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

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

%"class.qpOASES::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::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 [103 x i8], align 1

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #1

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064)) #2 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

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem22setupAuxiliaryQPboundsEPKNS_6BoundsEPKNS_11ConstraintsENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef %1, ptr noundef %2, i32 noundef %3) #4 align 2 {
  %5 = alloca i32, align 4
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %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
  store ptr %0, ptr %6, align 8, !tbaa !5
  store ptr %1, ptr %7, align 8, !tbaa !5
  store ptr %2, ptr %8, align 8, !tbaa !5
  store i32 %3, ptr %9, align 4, !tbaa !9
  %14 = load ptr, ptr %6, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #5
  %15 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %14)
  store i32 %15, ptr %11, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #5
  %16 = call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %14)
  store i32 %16, ptr %12, align 4, !tbaa !11
  store i32 0, ptr %10, align 4, !tbaa !11
  br label %17

17:                                               ; preds = %228, %4
  %18 = load i32, ptr %10, align 4, !tbaa !11
  %19 = load i32, ptr %11, align 4, !tbaa !11
  %20 = icmp slt i32 %18, %19
  br i1 %20, label %21, label %231

21:                                               ; preds = %17
  %22 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 6
  %23 = load i32, ptr %10, align 4, !tbaa !11
  %24 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %22, i32 noundef %23)
  switch i32 %24, label %224 [
    i32 0, label %25
    i32 -1, label %125
    i32 1, label %174
    i32 2, label %223
    i32 3, label %223
  ]

25:                                               ; preds = %21
  %26 = load i32, ptr %9, align 4, !tbaa !9
  %27 = icmp eq i32 %26, 1
  br i1 %27, label %28, label %124

28:                                               ; preds = %25
  %29 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 6
  %30 = load i32, ptr %10, align 4, !tbaa !11
  %31 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %29, i32 noundef %30)
  %32 = icmp eq i32 %31, 2
  br i1 %32, label %33, label %56

33:                                               ; preds = %28
  %34 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %35 = load ptr, ptr %34, align 8, !tbaa !13
  %36 = load i32, ptr %10, align 4, !tbaa !11
  %37 = sext i32 %36 to i64
  %38 = getelementptr inbounds double, ptr %35, i64 %37
  %39 = load double, ptr %38, align 8, !tbaa !27
  %40 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 4
  %41 = load ptr, ptr %40, align 8, !tbaa !28
  %42 = load i32, ptr %10, align 4, !tbaa !11
  %43 = sext i32 %42 to i64
  %44 = getelementptr inbounds double, ptr %41, i64 %43
  store double %39, ptr %44, align 8, !tbaa !27
  %45 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %46 = load ptr, ptr %45, align 8, !tbaa !13
  %47 = load i32, ptr %10, align 4, !tbaa !11
  %48 = sext i32 %47 to i64
  %49 = getelementptr inbounds double, ptr %46, i64 %48
  %50 = load double, ptr %49, align 8, !tbaa !27
  %51 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 5
  %52 = load ptr, ptr %51, align 8, !tbaa !29
  %53 = load i32, ptr %10, align 4, !tbaa !11
  %54 = sext i32 %53 to i64
  %55 = getelementptr inbounds double, ptr %52, i64 %54
  store double %50, ptr %55, align 8, !tbaa !27
  br label %123

56:                                               ; preds = %28
  %57 = load ptr, ptr %7, align 8, !tbaa !5
  %58 = load i32, ptr %10, align 4, !tbaa !11
  %59 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %57, i32 noundef %58)
  %60 = icmp eq i32 %59, -1
  br i1 %60, label %61, label %73

