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

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

%"class.qpOASES::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 }
%"class.qpOASES::SQProblemSchur" = type { %"class.qpOASES::SQProblem", ptr, ptr, i32, i32, ptr, ptr, double, double, i32, ptr, ptr, i32, ptr, ptr, ptr, %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }
%"class.qpOASES::SQProblem" = type { %"class.qpOASES::QProblem" }
%"class.qpOASES::QProblem" = type { %"class.qpOASES::QProblemB", i32, ptr, ptr, ptr, %"class.qpOASES::Constraints", ptr, ptr, i32, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr }

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [66 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [59 x i8], align 1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_Z8MyPrintfPKcz(ptr noundef, ...) #0

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

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #2

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) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #3 align 2

declare noundef i32 @_ZN7qpOASES6Bounds15moveFreeToFixedEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef, i32 noundef) #2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur25deleteFromSchurComplementEiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36)) #3 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) #2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20addToSchurComplementEiNS_15SchurUpdateTypeEiPKiPKdiS3_S5_d(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, i32 noundef, ptr noundef, ptr noundef, double noundef) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur13updateSchurQREi(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef) #4 align 2

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

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur8addBoundEiNS_15SubjectToStatusENS_11BooleanTypeES2_(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, i32 noundef %4) unnamed_addr #4 align 2 {
  %6 = alloca i32, align 4
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca i32, align 4
  %11 = alloca i32, align 4
  %12 = alloca i32, align 4
  %13 = alloca i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca i8, align 1
  %16 = alloca i32, align 4
  %17 = alloca i32, align 4
  %18 = alloca i32, align 4
  %19 = alloca ptr, align 8
  %20 = alloca i32, align 4
  %21 = alloca double, align 8
  %22 = alloca i32, align 4
  %23 = alloca i32, align 4
  store ptr %0, ptr %7, align 8, !tbaa !5
  store i32 %1, ptr %8, align 4, !tbaa !9
  store i32 %2, ptr %9, align 4, !tbaa !11
  store i32 %3, ptr %10, align 4, !tbaa !13
  store i32 %4, ptr %11, align 4, !tbaa !13
  %24 = load ptr, ptr %7, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #6
  store i32 -1, ptr %12, align 4, !tbaa !9
  %25 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %24, i32 0, i32 6
  %26 = load i32, ptr %8, align 4, !tbaa !9
  %27 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %25, i32 noundef %26)
  %28 = icmp ne i32 %27, 0
  br i1 %28, label %29, label %32

29:                                               ; preds = %5
  %30 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %31 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %30, i32 noundef 95, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 1126, i32 noundef 1)
  store i32 %31, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %252

32:                                               ; preds = %5
  %33 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %24)
  %34 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %24, i32 0, i32 6
  %35 = call noundef i32 @_ZNK7qpOASES6Bounds6getNUVEv(ptr noundef nonnull align 8 dereferenceable(120) %34)
  %36 = icmp eq i32 %33, %35
  br i1 %36, label %37, label %40

37:                                               ; preds = %32
  %38 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %39 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %38, i32 noundef 96, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 1129, i32 noundef 1)
  store i32 %39, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %252

40:                                               ; preds = %32
  %41 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %24)
  %42 = icmp eq i32 %41, 0
  br i1 %42, label %52, label %43

43:                                               ; preds = %40
  %44 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %24)
  %45 = icmp eq i32 %44, 2
  br i1 %45, label %52, label %46

46:                                               ; preds = %43
  %47 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %24)
  %48 = icmp eq i32 %47, 4
  br i1 %48, label %52, label %49

49:                                               ; preds = %46
  %50 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %24)
  %51 = icmp eq i32 %50, 5
  br i1 %51, label %52, label %55

52:                                               ; preds = %49, %46, %43, %40
  %53 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %54 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %53, i32 noundef 9, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 1136, i32 noundef 1)
  store i32 %54, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %252

55:                                               ; preds = %49
  %56 = load i32, ptr %11, align 4, !tbaa !13
  %57 = icmp eq i32 %56, 1
  br i1 %57, label %58, label %76

58:                                               ; preds = %55
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #6
  %59 = load i32, ptr %8, align 4, !tbaa !9
  %60 = load i32, ptr %9, align 4, !tbaa !11
  %61 = load ptr, ptr %24, align 8, !tbaa !15
  %62 = getelementptr inbounds ptr, ptr %61, i64 30
  %63 = load ptr, ptr %62, align 8
  %64 = call noundef i32 %63(ptr noundef nonnull align 8 dereferenceable(1256) %24, i32 noundef %59, i32 noundef %60)
  store i32 %64, ptr %14, align 4, !tbaa !17
  %65 = load i32, ptr %14, align 4, !tbaa !17
  switch i32 %65, label %69 [
    i32 0, label %72
    i32 90, label %72
    i32 93, label %66
    i32 94, label %67
    i32 141, label %68
  ]

