; LLVM IR from Tencent-RoboticsX/jbdl :: src/jbdl/experimental/qpoases/src/QProblemB.ll (ZN7qpOASES9QProblemB15computeCholeskyEv)

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

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

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [104 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [2 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 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)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getAbsEd(double noundef) #3

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800)) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES9QProblemB15computeCholeskyEv(ptr noundef nonnull align 8 dereferenceable(800) %0) unnamed_addr #4 align 2 {
  %2 = alloca i32, align 4
  %3 = alloca ptr, align 8
  %4 = alloca i32, align 4
  %5 = alloca i32, align 4
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca ptr, align 8
  %10 = alloca i64, align 8
  %11 = alloca i64, align 8
  %12 = alloca i64, align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  %13 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %4) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #5
  %14 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %13)
  store i32 %14, ptr %6, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #5
  %15 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %13)
  store i32 %15, ptr %7, align 4, !tbaa !9
  store i32 0, ptr %4, align 4, !tbaa !9
  br label %16

16:                                               ; preds = %28, %1
  %17 = load i32, ptr %4, align 4, !tbaa !9
  %18 = load i32, ptr %6, align 4, !tbaa !9
  %19 = load i32, ptr %6, align 4, !tbaa !9
  %20 = mul nsw i32 %18, %19
  %21 = icmp slt i32 %17, %20
  br i1 %21, label %22, label %31

22:                                               ; preds = %16
  %23 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 7
  %24 = load ptr, ptr %23, align 8, !tbaa !11
  %25 = load i32, ptr %4, align 4, !tbaa !9
  %26 = sext i32 %25 to i64
  %27 = getelementptr inbounds double, ptr %24, i64 %26
  store double 0.000000e+00, ptr %27, align 8, !tbaa !26
  br label %28

28:                                               ; preds = %22
  %29 = load i32, ptr %4, align 4, !tbaa !9
  %30 = add nsw i32 %29, 1
  store i32 %30, ptr %4, align 4, !tbaa !9
  br label %16, !llvm.loop !27

31:                                               ; preds = %16
  %32 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 15
  %33 = load i32, ptr %32, align 4, !tbaa !29
  switch i32 %33, label %82 [
    i32 0, label %34
    i32 1, label %63
  ]

34:                                               ; preds = %31
  %35 = call noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800) %13)
  %36 = icmp eq i32 %35, 1
  br i1 %36, label %37, label %59

37:                                               ; preds = %34
  store i32 0, ptr %4, align 4, !tbaa !9
  br label %38

38:                                               ; preds = %55, %37
  %39 = load i32, ptr %4, align 4, !tbaa !9
  %40 = load i32, ptr %6, align 4, !tbaa !9
  %41 = icmp slt i32 %39, %40
  br i1 %41, label %42, label %58

42:                                               ; preds = %38
  %43 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 16
  %44 = load double, ptr %43, align 8, !tbaa !30
  %45 = call noundef double @_ZN7qpOASES7getSqrtEd(double noundef %44)
  %46 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 7
  %47 = load ptr, ptr %46, align 8, !tbaa !11
  %48 = load i32, ptr %4, align 4, !tbaa !9
  %49 = load i32, ptr %6, align 4, !tbaa !9
  %50 = load i32, ptr %4, align 4, !tbaa !9
  %51 = mul nsw i32 %49, %50
  %52 = add nsw i32 %48, %51
  %53 = sext i32 %52 to i64
  %54 = getelementptr inbounds double, ptr %47, i64 %53
  store double %45, ptr %54, align 8, !tbaa !26
  br label %55

55:                                               ; preds = %42
  %56 = load i32, ptr %4, align 4, !tbaa !9
  %57 = add nsw i32 %56, 1
  store i32 %57, ptr %4, align 4, !tbaa !9
  br label %38, !llvm.loop !31

58:                                               ; preds = %38
  br label %62

59:                                               ; preds = %34
  %60 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %61 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %60, i32 noundef 118, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 1390, i32 noundef 1)
  store i32 %61, ptr %2, align 4
  store i32 1, ptr %8, align 4
  br label %182