61:                                               ; preds = %56
  %62 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %63 = load ptr, ptr %62, align 8, !tbaa !13
  %64 = load i32, ptr %10, align 4, !tbaa !11
  %65 = sext i32 %64 to i64
  %66 = getelementptr inbounds double, ptr %63, i64 %65
  %67 = load double, ptr %66, align 8, !tbaa !27
  %68 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 4
  %69 = load ptr, ptr %68, align 8, !tbaa !28
  %70 = load i32, ptr %10, align 4, !tbaa !11
  %71 = sext i32 %70 to i64
  %72 = getelementptr inbounds double, ptr %69, i64 %71
  store double %67, ptr %72, align 8, !tbaa !27
  br label %89

73:                                               ; preds = %56
  %74 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %75 = load ptr, ptr %74, align 8, !tbaa !13
  %76 = load i32, ptr %10, align 4, !tbaa !11
  %77 = sext i32 %76 to i64
  %78 = getelementptr inbounds double, ptr %75, i64 %77
  %79 = load double, ptr %78, align 8, !tbaa !27
  %80 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 23
  %81 = getelementptr inbounds %"class.qpOASES::Options", ptr %80, i32 0, i32 12
  %82 = load double, ptr %81, align 8, !tbaa !30
  %83 = fsub double %79, %82
  %84 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 4
  %85 = load ptr, ptr %84, align 8, !tbaa !28
  %86 = load i32, ptr %10, align 4, !tbaa !11
  %87 = sext i32 %86 to i64
  %88 = getelementptr inbounds double, ptr %85, i64 %87
  store double %83, ptr %88, align 8, !tbaa !27
  br label %89

89:                                               ; preds = %73, %61
  %90 = load ptr, ptr %7, align 8, !tbaa !5
  %91 = load i32, ptr %10, align 4, !tbaa !11
  %92 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %90, i32 noundef %91)
  %93 = icmp eq i32 %92, 1
  br i1 %93, label %94, label %106

94:                                               ; preds = %89
  %95 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %96 = load ptr, ptr %95, align 8, !tbaa !13
  %97 = load i32, ptr %10, align 4, !tbaa !11
  %98 = sext i32 %97 to i64
  %99 = getelementptr inbounds double, ptr %96, i64 %98
  %100 = load double, ptr %99, align 8, !tbaa !27
  %101 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 5
  %102 = load ptr, ptr %101, align 8, !tbaa !29
  %103 = load i32, ptr %10, align 4, !tbaa !11
  %104 = sext i32 %103 to i64
  %105 = getelementptr inbounds double, ptr %102, i64 %104
  store double %100, ptr %105, align 8, !tbaa !27
  br label %122

106:                                              ; preds = %89
  %107 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %108 = load ptr, ptr %107, align 8, !tbaa !13
  %109 = load i32, ptr %10, align 4, !tbaa !11
  %110 = sext i32 %109 to i64
  %111 = getelementptr inbounds double, ptr %108, i64 %110
  %112 = load double, ptr %111, align 8, !tbaa !27
  %113 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 23
  %114 = getelementptr inbounds %"class.qpOASES::Options", ptr %113, i32 0, i32 12
  %115 = load double, ptr %114, align 8, !tbaa !30
  %116 = fadd double %112, %115
  %117 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 5
  %118 = load ptr, ptr %117, align 8, !tbaa !29
  %119 = load i32, ptr %10, align 4, !tbaa !11
  %120 = sext i32 %119 to i64
  %121 = getelementptr inbounds double, ptr %118, i64 %120
  store double %116, ptr %121, align 8, !tbaa !27
  br label %122

122:                                              ; preds = %106, %94
  br label %123

123:                                              ; preds = %122, %33
  br label %124

124:                                              ; preds = %123, %25
  br label %227

