvars.iv
  %121 = load double, ptr %120, align 8, !tbaa !27
  %122 = fneg double %121
  %123 = call double @llvm.fmuladd.f64(double %122, double %121, double %.289)
  %indvars.iv.next = or disjoint i64 %indvars.iv, 1
  %124 = getelementptr inbounds double, ptr %59, i64 %indvars.iv.next
  %125 = load double, ptr %124, align 8, !tbaa !27
  %126 = fneg double %125
  %127 = call double @llvm.fmuladd.f64(double %126, double %125, double %123)
  %indvars.iv.next.1 = or disjoint i64 %indvars.iv, 2
  %128 = getelementptr inbounds double, ptr %59, i64 %indvars.iv.next.1
  %129 = load double, ptr %128, align 8, !tbaa !27
  %130 = fneg double %129
  %131 = call double @llvm.fmuladd.f64(double %130, double %129, double %127)
  %indvars.iv.next.2 = or disjoint i64 %indvars.iv, 3
  %132 = getelementptr inbounds double, ptr %59, i64 %indvars.iv.next.2
  %133 = load double, ptr %132, align 8, !tbaa !27
  %134 = fneg double %133
  %135 = call double @llvm.fmuladd.f64(double %134, double %133, double %131)
  %indvars.iv.next.3 = add nuw nsw i64 %indvars.iv, 4
  %niter.next.3 = add i64 %niter, 4
  %niter.ncmp.3 = icmp eq i64 %niter.next.3, %unroll_iter
  br i1 %niter.ncmp.3, label %.preheader.unr-lcssa, label %.lr.ph90, !llvm.loop !38

scalar.ph:                                        ; preds = %scalar.ph.prol.loopexit, %scalar.ph
  %indvars.iv97 = phi i64 [ %indvars.iv.next98.3, %scalar.ph ], [ %indvars.iv97.unr, %scalar.ph.prol.loopexit ]
  %136 = getelementptr inbounds double, ptr %59, i64 %indvars.iv97
  %137 = load double, ptr %136, align 8, !tbaa !27
  %gep = getelementptr double, ptr %invariant.gep, i64 %indvars.iv97
  store double %137, ptr %gep, align 8, !tbaa !27
  %indvars.iv.next98 = add nuw nsw i64 %indvars.iv97, 1
  %138 = getelementptr inbounds double, ptr %59, i64 %indvars.iv.next98
  %139 = load double, ptr %138, align 8, !tbaa !27
  %gep.1 = getelementptr double, ptr %invariant.gep, i64 %indvars.iv.next98
  store double %139, ptr %gep.1, align 8, !tbaa !27
  %indvars.iv.next98.1 = add nuw nsw i64 %indvars.iv97, 2
  %140 = getelementptr inbounds double, ptr %59, i64 %indvars.iv.next98.1
  %141 = load double, ptr %140, align 8, !tbaa !27
  %gep.2 = getelementptr double, ptr %invariant.gep, i64 %indvars.iv.next98.1
  store double %141, ptr %gep.2, align 8, !tbaa !27
  %indvars.iv.next98.2 = add nuw nsw i64 %indvars.iv97, 3
  %142 = getelementptr inbounds double, ptr %59, i64 %indvars.iv.next98.2
  %143 = load double, ptr %142, align 8, !tbaa !27
  %gep.3 = getelementptr double, ptr %invariant.gep, i64 %indvars.iv.next98.2
  store double %143, ptr %gep.3, align 8, !tbaa !27
  %indvars.iv.next98.3 = add nuw nsw i64 %indvars.iv97, 4
  %exitcond101.not.3 = icmp eq i64 %indvars.iv.next98.3, %55
  br i1 %exitcond101.not.3, label %._crit_edge, label %scalar.ph, !llvm.loop !39

._crit_edge:                                      ; preds = %scalar.ph.prol.loopexit, %scalar.ph, %middle.block, %.preheader82, %.preheader
  %.2.lcssa103 = phi double [ %.lcssa, %.preheader ], [ %.1, %.preheader82 ], [ %.lcssa, %middle.block ], [ %.lcssa, %scalar.ph ], [ %.lcssa, %scalar.ph.prol.loopexit ]
  %144 = load i32, ptr %22, align 4, !tbaa !5
  %145 = icmp eq i32 %144, 1
  br i1 %145, label %146, label %186

146:                                              ; preds = %._crit_edge
  %147 = getelementptr inbounds i8, ptr %0, i64 408
  %148 = load double, ptr %147, align 8, !tbaa !40
  %149 = fcmp ogt double %.2.lcssa103, %148
  br i1 %149, label %150, label %158