62:                                               ; preds = %58
  br label %181

63:                                               ; preds = %31
  store i32 0, ptr %4, align 4, !tbaa !9
  br label %64

64:                                               ; preds = %78, %63
  %65 = load i32, ptr %4, align 4, !tbaa !9
  %66 = load i32, ptr %6, align 4, !tbaa !9
  %67 = icmp slt i32 %65, %66
  br i1 %67, label %68, label %81

68:                                               ; preds = %64
  %69 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 7
  %70 = load ptr, ptr %69, align 8, !tbaa !11
  %71 = load i32, ptr %4, align 4, !tbaa !9
  %72 = load i32, ptr %6, align 4, !tbaa !9
  %73 = load i32, ptr %4, align 4, !tbaa !9
  %74 = mul nsw i32 %72, %73
  %75 = add nsw i32 %71, %74
  %76 = sext i32 %75 to i64
  %77 = getelementptr inbounds double, ptr %70, i64 %76
  store double 1.000000e+00, ptr %77, align 8, !tbaa !26
  br label %78

78:                                               ; preds = %68
  %79 = load i32, ptr %4, align 4, !tbaa !9
  %80 = add nsw i32 %79, 1
  store i32 %80, ptr %4, align 4, !tbaa !9
  br label %64, !llvm.loop !32

81:                                               ; preds = %64
  br label %181

82:                                               ; preds = %31
  %83 = load i32, ptr %7, align 4, !tbaa !9
  %84 = icmp sgt i32 %83, 0
  br i1 %84, label %85, label %180

85:                                               ; preds = %82
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #5
  %86 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 6
  %87 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %86)
  %88 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %87, ptr noundef %9)
  store i32 0, ptr %5, align 4, !tbaa !9
  br label %89

89:                                               ; preds = %118, %85
  %90 = load i32, ptr %5, align 4, !tbaa !9
  %91 = load i32, ptr %7, align 4, !tbaa !9
  %92 = icmp slt i32 %90, %91
  br i1 %92, label %93, label %121

93:                                               ; preds = %89
  %94 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 2
  %95 = load ptr, ptr %94, align 8, !tbaa !33
  %96 = load ptr, ptr %95, align 8, !tbaa !34
  %97 = getelementptr i8, ptr %96, i64 -24
  %98 = load i64, ptr %97, align 8
  %99 = getelementptr inbounds i8, ptr %95, i64 %98
  %100 = load ptr, ptr %9, align 8, !tbaa !5
  %101 = load i32, ptr %5, align 4, !tbaa !9
  %102 = sext i32 %101 to i64
  %103 = getelementptr inbounds i32, ptr %100, i64 %102
  %104 = load i32, ptr %103, align 4, !tbaa !9
  %105 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 6
  %106 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %105)
  %107 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 7
  %108 = load ptr, ptr %107, align 8, !tbaa !11
  %109 = load i32, ptr %5, align 4, !tbaa !9
  %110 = load i32, ptr %6, align 4, !tbaa !9
  %111 = mul nsw i32 %109, %110
  %112 = sext i32 %111 to i64
  %113 = getelementptr inbounds double, ptr %108, i64 %112
  %114 = load ptr, ptr %99, align 8, !tbaa !34
  %115 = getelementptr inbounds ptr, ptr %114, i64 10
  %116 = load ptr, ptr %115, align 8
  %117 = call noundef i32 %116(ptr noundef nonnull align 8 dereferenceable(12) %99, i32 noundef %104, ptr noundef %106, double noundef 1.000000e+00, ptr noundef %113)
  br label %118

118:                                              ; preds = %93
  %119 = load i32, ptr %5, align 4, !tbaa !9
  %120 = add nsw i32 %119, 1
  store i32 %120, ptr %5, align 4, !tbaa !9
  br label %89, !llvm.loop !36