66:                                               ; preds = %58
  store i32 79, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %73

67:                                               ; preds = %58
  store i32 79, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %73

68:                                               ; preds = %58
  store i32 0, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %73

69:                                               ; preds = %58
  %70 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %71 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %70, i32 noundef 91, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 1164, i32 noundef 1)
  store i32 %71, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %73

72:                                               ; preds = %58, %58
  store i32 0, ptr %13, align 4
  br label %73

73:                                               ; preds = %72, %69, %68, %67, %66
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #6
  %74 = load i32, ptr %13, align 4
  switch i32 %74, label %252 [
    i32 0, label %75
  ]

75:                                               ; preds = %73
  br label %76

76:                                               ; preds = %75, %55
  %77 = load i32, ptr %8, align 4, !tbaa !9
  %78 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %24, i32 0, i32 25
  %79 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %78, i32 0, i32 0
  store i32 %77, ptr %79, align 8, !tbaa !19
  %80 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %24, i32 0, i32 6
  %81 = load i32, ptr %8, align 4, !tbaa !9
  %82 = load i32, ptr %9, align 4, !tbaa !11
  %83 = call noundef i32 @_ZN7qpOASES6Bounds15moveFreeToFixedEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %80, i32 noundef %81, i32 noundef %82)
  %84 = icmp ne i32 %83, 0
  br i1 %84, label %85, label %88

85:                                               ; preds = %76
  %86 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %87 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %86, i32 noundef 78, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 1171, i32 noundef 1)
  store i32 %87, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %252

88:                                               ; preds = %76
  call void @llvm.lifetime.start.p0(i64 1, ptr %15) #6
  store i8 0, ptr %15, align 1, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #6
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %89

89:                                               ; preds = %122, %88
  %90 = load i32, ptr %16, align 4, !tbaa !9
  %91 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %24, i32 0, i32 3
  %92 = load i32, ptr %91, align 8, !tbaa !34
  %93 = icmp slt i32 %90, %92
  br i1 %93, label %95, label %94

94:                                               ; preds = %89
  store i32 3, ptr %13, align 4
  br label %125

95:                                               ; preds = %89
  %96 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %24, i32 0, i32 11
  %97 = load ptr, ptr %96, align 8, !tbaa !38
  %98 = load i32, ptr %16, align 4, !tbaa !9
  %99 = sext i32 %98 to i64
  %100 = getelementptr inbounds i32, ptr %97, i64 %99
  %101 = load i32, ptr %100, align 4, !tbaa !39
  %102 = icmp eq i32 %101, 1
  br i1 %102, label %103, label %121

103:                                              ; preds = %95
  %104 = load i32, ptr %8, align 4, !tbaa !9
  %105 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %24, i32 0, i32 10
  %106 = load ptr, ptr %105, align 8, !tbaa !41
  %107 = load i32, ptr %16, align 4, !tbaa !9
  %108 = sext i32 %107 to i64
  %109 = getelementptr inbounds i32, ptr %106, i64 %108
  %110 = load i32, ptr %109, align 4, !tbaa !9
  %111 = icmp eq i32 %104, %110
  br i1 %111, label %112, label %121

112:                                              ; preds = %103
  %113 = load i32, ptr %16, align 4, !tbaa !9
  %114 = call noundef i32 @_ZN7qpOASES14SQProblemSchur25deleteFromSchurComplementEiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %24, i32 noundef %113, i32 noundef 0)
  %115 = icmp ne i32 %114, 0
  br i1 %115, label %116, label %119

116:                                              ; preds = %112
  %117 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %118 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %117, i32 noundef 78, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 1183, i32 noundef 1)
  store i32 %118, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %125

119:                                              ; preds = %112
  store i8 1, ptr %15, align 1, !tbaa !32
  %120 = load i32, ptr %16, align 4, !tbaa !9
  store i32 %120, ptr %12, align 4, !tbaa !9
  store i32 3, ptr %13, align 4
  br label %125

121:                                              ; preds = %103, %95
  br label %122

122:                                              ; preds = %121
  %123 = load i32, ptr %16, align 4, !tbaa !9
  %124 = add nsw i32 %123, 1
  store i32 %124, ptr %16, align 4, !tbaa !9
  br label %89, !llvm.loop !42

125:                                              ; preds = %119, %116, %94
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #6
  %126 = load i32, ptr %13, align 4
  switch i32 %126, label %251 [
    i32 3, label %127
  ]

127:                                              ; preds = %125
  %128 = load i8, ptr %15, align 1, !tbaa !32, !range !44, !noundef !45
  %129 = trunc i8 %128 to i1
  br i1 %129, label %207, label %130

130:                                              ; preds = %127
  %131 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %24, i32 0, i32 3
  %132 = load i32, ptr %131, align 8, !tbaa !34
  %133 = icmp slt i32 %132, 0
  br i1 %133, label %140, label %134