125:                                              ; preds = %21
  %126 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %127 = load ptr, ptr %126, align 8, !tbaa !13
  %128 = load i32, ptr %10, align 4, !tbaa !11
  %129 = sext i32 %128 to i64
  %130 = getelementptr inbounds double, ptr %127, i64 %129
  %131 = load double, ptr %130, align 8, !tbaa !27
  %132 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 4
  %133 = load ptr, ptr %132, align 8, !tbaa !28
  %134 = load i32, ptr %10, align 4, !tbaa !11
  %135 = sext i32 %134 to i64
  %136 = getelementptr inbounds double, ptr %133, i64 %135
  store double %131, ptr %136, align 8, !tbaa !27
  %137 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 6
  %138 = load i32, ptr %10, align 4, !tbaa !11
  %139 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %137, i32 noundef %138)
  %140 = icmp eq i32 %139, 2
  br i1 %140, label %141, label %153

141:                                              ; preds = %125
  %142 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %143 = load ptr, ptr %142, align 8, !tbaa !13
  %144 = load i32, ptr %10, align 4, !tbaa !11
  %145 = sext i32 %144 to i64
  %146 = getelementptr inbounds double, ptr %143, i64 %145
  %147 = load double, ptr %146, align 8, !tbaa !27
  %148 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 5
  %149 = load ptr, ptr %148, align 8, !tbaa !29
  %150 = load i32, ptr %10, align 4, !tbaa !11
  %151 = sext i32 %150 to i64
  %152 = getelementptr inbounds double, ptr %149, i64 %151
  store double %147, ptr %152, align 8, !tbaa !27
  br label %173

153:                                              ; preds = %125
  %154 = load i32, ptr %9, align 4, !tbaa !9
  %155 = icmp eq i32 %154, 1
  br i1 %155, label %156, label %172

156:                                              ; preds = %153
  %157 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %158 = load ptr, ptr %157, align 8, !tbaa !13
  %159 = load i32, ptr %10, align 4, !tbaa !11
  %160 = sext i32 %159 to i64
  %161 = getelementptr inbounds double, ptr %158, i64 %160
  %162 = load double, ptr %161, align 8, !tbaa !27
  %163 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 23
  %164 = getelementptr inbounds %"class.qpOASES::Options", ptr %163, i32 0, i32 12
  %165 = load double, ptr %164, align 8, !tbaa !30
  %166 = fadd double %162, %165
  %167 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 5
  %168 = load ptr, ptr %167, align 8, !tbaa !29
  %169 = load i32, ptr %10, align 4, !tbaa !11
  %170 = sext i32 %169 to i64
  %171 = getelementptr inbounds double, ptr %168, i64 %170
  store double %166, ptr %171, align 8, !tbaa !27
  br label %172

172:                                              ; preds = %156, %153
  br label %173

173:                                              ; preds = %172, %141
  br label %227

174:                                              ; preds = %21
  %175 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %176 = load ptr, ptr %175, align 8, !tbaa !13
  %177 = load i32, ptr %10, align 4, !tbaa !11
  %178 = sext i32 %177 to i64
  %179 = getelementptr inbounds double, ptr %176, i64 %178
  %180 = load double, ptr %179, align 8, !tbaa !27
  %181 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 5
  %182 = load ptr, ptr %181, align 8, !tbaa !29
  %183 = load i32, ptr %10, align 4, !tbaa !11
  %184 = sext i32 %183 to i64
  %185 = getelementptr inbounds double, ptr %182, i64 %184
  store double %180, ptr %185, align 8, !tbaa !27
  %186 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 6
  %187 = load i32, ptr %10, align 4, !tbaa !11
  %188 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %186, i32 noundef %187)
  %189 = icmp eq i32 %188, 2
  br i1 %189, label %190, label %202

190:                                              ; preds = %174
  %191 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %192 = load ptr, ptr %191, align 8, !tbaa !13
  %193 = load i32, ptr %10, align 4, !tbaa !11
  %194 = sext i32 %193 to i64
  %195 = getelementptr inbounds double, ptr %192, i64 %194
  %196 = load double, ptr %195, align 8, !tbaa !27
  %197 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 4
  %198 = load ptr, ptr %197, align 8, !tbaa !28
  %199 = load i32, ptr %10, align 4, !tbaa !11
  %200 = sext i32 %199 to i64
  %201 = getelementptr inbounds double, ptr %198, i64 %200
  store double %196, ptr %201, align 8, !tbaa !27
  br label %222