121:                                              ; preds = %89
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #5
  store i64 0, ptr %10, align 8, !tbaa !37
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #5
  %122 = load i32, ptr %7, align 4, !tbaa !9
  %123 = sext i32 %122 to i64
  store i64 %123, ptr %11, align 8, !tbaa !37
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #5
  %124 = load i32, ptr %6, align 4, !tbaa !9
  %125 = sext i32 %124 to i64
  store i64 %125, ptr %12, align 8, !tbaa !37
  %126 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 7
  %127 = load ptr, ptr %126, align 8, !tbaa !11
  call void @dpotrf_(ptr noundef @.str.31, ptr noundef %11, ptr noundef %127, ptr noundef %12, ptr noundef %10)
  %128 = load i64, ptr %10, align 8, !tbaa !37
  %129 = icmp sgt i64 %128, 0
  br i1 %129, label %130, label %156

130:                                              ; preds = %121
  %131 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 7
  %132 = load ptr, ptr %131, align 8, !tbaa !11
  %133 = getelementptr inbounds double, ptr %132, i64 0
  %134 = load double, ptr %133, align 8, !tbaa !26
  %135 = fcmp olt double %134, 0.000000e+00
  br i1 %135, label %136, label %154

136:                                              ; preds = %130
  %137 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 7
  %138 = load ptr, ptr %137, align 8, !tbaa !11
  %139 = getelementptr inbounds double, ptr %138, i64 0
  %140 = load double, ptr %139, align 8, !tbaa !26
  %141 = fneg double %140
  %142 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 23
  %143 = getelementptr inbounds %"class.qpOASES::Options", ptr %142, i32 0, i32 26
  %144 = load double, ptr %143, align 8, !tbaa !39
  %145 = fadd double %141, %144
  %146 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 23
  %147 = getelementptr inbounds %"class.qpOASES::Options", ptr %146, i32 0, i32 26
  %148 = load double, ptr %147, align 8, !tbaa !39
  %149 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %148)
  %150 = call noundef double @_ZN7qpOASES7getSqrtEd(double noundef %149)
  %151 = call noundef double @_ZN7qpOASES6getMinEdd(double noundef %145, double noundef %150)
  %152 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 23
  %153 = getelementptr inbounds %"class.qpOASES::Options", ptr %152, i32 0, i32 26
  store double %151, ptr %153, align 8, !tbaa !39
  br label %154

154:                                              ; preds = %136, %130
  %155 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 15
  store i32 4, ptr %155, align 4, !tbaa !29
  store i32 99, ptr %2, align 4
  store i32 1, ptr %8, align 4
  br label %177

156:                                              ; preds = %121
  store i32 0, ptr %4, align 4, !tbaa !9
  br label %157

157:                                              ; preds = %173, %156
  %158 = load i32, ptr %4, align 4, !tbaa !9
  %159 = load i32, ptr %7, align 4, !tbaa !9
  %160 = sub nsw i32 %159, 1
  %161 = icmp slt i32 %158, %160
  br i1 %161, label %162, label %176

162:                                              ; preds = %157
  %163 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 7
  %164 = load ptr, ptr %163, align 8, !tbaa !11
  %165 = load i32, ptr %4, align 4, !tbaa !9
  %166 = add nsw i32 %165, 1
  %167 = load i32, ptr %6, align 4, !tbaa !9
  %168 = load i32, ptr %4, align 4, !tbaa !9
  %169 = mul nsw i32 %167, %168
  %170 = add nsw i32 %166, %169
  %171 = sext i32 %170 to i64
  %172 = getelementptr inbounds double, ptr %164, i64 %171
  store double 0.000000e+00, ptr %172, align 8, !tbaa !26
  br label %173

173:                                              ; preds = %162
  %174 = load i32, ptr %4, align 4, !tbaa !9
  %175 = add nsw i32 %174, 1
  store i32 %175, ptr %4, align 4, !tbaa !9
  br label %157, !llvm.loop !40

176:                                              ; preds = %157
  store i32 0, ptr %8, align 4
  br label %177

177:                                              ; preds = %176, %154
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #5
  %178 = load i32, ptr %8, align 4
  switch i32 %178, label %182 [
    i32 0, label %179
  ]