134:                                              ; preds = %130
  %135 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %24, i32 0, i32 3
  %136 = load i32, ptr %135, align 8, !tbaa !34
  %137 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %24, i32 0, i32 4
  %138 = load i32, ptr %137, align 4, !tbaa !46
  %139 = icmp eq i32 %136, %138
  br i1 %139, label %140, label %168

140:                                              ; preds = %134, %130
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #6
  %141 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %24, i32 noundef 1)
  store i32 %141, ptr %17, align 4, !tbaa !17
  %142 = load i32, ptr %17, align 4, !tbaa !17
  %143 = icmp ne i32 %142, 0
  br i1 %143, label %144, label %164

144:                                              ; preds = %140
  %145 = load i32, ptr %17, align 4, !tbaa !17
  %146 = icmp eq i32 %145, 142
  br i1 %146, label %147, label %153

147:                                              ; preds = %144
  %148 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %24, i32 0, i32 23
  %149 = getelementptr inbounds %"class.qpOASES::Options", ptr %148, i32 0, i32 0
  %150 = load i32, ptr %149, align 8, !tbaa !47
  %151 = icmp eq i32 %150, 3
  br i1 %151, label %152, label %153

152:                                              ; preds = %147
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.11)
  br label %161

153:                                              ; preds = %147, %144
  %154 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %24, i32 0, i32 23
  %155 = getelementptr inbounds %"class.qpOASES::Options", ptr %154, i32 0, i32 0
  %156 = load i32, ptr %155, align 8, !tbaa !47
  %157 = icmp eq i32 %156, 3
  br i1 %157, label %158, label %160

158:                                              ; preds = %153
  %159 = load i32, ptr %17, align 4, !tbaa !17
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.12, i32 noundef %159)
  br label %160

160:                                              ; preds = %158, %153
  br label %161

161:                                              ; preds = %160, %152
  %162 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %163 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %162, i32 noundef 78, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 1202, i32 noundef 1)
  store i32 %163, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %165

164:                                              ; preds = %140
  store i8 1, ptr %15, align 1, !tbaa !32
  store i32 0, ptr %13, align 4
  br label %165

165:                                              ; preds = %164, %161
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #6
  %166 = load i32, ptr %13, align 4
  switch i32 %166, label %251 [
    i32 0, label %167
  ]

167:                                              ; preds = %165
  br label %206

168:                                              ; preds = %134
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #6
  %169 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %24, i32 0, i32 16
  %170 = call noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36) %169)
  store i32 %170, ptr %18, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #6
  %171 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %24, i32 0, i32 16
  %172 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %171, ptr noundef %19)
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #6
  store i32 0, ptr %20, align 4, !tbaa !9
  br label %173

173:                                              ; preds = %197, %168
  %174 = load i32, ptr %20, align 4, !tbaa !9
  %175 = load i32, ptr %18, align 4, !tbaa !9
  %176 = icmp slt i32 %174, %175
  br i1 %176, label %178, label %177

177:                                              ; preds = %173
  store i32 6, ptr %13, align 4
  br label %200

178:                                              ; preds = %173
  %179 = load ptr, ptr %19, align 8, !tbaa !5
  %180 = load i32, ptr %20, align 4, !tbaa !9
  %181 = sext i32 %180 to i64
  %182 = getelementptr inbounds i32, ptr %179, i64 %181
  %183 = load i32, ptr %182, align 4, !tbaa !9
  %184 = load i32, ptr %8, align 4, !tbaa !9
  %185 = icmp eq i32 %183, %184
  br i1 %185, label %186, label %196

186:                                              ; preds = %178
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #6
  store double 1.000000e+00, ptr %21, align 8, !tbaa !48
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #6
  %187 = load i32, ptr %20, align 4, !tbaa !9
  store i32 %187, ptr %22, align 4, !tbaa !9
  %188 = load i32, ptr %8, align 4, !tbaa !9
  %189 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20addToSchurComplementEiNS_15SchurUpdateTypeEiPKiPKdiS3_S5_d(ptr noundef nonnull align 8 dereferenceable(1256) %24, i32 noundef %188, i32 noundef 0, i32 noundef 1, ptr noundef %22, ptr noundef %21, i32 noundef 0, ptr noundef null, ptr noundef null, double noundef 0.000000e+00)
  %190 = icmp ne i32 %189, 0
  br i1 %190, label %191, label %194

191:                                              ; preds = %186
  %192 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %193 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %192, i32 noundef 78, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 1218, i32 noundef 1)
  store i32 %193, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %195

194:                                              ; preds = %186
  store i8 1, ptr %15, align 1, !tbaa !32
  store i32 6, ptr %13, align 4
  br label %195

195:                                              ; preds = %194, %191
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #6
  br label %200