150:                                              ; preds = %146
  %151 = call noundef double @_ZN7qpOASES7getSqrtEd(double noundef %.2.lcssa103)
  %152 = getelementptr inbounds i8, ptr %0, i64 168
  %153 = load ptr, ptr %152, align 8, !tbaa !24
  %154 = add i32 %5, 1
  %155 = mul i32 %6, %154
  %156 = sext i32 %155 to i64
  %157 = getelementptr inbounds double, ptr %153, i64 %156
  store double %151, ptr %157, align 8, !tbaa !27
  br label %199

158:                                              ; preds = %146
  store i32 4, ptr %44, align 4, !tbaa !26
  %159 = getelementptr inbounds i8, ptr %0, i64 496
  %160 = getelementptr inbounds i8, ptr %0, i64 168
  %161 = load ptr, ptr %160, align 8, !tbaa !24
  %162 = call noundef i32 @_ZNK7qpOASES7Flipper3getEPNS_6BoundsEPdPNS_11ConstraintsES3_S3_(ptr noundef nonnull align 8 dereferenceable(272) %159, ptr noundef nonnull %33, ptr noundef %161, ptr noundef null, ptr noundef null, ptr noundef null)
  %163 = call noundef i32 @_ZN7qpOASES6Bounds9flipFixedEi(ptr noundef nonnull align 8 dereferenceable(120) %33, i32 noundef %1)
  %164 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %33, i32 noundef %1)
  switch i32 %164, label %183 [
    i32 -1, label %165
    i32 1, label %174
  ]

165:                                              ; preds = %158
  %166 = getelementptr inbounds i8, ptr %0, i64 40
  %167 = load ptr, ptr %166, align 8, !tbaa !41
  %168 = sext i32 %1 to i64
  %169 = getelementptr inbounds double, ptr %167, i64 %168
  %170 = load double, ptr %169, align 8, !tbaa !27
  %171 = getelementptr inbounds i8, ptr %0, i64 32
  %172 = load ptr, ptr %171, align 8, !tbaa !42
  %173 = getelementptr inbounds double, ptr %172, i64 %168
  store double %170, ptr %173, align 8, !tbaa !27
  br label %199

174:                                              ; preds = %158
  %175 = getelementptr inbounds i8, ptr %0, i64 32
  %176 = load ptr, ptr %175, align 8, !tbaa !42
  %177 = sext i32 %1 to i64
  %178 = getelementptr inbounds double, ptr %176, i64 %177
  %179 = load double, ptr %178, align 8, !tbaa !27
  %180 = getelementptr inbounds i8, ptr %0, i64 40
  %181 = load ptr, ptr %180, align 8, !tbaa !41
  %182 = getelementptr inbounds double, ptr %181, i64 %177
  store double %179, ptr %182, align 8, !tbaa !27
  br label %199

183:                                              ; preds = %158
  call void @_ZdaPv(ptr noundef nonnull %54) #11
  call void @_ZdaPv(ptr noundef nonnull %59) #11
  %184 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %185 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %184, i32 noundef 25, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3651, i32 noundef 1)
  br label %.thread

186:                                              ; preds = %._crit_edge
  %187 = fcmp ogt double %.2.lcssa103, 1.000000e-25
  br i1 %187, label %188, label %196

188:                                              ; preds = %186
  %189 = call noundef double @_ZN7qpOASES7getSqrtEd(double noundef %.2.lcssa103)
  %190 = getelementptr inbounds i8, ptr %0, i64 168
  %191 = load ptr, ptr %190, align 8, !tbaa !24
  %192 = add i32 %5, 1
  %193 = mul i32 %6, %192
  %194 = sext i32 %193 to i64
  %195 = getelementptr inbounds double, ptr %191, i64 %194
  store double %189, ptr %195, align 8, !tbaa !27
  br label %199

196:                                              ; preds = %186
  call void @_ZdaPv(ptr noundef nonnull %54) #11
  call void @_ZdaPv(ptr noundef nonnull %59) #11
  store i32 4, ptr %44, align 4, !tbaa !26
  %197 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %198 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %197, i32 noundef 99, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3665, i32 noundef 1)
  br label %.thread

.thread:                                          ; preds = %96, %183, %196
  %.068.ph = phi i32 [ %198, %196 ], [ %185, %183 ], [ %98, %96 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #9
  br label %234

199:                                              ; preds = %150, %174, %165, %188
  call void @_ZdaPv(ptr noundef nonnull %54) #11
  call void @_ZdaPv(ptr noundef nonnull %59) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #9
  br label %200