179:                                              ; preds = %177
  br label %180

180:                                              ; preds = %179, %82
  br label %181

181:                                              ; preds = %180, %81, %62
  store i32 0, ptr %2, align 4
  store i32 1, ptr %8, align 4
  br label %182

182:                                              ; preds = %181, %177, %59
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %4) #5
  %183 = load i32, ptr %2, align 4
  ret i32 %183
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES7getSqrtEd(double noundef) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) #3 align 2

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

declare void @dpotrf_(ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) #0

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getMinEdd(double noundef, double noundef) #3

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 = { 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 #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 = { 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, !6, i64 168}
!12 = !{!"_ZTSN7qpOASES9QProblemBE", !13, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !14, i64 48, !6, i64 168, !13, i64 176, !6, i64 184, !6, i64 192, !17, i64 200, !18, i64 208, !13, i64 212, !13, i64 216, !19, i64 220, !17, i64 224, !10, i64 232, !6, i64 240, !17, i64 248, !17, i64 256, !10, i64 264, !20, i64 272, !23, i64 496, !25, i64 768}
!13 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!14 = !{!"_ZTSN7qpOASES6BoundsE", !15, i64 0, !16, i64 40, !16, i64 80}
!15 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !13, i64 32, !13, i64 36}
!16 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!17 = !{!"double", !7, i64 0}
!18 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!19 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!20 = !{!"_ZTSN7qpOASES7OptionsE", !21, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !13, i64 24, !10, i64 28, !10, i64 32, !13, i64 36, !17, i64 40, !17, i64 48, !17, i64 56, !17, i64 64, !17, i64 72, !17, i64 80, !17, i64 88, !17, i64 96, !17, i64 104, !17, i64 112, !17, i64 120, !22, i64 128, !17, i64 136, !10, i64 144, !17, i64 152, !10, i64 160, !17, i64 168, !17, i64 176, !17, i64 184, !17, i64 192, !13, i64 200, !13, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!21 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!22 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !14, i64 8, !24, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!24 = !{!"_ZTSN7qpOASES11ConstraintsE", !15, i64 0, !16, i64 40, !16, i64 80}
!25 = !{!"_ZTSN7qpOASES13TabularOutputE", !10, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28}
!26 = !{!17, !17, i64 0}
!27 = distinct !{!27, !28}
!28 = !{!"llvm.loop.mustprogress"}
!29 = !{!12, !19, i64 220}
!30 = !{!12, !17, i64 224}
!31 = distinct !{!31, !28}
!32 = distinct !{!32, !28}
!33 = !{!12, !6, i64 16}
!34 = !{!35, !35, i64 0}
!35 = !{!"vtable pointer", !8, i64 0}
!36 = distinct !{!36, !28}
!37 = !{!38, !38, i64 0}
!38 = !{!"long", !7, i64 0}
!39 = !{!12, !17, i64 424}
!40 = distinct !{!40, !28}


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

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [104 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [2 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: 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 #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getAbsEd(double noundef) local_unnamed_addr #3

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES9QProblemB15computeCholeskyEv(ptr noundef nonnull align 8 dereferenceable(800) %0) unnamed_addr #4 align 2 {
  %2 = alloca ptr, align 8
  %3 = alloca i64, align 8
  %4 = alloca i64, align 8
  %5 = alloca i64, align 8
  %6 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %7 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %.not = icmp eq i32 %6, 0
  br i1 %.not, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %1
  %8 = mul i32 %6, %6
  %9 = getelementptr inbounds i8, ptr %0, i64 168
  %10 = load ptr, ptr %9, align 8, !tbaa !5
  %11 = tail call i32 @llvm.umax.i32(i32 %8, i32 1)
  %umax = zext i32 %11 to i64
  %12 = shl nuw nsw i64 %umax, 3
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(1) %10, i8 0, i64 %12, i1 false), !tbaa !24
  br label %._crit_edge