196:                                              ; preds = %178
  br label %197

197:                                              ; preds = %196
  %198 = load i32, ptr %20, align 4, !tbaa !9
  %199 = add nsw i32 %198, 1
  store i32 %199, ptr %20, align 4, !tbaa !9
  br label %173, !llvm.loop !49

200:                                              ; preds = %195, %177
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #6
  %201 = load i32, ptr %13, align 4
  switch i32 %201, label %203 [
    i32 6, label %202
  ]

202:                                              ; preds = %200
  store i32 0, ptr %13, align 4
  br label %203

203:                                              ; preds = %202, %200
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #6
  %204 = load i32, ptr %13, align 4
  switch i32 %204, label %251 [
    i32 0, label %205
  ]

205:                                              ; preds = %203
  br label %206

206:                                              ; preds = %205, %167
  br label %207

207:                                              ; preds = %206, %127
  %208 = load i8, ptr %15, align 1, !tbaa !32, !range !44, !noundef !45
  %209 = trunc i8 %208 to i1
  br i1 %209, label %213, label %210

210:                                              ; preds = %207
  %211 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %212 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %211, i32 noundef 78, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 1226, i32 noundef 1)
  store i32 %212, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %251

213:                                              ; preds = %207
  %214 = load i32, ptr %12, align 4, !tbaa !9
  %215 = call noundef i32 @_ZN7qpOASES14SQProblemSchur13updateSchurQREi(ptr noundef nonnull align 8 dereferenceable(1256) %24, i32 noundef %214)
  %216 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %24, i32 0, i32 8
  %217 = load double, ptr %216, align 8, !tbaa !50
  %218 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %24, i32 0, i32 23
  %219 = getelementptr inbounds %"class.qpOASES::Options", ptr %218, i32 0, i32 32
  %220 = load double, ptr %219, align 8, !tbaa !51
  %221 = fcmp olt double %217, %220
  br i1 %221, label %222, label %250

222:                                              ; preds = %213
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #6
  %223 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %24, i32 noundef 1)
  store i32 %223, ptr %23, align 4, !tbaa !17
  %224 = load i32, ptr %23, align 4, !tbaa !17
  %225 = icmp ne i32 %224, 0
  br i1 %225, label %226, label %246

226:                                              ; preds = %222
  %227 = load i32, ptr %23, align 4, !tbaa !17
  %228 = icmp eq i32 %227, 142
  br i1 %228, label %229, label %235

229:                                              ; preds = %226
  %230 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %24, i32 0, i32 23
  %231 = getelementptr inbounds %"class.qpOASES::Options", ptr %230, i32 0, i32 0
  %232 = load i32, ptr %231, align 8, !tbaa !47
  %233 = icmp eq i32 %232, 3
  br i1 %233, label %234, label %235

234:                                              ; preds = %229
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.11)
  br label %243

235:                                              ; preds = %229, %226
  %236 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %24, i32 0, i32 23
  %237 = getelementptr inbounds %"class.qpOASES::Options", ptr %236, i32 0, i32 0
  %238 = load i32, ptr %237, align 8, !tbaa !47
  %239 = icmp eq i32 %238, 3
  br i1 %239, label %240, label %242

240:                                              ; preds = %235
  %241 = load i32, ptr %23, align 4, !tbaa !17
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.12, i32 noundef %241)
  br label %242

242:                                              ; preds = %240, %235
  br label %243

243:                                              ; preds = %242, %234
  %244 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %245 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %244, i32 noundef 76, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 1240, i32 noundef 1)
  store i32 %245, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %247

246:                                              ; preds = %222
  store i32 0, ptr %13, align 4
  br label %247

247:                                              ; preds = %246, %243
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #6
  %248 = load i32, ptr %13, align 4
  switch i32 %248, label %251 [
    i32 0, label %249
  ]

249:                                              ; preds = %247
  br label %250

250:                                              ; preds = %249, %213
  store i32 0, ptr %6, align 4
  store i32 1, ptr %13, align 4
  br label %251

251:                                              ; preds = %250, %247, %210, %203, %165, %125
  call void @llvm.lifetime.end.p0(i64 1, ptr %15) #6
  br label %252