202:                                              ; preds = %174
  %203 = load i32, ptr %9, align 4, !tbaa !9
  %204 = icmp eq i32 %203, 1
  br i1 %204, label %205, label %221

205:                                              ; preds = %202
  %206 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %207 = load ptr, ptr %206, align 8, !tbaa !13
  %208 = load i32, ptr %10, align 4, !tbaa !11
  %209 = sext i32 %208 to i64
  %210 = getelementptr inbounds double, ptr %207, i64 %209
  %211 = load double, ptr %210, align 8, !tbaa !27
  %212 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 23
  %213 = getelementptr inbounds %"class.qpOASES::Options", ptr %212, i32 0, i32 12
  %214 = load double, ptr %213, align 8, !tbaa !30
  %215 = fsub double %211, %214
  %216 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 4
  %217 = load ptr, ptr %216, align 8, !tbaa !28
  %218 = load i32, ptr %10, align 4, !tbaa !11
  %219 = sext i32 %218 to i64
  %220 = getelementptr inbounds double, ptr %217, i64 %219
  store double %215, ptr %220, align 8, !tbaa !27
  br label %221

221:                                              ; preds = %205, %202
  br label %222

222:                                              ; preds = %221, %190
  br label %227

223:                                              ; preds = %21, %21
  br label %227

224:                                              ; preds = %21
  %225 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %226 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %225, i32 noundef 9, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2740, i32 noundef 1)
  store i32 %226, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %483

227:                                              ; preds = %223, %222, %173, %124
  br label %228

228:                                              ; preds = %227
  %229 = load i32, ptr %10, align 4, !tbaa !11
  %230 = add nsw i32 %229, 1
  store i32 %230, ptr %10, align 4, !tbaa !11
  br label %17, !llvm.loop !31

231:                                              ; preds = %17
  store i32 0, ptr %10, align 4, !tbaa !11
  br label %232

232:                                              ; preds = %479, %231
  %233 = load i32, ptr %10, align 4, !tbaa !11
  %234 = load i32, ptr %12, align 4, !tbaa !11
  %235 = icmp slt i32 %233, %234
  br i1 %235, label %236, label %482

236:                                              ; preds = %232
  %237 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 5
  %238 = load i32, ptr %10, align 4, !tbaa !11
  %239 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %237, i32 noundef %238)
  switch i32 %239, label %439 [
    i32 0, label %240
    i32 -1, label %340
    i32 1, label %389
    i32 2, label %438
    i32 3, label %438
  ]

240:                                              ; preds = %236
  %241 = load i32, ptr %9, align 4, !tbaa !9
  %242 = icmp eq i32 %241, 1
  br i1 %242, label %243, label %339

243:                                              ; preds = %240
  %244 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 5
  %245 = load i32, ptr %10, align 4, !tbaa !11
  %246 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %244, i32 noundef %245)
  %247 = icmp eq i32 %246, 2
  br i1 %247, label %248, label %271

248:                                              ; preds = %243
  %249 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 10
  %250 = load ptr, ptr %249, align 8, !tbaa !33
  %251 = load i32, ptr %10, align 4, !tbaa !11
  %252 = sext i32 %251 to i64
  %253 = getelementptr inbounds double, ptr %250, i64 %252
  %254 = load double, ptr %253, align 8, !tbaa !27
  %255 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 3
  %256 = load ptr, ptr %255, align 8, !tbaa !35
  %257 = load i32, ptr %10, align 4, !tbaa !11
  %258 = sext i32 %257 to i64
  %259 = getelementptr inbounds double, ptr %256, i64 %258
  store double %254, ptr %259, align 8, !tbaa !27
  %260 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 11
  %261 = load ptr, ptr %260, align 8, !tbaa !36
  %262 = load i32, ptr %10, align 4, !tbaa !11
  %263 = sext i32 %262 to i64
  %264 = getelementptr inbounds double, ptr %261, i64 %263
  %265 = load double, ptr %264, align 8, !tbaa !27
  %266 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 4
  %267 = load ptr, ptr %266, align 8, !tbaa !37
  %268 = load i32, ptr %10, align 4, !tbaa !11
  %269 = sext i32 %268 to i64
  %270 = getelementptr inbounds double, ptr %267, i64 %269
  store double %265, ptr %270, align 8, !tbaa !27
  br label %338