._crit_edge:                                      ; preds = %.lr.ph, %1
  %13 = getelementptr inbounds i8, ptr %0, i64 220
  %14 = load i32, ptr %13, align 4, !tbaa !25
  switch i32 %14, label %58 [
    i32 0, label %20
    i32 1, label %.preheader43
  ]

.preheader43:                                     ; preds = %._crit_edge
  %15 = icmp sgt i32 %6, 0
  br i1 %15, label %.lr.ph47, label %.loopexit

.lr.ph47:                                         ; preds = %.preheader43
  %16 = getelementptr inbounds i8, ptr %0, i64 168
  %17 = load ptr, ptr %16, align 8, !tbaa !5
  %18 = add nuw i32 %6, 1
  %wide.trip.count = zext nneg i32 %6 to i64
  %xtraiter = and i64 %wide.trip.count, 3
  %19 = icmp ult i32 %6, 4
  br i1 %19, label %.loopexit.loopexit75.unr-lcssa, label %.lr.ph47.new

.lr.ph47.new:                                     ; preds = %.lr.ph47
  %unroll_iter = and i64 %wide.trip.count, 2147483644
  br label %38

20:                                               ; preds = %._crit_edge
  %21 = tail call noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %22 = icmp eq i32 %21, 1
  br i1 %22, label %.preheader42, label %35

.preheader42:                                     ; preds = %20
  %23 = icmp sgt i32 %6, 0
  br i1 %23, label %.lr.ph49, label %.loopexit

.lr.ph49:                                         ; preds = %.preheader42
  %24 = getelementptr inbounds i8, ptr %0, i64 224
  %25 = getelementptr inbounds i8, ptr %0, i64 168
  %26 = add nuw i32 %6, 1
  %wide.trip.count61 = zext nneg i32 %6 to i64
  br label %27

27:                                               ; preds = %.lr.ph49, %27
  %indvars.iv58 = phi i64 [ 0, %.lr.ph49 ], [ %indvars.iv.next59, %27 ]
  %28 = load double, ptr %24, align 8, !tbaa !26
  %29 = tail call noundef double @_ZN7qpOASES7getSqrtEd(double noundef %28)
  %30 = load ptr, ptr %25, align 8, !tbaa !5
  %31 = trunc nuw nsw i64 %indvars.iv58 to i32
  %32 = mul i32 %26, %31
  %33 = sext i32 %32 to i64
  %34 = getelementptr inbounds double, ptr %30, i64 %33
  store double %29, ptr %34, align 8, !tbaa !24
  %indvars.iv.next59 = add nuw nsw i64 %indvars.iv58, 1
  %exitcond62.not = icmp eq i64 %indvars.iv.next59, %wide.trip.count61
  br i1 %exitcond62.not, label %.loopexit, label %27, !llvm.loop !27

35:                                               ; preds = %20
  %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 118, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 1390, i32 noundef 1)
  br label %.loopexit

38:                                               ; preds = %38, %.lr.ph47.new
  %indvars.iv = phi i64 [ 0, %.lr.ph47.new ], [ %indvars.iv.next.3, %38 ]
  %niter = phi i64 [ 0, %.lr.ph47.new ], [ %niter.next.3, %38 ]
  %39 = trunc nuw nsw i64 %indvars.iv to i32
  %40 = mul i32 %18, %39
  %41 = sext i32 %40 to i64
  %42 = getelementptr inbounds double, ptr %17, i64 %41
  store double 1.000000e+00, ptr %42, align 8, !tbaa !24
  %43 = trunc i64 %indvars.iv to i32
  %44 = or disjoint i32 %43, 1
  %45 = mul i32 %18, %44
  %46 = sext i32 %45 to i64
  %47 = getelementptr inbounds double, ptr %17, i64 %46
  store double 1.000000e+00, ptr %47, align 8, !tbaa !24
  %48 = trunc i64 %indvars.iv to i32
  %49 = or disjoint i32 %48, 2
  %50 = mul i32 %18, %49
  %51 = sext i32 %50 to i64
  %52 = getelementptr inbounds double, ptr %17, i64 %51
  store double 1.000000e+00, ptr %52, align 8, !tbaa !24
  %53 = trunc i64 %indvars.iv to i32
  %54 = or disjoint i32 %53, 3
  %55 = mul i32 %18, %54
  %56 = sext i32 %55 to i64
  %57 = getelementptr inbounds double, ptr %17, i64 %56
  store double 1.000000e+00, ptr %57, align 8, !tbaa !24
  %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 %.loopexit.loopexit75.unr-lcssa, label %38, !llvm.loop !29