252:                                              ; preds = %251, %85, %73, %52, %37, %29
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #6
  %253 = load i32, ptr %6, align 4
  ret i32 %253
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES6Bounds6getNUVEv(ptr noundef nonnull align 8 dereferenceable(120)) #3 align 2

attributes #0 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { "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 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 #4 = { 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 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 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!15 = !{!16, !16, i64 0}
!16 = !{!"vtable pointer", !8, i64 0}
!17 = !{!18, !18, i64 0}
!18 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!19 = !{!20, !10, i64 768}
!20 = !{!"_ZTSN7qpOASES9QProblemBE", !14, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !21, i64 48, !6, i64 168, !14, i64 176, !6, i64 184, !6, i64 192, !24, i64 200, !25, i64 208, !14, i64 212, !14, i64 216, !26, i64 220, !24, i64 224, !10, i64 232, !6, i64 240, !24, i64 248, !24, i64 256, !10, i64 264, !27, i64 272, !29, i64 496, !31, i64 768}
!21 = !{!"_ZTSN7qpOASES6BoundsE", !22, i64 0, !23, i64 40, !23, i64 80}
!22 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !14, i64 32, !14, i64 36}
!23 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!24 = !{!"double", !7, i64 0}
!25 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!27 = !{!"_ZTSN7qpOASES7OptionsE", !28, i64 0, !14, i64 4, !14, i64 8, !14, i64 12, !14, i64 16, !14, i64 20, !14, i64 24, !10, i64 28, !10, i64 32, !14, i64 36, !24, i64 40, !24, i64 48, !24, i64 56, !24, i64 64, !24, i64 72, !24, i64 80, !24, i64 88, !24, i64 96, !24, i64 104, !24, i64 112, !24, i64 120, !12, i64 128, !24, i64 136, !10, i64 144, !24, i64 152, !10, i64 160, !24, i64 168, !24, i64 176, !24, i64 184, !24, i64 192, !14, i64 200, !14, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!28 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!29 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !21, i64 8, !30, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!30 = !{!"_ZTSN7qpOASES11ConstraintsE", !22, i64 0, !23, i64 40, !23, i64 80}
!31 = !{!"_ZTSN7qpOASES13TabularOutputE", !10, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28}
!32 = !{!33, !33, i64 0}
!33 = !{!"bool", !7, i64 0}
!34 = !{!35, !10, i64 1080}
!35 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !36, i64 0, !6, i64 1064, !6, i64 1072, !10, i64 1080, !10, i64 1084, !6, i64 1088, !6, i64 1096, !24, i64 1104, !24, i64 1112, !10, i64 1120, !6, i64 1128, !6, i64 1136, !10, i64 1144, !6, i64 1152, !6, i64 1160, !6, i64 1168, !23, i64 1176, !23, i64 1216}
!36 = !{!"_ZTSN7qpOASES9SQProblemE", !37, i64 0}
!37 = !{!"_ZTSN7qpOASES8QProblemE", !20, i64 0, !14, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !30, i64 832, !6, i64 952, !6, i64 960, !10, i64 968, !6, i64 976, !6, i64 984, !6, i64 992, !6, i64 1000, !6, i64 1008, !6, i64 1016, !6, i64 1024, !6, i64 1032, !6, i64 1040, !6, i64 1048, !6, i64 1056}
!38 = !{!35, !6, i64 1136}
!39 = !{!40, !40, i64 0}
!40 = !{!"_ZTSN7qpOASES15SchurUpdateTypeE", !7, i64 0}
!41 = !{!35, !6, i64 1128}
!42 = distinct !{!42, !43}
!43 = !{!"llvm.loop.mustprogress"}
!44 = !{i8 0, i8 2}
!45 = !{}
!46 = !{!35, !10, i64 1084}
!47 = !{!20, !28, i64 272}
!48 = !{!24, !24, i64 0}
!49 = distinct !{!49, !43}
!50 = !{!35, !24, i64 1112}
!51 = !{!20, !24, i64 464}


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

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [66 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [59 x i8], align 1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_Z8MyPrintfPKcz(ptr noundef, ...) local_unnamed_addr #0

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

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #2

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 #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) local_unnamed_addr #3 align 2

declare noundef i32 @_ZN7qpOASES6Bounds15moveFreeToFixedEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef, i32 noundef) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur25deleteFromSchurComplementEiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36)) local_unnamed_addr #3 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20addToSchurComplementEiNS_15SchurUpdateTypeEiPKiPKdiS3_S5_d(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, i32 noundef, ptr noundef, ptr noundef, double noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur13updateSchurQREi(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef) local_unnamed_addr #4 align 2

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

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur8addBoundEiNS_15SubjectToStatusENS_11BooleanTypeES2_(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, i32 noundef %4) unnamed_addr #4 align 2 {
  %6 = alloca ptr, align 8
  %7 = alloca double, align 8
  %8 = alloca i32, align 4
  %9 = getelementptr inbounds i8, ptr %0, i64 48
  %10 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %9, i32 noundef %1)
  %.not = icmp eq i32 %10, 0
  br i1 %.not, label %14, label %11

11:                                               ; preds = %5
  %12 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %13 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %12, i32 noundef 95, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 1126, i32 noundef 1)
  br label %.thread

14:                                               ; preds = %5
  %15 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %16 = tail call noundef i32 @_ZNK7qpOASES6Bounds6getNUVEv(ptr noundef nonnull align 8 dereferenceable(120) %9)
  %17 = icmp eq i32 %15, %16
  br i1 %17, label %18, label %21