271:                                              ; preds = %243
  %272 = load ptr, ptr %8, align 8, !tbaa !5
  %273 = load i32, ptr %10, align 4, !tbaa !11
  %274 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %272, i32 noundef %273)
  %275 = icmp eq i32 %274, -1
  br i1 %275, label %276, label %288

276:                                              ; preds = %271
  %277 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 10
  %278 = load ptr, ptr %277, align 8, !tbaa !33
  %279 = load i32, ptr %10, align 4, !tbaa !11
  %280 = sext i32 %279 to i64
  %281 = getelementptr inbounds double, ptr %278, i64 %280
  %282 = load double, ptr %281, align 8, !tbaa !27
  %283 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 3
  %284 = load ptr, ptr %283, align 8, !tbaa !35
  %285 = load i32, ptr %10, align 4, !tbaa !11
  %286 = sext i32 %285 to i64
  %287 = getelementptr inbounds double, ptr %284, i64 %286
  store double %282, ptr %287, align 8, !tbaa !27
  br label %304

288:                                              ; preds = %271
  %289 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 10
  %290 = load ptr, ptr %289, align 8, !tbaa !33
  %291 = load i32, ptr %10, align 4, !tbaa !11
  %292 = sext i32 %291 to i64
  %293 = getelementptr inbounds double, ptr %290, i64 %292
  %294 = load double, ptr %293, align 8, !tbaa !27
  %295 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 23
  %296 = getelementptr inbounds %"class.qpOASES::Options", ptr %295, i32 0, i32 12
  %297 = load double, ptr %296, align 8, !tbaa !30
  %298 = fsub double %294, %297
  %299 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 3
  %300 = load ptr, ptr %299, align 8, !tbaa !35
  %301 = load i32, ptr %10, align 4, !tbaa !11
  %302 = sext i32 %301 to i64
  %303 = getelementptr inbounds double, ptr %300, i64 %302
  store double %298, ptr %303, align 8, !tbaa !27
  br label %304

304:                                              ; preds = %288, %276
  %305 = load ptr, ptr %8, align 8, !tbaa !5
  %306 = load i32, ptr %10, align 4, !tbaa !11
  %307 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %305, i32 noundef %306)
  %308 = icmp eq i32 %307, 1
  br i1 %308, label %309, label %321

309:                                              ; preds = %304
  %310 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 11
  %311 = load ptr, ptr %310, align 8, !tbaa !36
  %312 = load i32, ptr %10, align 4, !tbaa !11
  %313 = sext i32 %312 to i64
  %314 = getelementptr inbounds double, ptr %311, i64 %313
  %315 = load double, ptr %314, align 8, !tbaa !27
  %316 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 4
  %317 = load ptr, ptr %316, align 8, !tbaa !37
  %318 = load i32, ptr %10, align 4, !tbaa !11
  %319 = sext i32 %318 to i64
  %320 = getelementptr inbounds double, ptr %317, i64 %319
  store double %315, ptr %320, align 8, !tbaa !27
  br label %337