58:                                               ; preds = %._crit_edge
  %59 = icmp sgt i32 %7, 0
  br i1 %59, label %60, label %.loopexit

60:                                               ; preds = %58
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %2) #7
  %61 = getelementptr inbounds i8, ptr %0, i64 48
  %62 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %61)
  %63 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %62, ptr noundef nonnull %2)
  %64 = getelementptr inbounds i8, ptr %0, i64 16
  %65 = getelementptr inbounds i8, ptr %0, i64 168
  %66 = sext i32 %6 to i64
  %wide.trip.count66 = zext nneg i32 %7 to i64
  br label %67

67:                                               ; preds = %60, %67
  %indvars.iv63 = phi i64 [ 0, %60 ], [ %indvars.iv.next64, %67 ]
  %68 = load ptr, ptr %64, align 8, !tbaa !30
  %69 = load ptr, ptr %68, align 8, !tbaa !31
  %70 = getelementptr i8, ptr %69, i64 -24
  %71 = load i64, ptr %70, align 8
  %72 = getelementptr inbounds i8, ptr %68, i64 %71
  %73 = load ptr, ptr %2, align 8, !tbaa !33
  %74 = getelementptr inbounds i32, ptr %73, i64 %indvars.iv63
  %75 = load i32, ptr %74, align 4, !tbaa !34
  %76 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %61)
  %77 = load ptr, ptr %65, align 8, !tbaa !5
  %78 = mul nsw i64 %indvars.iv63, %66
  %79 = getelementptr inbounds double, ptr %77, i64 %78
  %80 = load ptr, ptr %72, align 8, !tbaa !31
  %81 = getelementptr inbounds i8, ptr %80, i64 80
  %82 = load ptr, ptr %81, align 8
  %83 = call noundef i32 %82(ptr noundef nonnull align 8 dereferenceable(12) %72, i32 noundef %75, ptr noundef %76, double noundef 1.000000e+00, ptr noundef %79)
  %indvars.iv.next64 = add nuw nsw i64 %indvars.iv63, 1
  %exitcond67.not = icmp eq i64 %indvars.iv.next64, %wide.trip.count66
  br i1 %exitcond67.not, label %84, label %67, !llvm.loop !35

84:                                               ; preds = %67
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #7
  store i64 0, ptr %3, align 8, !tbaa !36
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #7
  store i64 %wide.trip.count66, ptr %4, align 8, !tbaa !36
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #7
  store i64 %66, ptr %5, align 8, !tbaa !36
  %85 = load ptr, ptr %65, align 8, !tbaa !5
  call void @dpotrf_(ptr noundef nonnull @.str.31, ptr noundef nonnull %4, ptr noundef %85, ptr noundef nonnull %5, ptr noundef nonnull %3)
  %86 = load i64, ptr %3, align 8, !tbaa !36
  %87 = icmp slt i64 %86, 1
  br i1 %87, label %.preheader, label %92

.preheader:                                       ; preds = %84
  %.not54 = icmp eq i32 %7, 1
  br i1 %.not54, label %._crit_edge53, label %.lr.ph52

.lr.ph52:                                         ; preds = %.preheader
  %88 = add nsw i32 %7, -1
  %89 = load ptr, ptr %65, align 8, !tbaa !5
  %wide.trip.count71 = zext i32 %88 to i64
  %90 = add nsw i64 %wide.trip.count71, -1
  %xtraiter77 = and i64 %wide.trip.count71, 3
  %91 = icmp ult i64 %90, 3
  br i1 %91, label %._crit_edge53.loopexit.unr-lcssa, label %.lr.ph52.new