18:                                               ; preds = %14
  %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 96, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 1129, i32 noundef 1)
  br label %.thread

21:                                               ; preds = %14
  %22 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %23 = icmp eq i32 %22, 0
  br i1 %23, label %33, label %24

24:                                               ; preds = %21
  %25 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %26 = icmp eq i32 %25, 2
  br i1 %26, label %33, label %27

27:                                               ; preds = %24
  %28 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %29 = icmp eq i32 %28, 4
  br i1 %29, label %33, label %30

30:                                               ; preds = %27
  %31 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %32 = icmp eq i32 %31, 5
  br i1 %32, label %33, label %36

33:                                               ; preds = %30, %27, %24, %21
  %34 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %35 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %34, i32 noundef 9, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 1136, i32 noundef 1)
  br label %.thread

36:                                               ; preds = %30
  %37 = icmp eq i32 %4, 1
  br i1 %37, label %38, label %47

38:                                               ; preds = %36
  %39 = load ptr, ptr %0, align 8, !tbaa !5
  %40 = getelementptr inbounds i8, ptr %39, i64 240
  %41 = load ptr, ptr %40, align 8
  %42 = tail call noundef i32 %41(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, i32 noundef %2)
  switch i32 %42, label %44 [
    i32 0, label %47
    i32 90, label %47
    i32 93, label %.thread
    i32 94, label %.thread
    i32 141, label %43
  ]

43:                                               ; preds = %38
  br label %.thread

44:                                               ; preds = %38
  %45 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %46 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %45, i32 noundef 91, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 1164, i32 noundef 1)
  br label %.thread

47:                                               ; preds = %38, %38, %36
  %48 = getelementptr inbounds i8, ptr %0, i64 768
  store i32 %1, ptr %48, align 8, !tbaa !8
  %49 = tail call noundef i32 @_ZN7qpOASES6Bounds15moveFreeToFixedEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %9, i32 noundef %1, i32 noundef %2)
  %.not61 = icmp eq i32 %49, 0
  br i1 %.not61, label %.preheader, label %57

.preheader:                                       ; preds = %47
  %50 = getelementptr inbounds i8, ptr %0, i64 1080
  %51 = load i32, ptr %50, align 8, !tbaa !26
  %52 = icmp sgt i32 %51, 0
  br i1 %52, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %.preheader
  %53 = getelementptr inbounds i8, ptr %0, i64 1136
  %54 = load ptr, ptr %53, align 8, !tbaa !30
  %55 = getelementptr inbounds i8, ptr %0, i64 1128
  %56 = load ptr, ptr %55, align 8
  %wide.trip.count = zext nneg i32 %51 to i64
  br label %60

57:                                               ; preds = %47
  %58 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %59 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %58, i32 noundef 78, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 1171, i32 noundef 1)
  br label %.thread

60:                                               ; preds = %.lr.ph, %71
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %71 ]
  %61 = getelementptr inbounds i32, ptr %54, i64 %indvars.iv
  %62 = load i32, ptr %61, align 4, !tbaa !31
  %63 = icmp eq i32 %62, 1
  br i1 %63, label %64, label %71

64:                                               ; preds = %60
  %65 = getelementptr inbounds i32, ptr %56, i64 %indvars.iv
  %66 = load i32, ptr %65, align 4, !tbaa !33
  %67 = icmp eq i32 %66, %1
  br i1 %67, label %68, label %71

68:                                               ; preds = %64
  %69 = trunc nuw nsw i64 %indvars.iv to i32
  %70 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur25deleteFromSchurComplementEiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %69, i32 noundef 0)
  %.not62 = icmp eq i32 %70, 0
  br i1 %.not62, label %.thread99, label %72

71:                                               ; preds = %60, %64
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %._crit_edge, label %60, !llvm.loop !34

72:                                               ; preds = %68
  %73 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %74 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %73, i32 noundef 78, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 1183, i32 noundef 1)
  br label %.thread

._crit_edge:                                      ; preds = %71, %.preheader
  %75 = icmp slt i32 %51, 0
  %76 = getelementptr inbounds i8, ptr %0, i64 1084
  %77 = load i32, ptr %76, align 4
  %78 = icmp eq i32 %51, %77
  %or.cond = select i1 %75, i1 true, i1 %78
  br i1 %or.cond, label %79, label %92

79:                                               ; preds = %._crit_edge
  %80 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef 1)
  %.not64 = icmp eq i32 %80, 0
  br i1 %.not64, label %.thread99, label %81

81:                                               ; preds = %79
  %82 = icmp eq i32 %80, 142
  %83 = getelementptr inbounds i8, ptr %0, i64 272
  %84 = load i32, ptr %83, align 8
  %85 = icmp eq i32 %84, 3
  %or.cond70 = select i1 %82, i1 %85, i1 false
  br i1 %or.cond70, label %86, label %87