321:                                              ; preds = %304
  %322 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 11
  %323 = load ptr, ptr %322, align 8, !tbaa !36
  %324 = load i32, ptr %10, align 4, !tbaa !11
  %325 = sext i32 %324 to i64
  %326 = getelementptr inbounds double, ptr %323, i64 %325
  %327 = load double, ptr %326, align 8, !tbaa !27
  %328 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 23
  %329 = getelementptr inbounds %"class.qpOASES::Options", ptr %328, i32 0, i32 12
  %330 = load double, ptr %329, align 8, !tbaa !30
  %331 = fadd double %327, %330
  %332 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 4
  %333 = load ptr, ptr %332, align 8, !tbaa !37
  %334 = load i32, ptr %10, align 4, !tbaa !11
  %335 = sext i32 %334 to i64
  %336 = getelementptr inbounds double, ptr %333, i64 %335
  store double %331, ptr %336, align 8, !tbaa !27
  br label %337

337:                                              ; preds = %321, %309
  br label %338

338:                                              ; preds = %337, %248
  br label %339

339:                                              ; preds = %338, %240
  br label %442

340:                                              ; preds = %236
  %341 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 10
  %342 = load ptr, ptr %341, align 8, !tbaa !33
  %343 = load i32, ptr %10, align 4, !tbaa !11
  %344 = sext i32 %343 to i64
  %345 = getelementptr inbounds double, ptr %342, i64 %344
  %346 = load double, ptr %345, align 8, !tbaa !27
  %347 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 3
  %348 = load ptr, ptr %347, align 8, !tbaa !35
  %349 = load i32, ptr %10, align 4, !tbaa !11
  %350 = sext i32 %349 to i64
  %351 = getelementptr inbounds double, ptr %348, i64 %350
  store double %346, ptr %351, align 8, !tbaa !27
  %352 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 5
  %353 = load i32, ptr %10, align 4, !tbaa !11
  %354 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %352, i32 noundef %353)
  %355 = icmp eq i32 %354, 2
  br i1 %355, label %356, label %368

356:                                              ; preds = %340
  %357 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 10
  %358 = load ptr, ptr %357, align 8, !tbaa !33
  %359 = load i32, ptr %10, align 4, !tbaa !11
  %360 = sext i32 %359 to i64
  %361 = getelementptr inbounds double, ptr %358, i64 %360
  %362 = load double, ptr %361, align 8, !tbaa !27
  %363 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 4
  %364 = load ptr, ptr %363, align 8, !tbaa !37
  %365 = load i32, ptr %10, align 4, !tbaa !11
  %366 = sext i32 %365 to i64
  %367 = getelementptr inbounds double, ptr %364, i64 %366
  store double %362, ptr %367, align 8, !tbaa !27
  br label %388

368:                                              ; preds = %340
  %369 = load i32, ptr %9, align 4, !tbaa !9
  %370 = icmp eq i32 %369, 1
  br i1 %370, label %371, label %387

371:                                              ; preds = %368
  %372 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 10
  %373 = load ptr, ptr %372, align 8, !tbaa !33
  %374 = load i32, ptr %10, align 4, !tbaa !11
  %375 = sext i32 %374 to i64
  %376 = getelementptr inbounds double, ptr %373, i64 %375
  %377 = load double, ptr %376, align 8, !tbaa !27
  %378 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 23
  %379 = getelementptr inbounds %"class.qpOASES::Options", ptr %378, i32 0, i32 12
  %380 = load double, ptr %379, align 8, !tbaa !30
  %381 = fadd double %377, %380
  %382 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 4
  %383 = load ptr, ptr %382, align 8, !tbaa !37
  %384 = load i32, ptr %10, align 4, !tbaa !11
  %385 = sext i32 %384 to i64
  %386 = getelementptr inbounds double, ptr %383, i64 %385
  store double %381, ptr %386, align 8, !tbaa !27
  br label %387

387:                                              ; preds = %371, %368
  br label %388

388:                                              ; preds = %387, %356
  br label %442