.lr.ph52.new:                                     ; preds = %.lr.ph52
  %unroll_iter80 = and i64 %wide.trip.count71, 4294967292
  br label %103

92:                                               ; preds = %84
  %93 = load ptr, ptr %65, align 8, !tbaa !5
  %94 = load double, ptr %93, align 8, !tbaa !24
  %95 = fcmp olt double %94, 0.000000e+00
  br i1 %95, label %96, label %.thread

96:                                               ; preds = %92
  %97 = getelementptr inbounds i8, ptr %0, i64 424
  %98 = load double, ptr %97, align 8, !tbaa !38
  %99 = fsub double %98, %94
  %100 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %98)
  %101 = call noundef double @_ZN7qpOASES7getSqrtEd(double noundef %100)
  %102 = call noundef double @_ZN7qpOASES6getMinEdd(double noundef %99, double noundef %101)
  store double %102, ptr %97, align 8, !tbaa !38
  br label %.thread

.thread:                                          ; preds = %92, %96
  store i32 4, ptr %13, align 4, !tbaa !25
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #7
  br label %.loopexit

103:                                              ; preds = %103, %.lr.ph52.new
  %indvars.iv68 = phi i64 [ 0, %.lr.ph52.new ], [ %indvars.iv.next69.3, %103 ]
  %niter81 = phi i64 [ 0, %.lr.ph52.new ], [ %niter81.next.3, %103 ]
  %indvars.iv.next69 = or disjoint i64 %indvars.iv68, 1
  %104 = mul nsw i64 %indvars.iv68, %66
  %105 = getelementptr double, ptr %89, i64 %indvars.iv.next69
  %106 = getelementptr double, ptr %105, i64 %104
  store double 0.000000e+00, ptr %106, align 8, !tbaa !24
  %indvars.iv.next69.1 = or disjoint i64 %indvars.iv68, 2
  %107 = mul nsw i64 %indvars.iv.next69, %66
  %108 = getelementptr double, ptr %89, i64 %indvars.iv.next69.1
  %109 = getelementptr double, ptr %108, i64 %107
  store double 0.000000e+00, ptr %109, align 8, !tbaa !24
  %indvars.iv.next69.2 = or disjoint i64 %indvars.iv68, 3
  %110 = mul nsw i64 %indvars.iv.next69.1, %66
  %111 = getelementptr double, ptr %89, i64 %indvars.iv.next69.2
  %112 = getelementptr double, ptr %111, i64 %110
  store double 0.000000e+00, ptr %112, align 8, !tbaa !24
  %indvars.iv.next69.3 = add nuw nsw i64 %indvars.iv68, 4
  %113 = mul nsw i64 %indvars.iv.next69.2, %66
  %114 = getelementptr double, ptr %89, i64 %indvars.iv.next69.3
  %115 = getelementptr double, ptr %114, i64 %113
  store double 0.000000e+00, ptr %115, align 8, !tbaa !24
  %niter81.next.3 = add i64 %niter81, 4
  %niter81.ncmp.3 = icmp eq i64 %niter81.next.3, %unroll_iter80
  br i1 %niter81.ncmp.3, label %._crit_edge53.loopexit.unr-lcssa, label %103, !llvm.loop !39

._crit_edge53.loopexit.unr-lcssa:                 ; preds = %103, %.lr.ph52
  %indvars.iv68.unr = phi i64 [ 0, %.lr.ph52 ], [ %indvars.iv.next69.3, %103 ]
  %lcmp.mod79.not = icmp eq i64 %xtraiter77, 0
  br i1 %lcmp.mod79.not, label %._crit_edge53, label %.epil.preheader76