86:                                               ; preds = %81
  tail call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.11)
  br label %89

87:                                               ; preds = %81
  br i1 %85, label %88, label %89

88:                                               ; preds = %87
  tail call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.12, i32 noundef %80)
  br label %89

89:                                               ; preds = %86, %88, %87
  %90 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %91 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %90, i32 noundef 78, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 1202, i32 noundef 1)
  br label %.thread

92:                                               ; preds = %._crit_edge
  %93 = getelementptr inbounds i8, ptr %0, i64 1176
  %94 = tail call noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36) %93)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #6
  %95 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %93, ptr noundef nonnull %6)
  %96 = icmp sgt i32 %94, 0
  br i1 %96, label %.lr.ph111, label %._crit_edge112

.lr.ph111:                                        ; preds = %92
  %97 = load ptr, ptr %6, align 8, !tbaa !36
  %wide.trip.count119 = zext nneg i32 %94 to i64
  br label %98

98:                                               ; preds = %.lr.ph111, %105
  %indvars.iv116 = phi i64 [ 0, %.lr.ph111 ], [ %indvars.iv.next117, %105 ]
  %99 = getelementptr inbounds i32, ptr %97, i64 %indvars.iv116
  %100 = load i32, ptr %99, align 4, !tbaa !33
  %101 = icmp eq i32 %100, %1
  br i1 %101, label %102, label %105

102:                                              ; preds = %98
  %103 = trunc nuw nsw i64 %indvars.iv116 to i32
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #6
  store double 1.000000e+00, ptr %7, align 8, !tbaa !37
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %8) #6
  store i32 %103, ptr %8, align 4, !tbaa !33
  %104 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20addToSchurComplementEiNS_15SchurUpdateTypeEiPKiPKdiS3_S5_d(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, i32 noundef 0, i32 noundef 1, ptr noundef nonnull %8, ptr noundef nonnull %7, i32 noundef 0, ptr noundef null, ptr noundef null, double noundef 0.000000e+00)
  %.not63 = icmp eq i32 %104, 0
  br i1 %.not63, label %.thread95, label %106

.thread95:                                        ; preds = %102
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #6
  br label %.thread99

105:                                              ; preds = %98
  %indvars.iv.next117 = add nuw nsw i64 %indvars.iv116, 1
  %exitcond120.not = icmp eq i64 %indvars.iv.next117, %wide.trip.count119
  br i1 %exitcond120.not, label %._crit_edge112, label %98, !llvm.loop !38

106:                                              ; preds = %102
  %107 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %108 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %107, i32 noundef 78, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 1218, i32 noundef 1)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #6
  br label %.thread

._crit_edge112:                                   ; preds = %105, %92
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #6
  %109 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %110 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %109, i32 noundef 78, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 1226, i32 noundef 1)
  br label %.thread

.thread99:                                        ; preds = %79, %68, %.thread95
  %.044.ph87102 = phi i32 [ -1, %.thread95 ], [ %69, %68 ], [ -1, %79 ]
  %111 = call noundef i32 @_ZN7qpOASES14SQProblemSchur13updateSchurQREi(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %.044.ph87102)
  %112 = getelementptr inbounds i8, ptr %0, i64 1112
  %113 = load double, ptr %112, align 8, !tbaa !39
  %114 = getelementptr inbounds i8, ptr %0, i64 272
  %115 = getelementptr inbounds i8, ptr %0, i64 464
  %116 = load double, ptr %115, align 8, !tbaa !40
  %117 = fcmp olt double %113, %116
  br i1 %117, label %118, label %.thread

118:                                              ; preds = %.thread99
  %119 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef 1)
  %.not65 = icmp eq i32 %119, 0
  br i1 %.not65, label %.thread, label %120

120:                                              ; preds = %118
  %121 = icmp eq i32 %119, 142
  %122 = load i32, ptr %114, align 8
  %123 = icmp eq i32 %122, 3
  %or.cond72 = select i1 %121, i1 %123, i1 false
  br i1 %or.cond72, label %124, label %125

124:                                              ; preds = %120
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.11)
  br label %127

125:                                              ; preds = %120
  br i1 %123, label %126, label %127

126:                                              ; preds = %125
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.12, i32 noundef %119)
  br label %127

127:                                              ; preds = %124, %126, %125
  %128 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %129 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %128, i32 noundef 76, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 1240, i32 noundef 1)
  br label %.thread