200:                                              ; preds = %199, %43, %41
  %201 = getelementptr inbounds i8, ptr %0, i64 220
  %202 = load i32, ptr %201, align 4, !tbaa !26
  %203 = icmp eq i32 %202, 0
  %204 = load i32, ptr %22, align 4
  %205 = icmp eq i32 %204, 1
  %or.cond = select i1 %203, i1 %205, i1 false
  br i1 %or.cond, label %206, label %234

206:                                              ; preds = %200
  %207 = getelementptr inbounds i8, ptr %0, i64 496
  %208 = getelementptr inbounds i8, ptr %0, i64 168
  %209 = load ptr, ptr %208, align 8, !tbaa !24
  %210 = call noundef i32 @_ZNK7qpOASES7Flipper3getEPNS_6BoundsEPdPNS_11ConstraintsES3_S3_(ptr noundef nonnull align 8 dereferenceable(272) %207, ptr noundef nonnull %33, ptr noundef %209, ptr noundef null, ptr noundef null, ptr noundef null)
  %211 = call noundef i32 @_ZN7qpOASES6Bounds9flipFixedEi(ptr noundef nonnull align 8 dereferenceable(120) %33, i32 noundef %1)
  %212 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %33, i32 noundef %1)
  switch i32 %212, label %231 [
    i32 -1, label %213
    i32 1, label %222
  ]

213:                                              ; preds = %206
  %214 = getelementptr inbounds i8, ptr %0, i64 40
  %215 = load ptr, ptr %214, align 8, !tbaa !41
  %216 = sext i32 %1 to i64
  %217 = getelementptr inbounds double, ptr %215, i64 %216
  %218 = load double, ptr %217, align 8, !tbaa !27
  %219 = getelementptr inbounds i8, ptr %0, i64 32
  %220 = load ptr, ptr %219, align 8, !tbaa !42
  %221 = getelementptr inbounds double, ptr %220, i64 %216
  store double %218, ptr %221, align 8, !tbaa !27
  br label %234

222:                                              ; preds = %206
  %223 = getelementptr inbounds i8, ptr %0, i64 32
  %224 = load ptr, ptr %223, align 8, !tbaa !42
  %225 = sext i32 %1 to i64
  %226 = getelementptr inbounds double, ptr %224, i64 %225
  %227 = load double, ptr %226, align 8, !tbaa !27
  %228 = getelementptr inbounds i8, ptr %0, i64 40
  %229 = load ptr, ptr %228, align 8, !tbaa !41
  %230 = getelementptr inbounds double, ptr %229, i64 %225
  store double %227, ptr %230, align 8, !tbaa !27
  br label %234

231:                                              ; preds = %206
  %232 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %233 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %232, i32 noundef 25, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3681, i32 noundef 1)
  br label %234

234:                                              ; preds = %.thread, %200, %222, %213, %38, %231, %35, %18
  %.169 = phi i32 [ %20, %18 ], [ %37, %35 ], [ %233, %231 ], [ 0, %38 ], [ 0, %213 ], [ 0, %222 ], [ 0, %200 ], [ %.068.ph, %.thread ]
  ret i32 %.169
}

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 #0

declare noundef i32 @_ZN7qpOASES6Bounds15moveFixedToFreeEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) local_unnamed_addr #0

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 #0

declare noundef i32 @_ZN7qpOASES6Bounds9flipFixedEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) local_unnamed_addr #0

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

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 = { 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 = { nounwind }
attributes #10 = { builtin allocsize(0) }
attributes #11 = { builtin nounwind }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !7, i64 284}
!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 168}
!25 = !{!6, !13, i64 772}
!26 = !{!6, !17, i64 220}
!27 = !{!15, !15, i64 0}
!28 = !{!6, !10, i64 16}
!29 = !{!30, !30, i64 0}
!30 = !{!"vtable pointer", !9, i64 0}
!31 = distinct !{!31, !32}
!32 = !{!"llvm.loop.unroll.disable"}
!33 = distinct !{!33, !32}
!34 = distinct !{!34, !35, !36, !37}
!35 = !{!"llvm.loop.mustprogress"}
!36 = !{!"llvm.loop.isvectorized", i32 1}
!37 = !{!"llvm.loop.unroll.runtime.disable"}
!38 = distinct !{!38, !35}
!39 = distinct !{!39, !35, !36}
!40 = !{!6, !15, i64 408}
!41 = !{!6, !10, i64 40}
!42 = !{!6, !10, i64 32}


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