.epil.preheader76:                                ; preds = %._crit_edge53.loopexit.unr-lcssa, %.epil.preheader76
  %indvars.iv68.epil = phi i64 [ %indvars.iv.next69.epil, %.epil.preheader76 ], [ %indvars.iv68.unr, %._crit_edge53.loopexit.unr-lcssa ]
  %epil.iter78 = phi i64 [ %epil.iter78.next, %.epil.preheader76 ], [ 0, %._crit_edge53.loopexit.unr-lcssa ]
  %indvars.iv.next69.epil = add nuw nsw i64 %indvars.iv68.epil, 1
  %116 = mul nsw i64 %indvars.iv68.epil, %66
  %117 = getelementptr double, ptr %89, i64 %indvars.iv.next69.epil
  %118 = getelementptr double, ptr %117, i64 %116
  store double 0.000000e+00, ptr %118, align 8, !tbaa !24
  %epil.iter78.next = add i64 %epil.iter78, 1
  %epil.iter78.cmp.not = icmp eq i64 %epil.iter78.next, %xtraiter77
  br i1 %epil.iter78.cmp.not, label %._crit_edge53, label %.epil.preheader76, !llvm.loop !40

._crit_edge53:                                    ; preds = %._crit_edge53.loopexit.unr-lcssa, %.epil.preheader76, %.preheader
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #7
  br label %.loopexit

.loopexit.loopexit75.unr-lcssa:                   ; preds = %38, %.lr.ph47
  %indvars.iv.unr = phi i64 [ 0, %.lr.ph47 ], [ %indvars.iv.next.3, %38 ]
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %.loopexit, label %.epil.preheader

.epil.preheader:                                  ; preds = %.loopexit.loopexit75.unr-lcssa, %.epil.preheader
  %indvars.iv.epil = phi i64 [ %indvars.iv.next.epil, %.epil.preheader ], [ %indvars.iv.unr, %.loopexit.loopexit75.unr-lcssa ]
  %epil.iter = phi i64 [ %epil.iter.next, %.epil.preheader ], [ 0, %.loopexit.loopexit75.unr-lcssa ]
  %119 = trunc nuw nsw i64 %indvars.iv.epil to i32
  %120 = mul i32 %18, %119
  %121 = sext i32 %120 to i64
  %122 = getelementptr inbounds double, ptr %17, i64 %121
  store double 1.000000e+00, ptr %122, align 8, !tbaa !24
  %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 %.loopexit, label %.epil.preheader, !llvm.loop !42

.loopexit:                                        ; preds = %.loopexit.loopexit75.unr-lcssa, %.epil.preheader, %27, %58, %._crit_edge53, %.preheader42, %.preheader43, %.thread, %35
  %.1 = phi i32 [ %37, %35 ], [ 99, %.thread ], [ 0, %.preheader43 ], [ 0, %.preheader42 ], [ 0, %._crit_edge53 ], [ 0, %58 ], [ 0, %27 ], [ 0, %.epil.preheader ], [ 0, %.loopexit.loopexit75.unr-lcssa ]
  ret i32 %.1
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES7getSqrtEd(double noundef) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #3 align 2

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

declare void @dpotrf_(ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #0

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getMinEdd(double noundef, double noundef) local_unnamed_addr #3

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #5

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare i32 @llvm.umax.i32(i32, i32) #6

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 = { 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 #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 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #6 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #7 = { 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, !10, i64 168}
!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 = !{!15, !15, i64 0}
!25 = !{!6, !17, i64 220}
!26 = !{!6, !15, i64 224}
!27 = distinct !{!27, !28}
!28 = !{!"llvm.loop.mustprogress"}
!29 = distinct !{!29, !28}
!30 = !{!6, !10, i64 16}
!31 = !{!32, !32, i64 0}
!32 = !{!"vtable pointer", !9, i64 0}
!33 = !{!10, !10, i64 0}
!34 = !{!13, !13, i64 0}
!35 = distinct !{!35, !28}
!36 = !{!37, !37, i64 0}
!37 = !{!"long", !8, i64 0}
!38 = !{!6, !15, i64 424}
!39 = distinct !{!39, !28}
!40 = distinct !{!40, !41}
!41 = !{!"llvm.loop.unroll.disable"}
!42 = distinct !{!42, !41}


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