.thread:                                          ; preds = %118, %38, %38, %43, %44, %.thread99, %127, %106, %89, %72, %._crit_edge112, %57, %33, %18, %11
  %.9 = phi i32 [ %13, %11 ], [ %20, %18 ], [ %35, %33 ], [ %59, %57 ], [ %129, %127 ], [ %110, %._crit_edge112 ], [ %91, %89 ], [ %108, %106 ], [ %74, %72 ], [ 0, %.thread99 ], [ 79, %38 ], [ 79, %38 ], [ 0, %43 ], [ %46, %44 ], [ 0, %118 ]
  ret i32 %.9
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES6Bounds6getNUVEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #3 align 2

attributes #0 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { "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 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 #4 = { 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 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 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = !{!9, !15, i64 768}
!9 = !{!"_ZTSN7qpOASES9QProblemBE", !10, i64 8, !12, i64 16, !12, i64 24, !12, i64 32, !12, i64 40, !13, i64 48, !12, i64 168, !10, i64 176, !12, i64 184, !12, i64 192, !17, i64 200, !18, i64 208, !10, i64 212, !10, i64 216, !19, i64 220, !17, i64 224, !15, i64 232, !12, i64 240, !17, i64 248, !17, i64 256, !15, i64 264, !20, i64 272, !23, i64 496, !25, i64 768}
!10 = !{!"_ZTSN7qpOASES11BooleanTypeE", !11, i64 0}
!11 = !{!"omnipotent char", !7, i64 0}
!12 = !{!"any pointer", !11, i64 0}
!13 = !{!"_ZTSN7qpOASES6BoundsE", !14, i64 0, !16, i64 40, !16, i64 80}
!14 = !{!"_ZTSN7qpOASES9SubjectToE", !15, i64 8, !12, i64 16, !12, i64 24, !10, i64 32, !10, i64 36}
!15 = !{!"int", !11, i64 0}
!16 = !{!"_ZTSN7qpOASES9IndexlistE", !12, i64 0, !12, i64 8, !15, i64 16, !15, i64 20, !15, i64 24, !15, i64 28, !15, i64 32}
!17 = !{!"double", !11, i64 0}
!18 = !{!"_ZTSN7qpOASES14QProblemStatusE", !11, i64 0}
!19 = !{!"_ZTSN7qpOASES11HessianTypeE", !11, i64 0}
!20 = !{!"_ZTSN7qpOASES7OptionsE", !21, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !15, i64 28, !15, i64 32, !10, i64 36, !17, i64 40, !17, i64 48, !17, i64 56, !17, i64 64, !17, i64 72, !17, i64 80, !17, i64 88, !17, i64 96, !17, i64 104, !17, i64 112, !17, i64 120, !22, i64 128, !17, i64 136, !15, i64 144, !17, i64 152, !15, i64 160, !17, i64 168, !17, i64 176, !17, i64 184, !17, i64 192, !10, i64 200, !10, i64 204, !15, i64 208, !15, i64 212, !15, i64 216}
!21 = !{!"_ZTSN7qpOASES10PrintLevelE", !11, i64 0}
!22 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !11, i64 0}
!23 = !{!"_ZTSN7qpOASES7FlipperE", !15, i64 0, !15, i64 4, !13, i64 8, !24, i64 128, !12, i64 248, !12, i64 256, !12, i64 264}
!24 = !{!"_ZTSN7qpOASES11ConstraintsE", !14, i64 0, !16, i64 40, !16, i64 80}
!25 = !{!"_ZTSN7qpOASES13TabularOutputE", !15, i64 0, !15, i64 4, !15, i64 8, !15, i64 12, !15, i64 16, !15, i64 20, !15, i64 24, !15, i64 28}
!26 = !{!27, !15, i64 1080}
!27 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !28, i64 0, !12, i64 1064, !12, i64 1072, !15, i64 1080, !15, i64 1084, !12, i64 1088, !12, i64 1096, !17, i64 1104, !17, i64 1112, !15, i64 1120, !12, i64 1128, !12, i64 1136, !15, i64 1144, !12, i64 1152, !12, i64 1160, !12, i64 1168, !16, i64 1176, !16, i64 1216}
!28 = !{!"_ZTSN7qpOASES9SQProblemE", !29, i64 0}
!29 = !{!"_ZTSN7qpOASES8QProblemE", !9, i64 0, !10, i64 800, !12, i64 808, !12, i64 816, !12, i64 824, !24, i64 832, !12, i64 952, !12, i64 960, !15, i64 968, !12, i64 976, !12, i64 984, !12, i64 992, !12, i64 1000, !12, i64 1008, !12, i64 1016, !12, i64 1024, !12, i64 1032, !12, i64 1040, !12, i64 1048, !12, i64 1056}
!30 = !{!27, !12, i64 1136}
!31 = !{!32, !32, i64 0}
!32 = !{!"_ZTSN7qpOASES15SchurUpdateTypeE", !11, i64 0}
!33 = !{!15, !15, i64 0}
!34 = distinct !{!34, !35}
!35 = !{!"llvm.loop.mustprogress"}
!36 = !{!12, !12, i64 0}
!37 = !{!17, !17, i64 0}
!38 = distinct !{!38, !35}
!39 = !{!27, !17, i64 1112}
!40 = !{!9, !17, i64 464}


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