389:                                              ; preds = %236
  %390 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 11
  %391 = load ptr, ptr %390, align 8, !tbaa !36
  %392 = load i32, ptr %10, align 4, !tbaa !11
  %393 = sext i32 %392 to i64
  %394 = getelementptr inbounds double, ptr %391, i64 %393
  %395 = load double, ptr %394, align 8, !tbaa !27
  %396 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 4
  %397 = load ptr, ptr %396, align 8, !tbaa !37
  %398 = load i32, ptr %10, align 4, !tbaa !11
  %399 = sext i32 %398 to i64
  %400 = getelementptr inbounds double, ptr %397, i64 %399
  store double %395, ptr %400, align 8, !tbaa !27
  %401 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 5
  %402 = load i32, ptr %10, align 4, !tbaa !11
  %403 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %401, i32 noundef %402)
  %404 = icmp eq i32 %403, 2
  br i1 %404, label %405, label %417

405:                                              ; preds = %389
  %406 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 11
  %407 = load ptr, ptr %406, align 8, !tbaa !36
  %408 = load i32, ptr %10, align 4, !tbaa !11
  %409 = sext i32 %408 to i64
  %410 = getelementptr inbounds double, ptr %407, i64 %409
  %411 = load double, ptr %410, align 8, !tbaa !27
  %412 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 3
  %413 = load ptr, ptr %412, align 8, !tbaa !35
  %414 = load i32, ptr %10, align 4, !tbaa !11
  %415 = sext i32 %414 to i64
  %416 = getelementptr inbounds double, ptr %413, i64 %415
  store double %411, ptr %416, align 8, !tbaa !27
  br label %437

417:                                              ; preds = %389
  %418 = load i32, ptr %9, align 4, !tbaa !9
  %419 = icmp eq i32 %418, 1
  br i1 %419, label %420, label %436

420:                                              ; preds = %417
  %421 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 11
  %422 = load ptr, ptr %421, align 8, !tbaa !36
  %423 = load i32, ptr %10, align 4, !tbaa !11
  %424 = sext i32 %423 to i64
  %425 = getelementptr inbounds double, ptr %422, i64 %424
  %426 = load double, ptr %425, align 8, !tbaa !27
  %427 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 23
  %428 = getelementptr inbounds %"class.qpOASES::Options", ptr %427, i32 0, i32 12
  %429 = load double, ptr %428, align 8, !tbaa !30
  %430 = fsub double %426, %429
  %431 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 3
  %432 = load ptr, ptr %431, align 8, !tbaa !35
  %433 = load i32, ptr %10, align 4, !tbaa !11
  %434 = sext i32 %433 to i64
  %435 = getelementptr inbounds double, ptr %432, i64 %434
  store double %430, ptr %435, align 8, !tbaa !27
  br label %436

436:                                              ; preds = %420, %417
  br label %437

437:                                              ; preds = %436, %405
  br label %442

438:                                              ; preds = %236, %236
  br label %442

439:                                              ; preds = %236
  %440 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %441 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %440, i32 noundef 9, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2806, i32 noundef 1)
  store i32 %441, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %483

442:                                              ; preds = %438, %437, %388, %339
  %443 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 10
  %444 = load ptr, ptr %443, align 8, !tbaa !33
  %445 = load i32, ptr %10, align 4, !tbaa !11
  %446 = sext i32 %445 to i64
  %447 = getelementptr inbounds double, ptr %444, i64 %446
  %448 = load double, ptr %447, align 8, !tbaa !27
  %449 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 3
  %450 = load ptr, ptr %449, align 8, !tbaa !35
  %451 = load i32, ptr %10, align 4, !tbaa !11
  %452 = sext i32 %451 to i64
  %453 = getelementptr inbounds double, ptr %450, i64 %452
  %454 = load double, ptr %453, align 8, !tbaa !27
  %455 = fsub double %448, %454
  %456 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 10
  %457 = load ptr, ptr %456, align 8, !tbaa !33
  %458 = load i32, ptr %10, align 4, !tbaa !11
  %459 = sext i32 %458 to i64
  %460 = getelementptr inbounds double, ptr %457, i64 %459
  store double %455, ptr %460, align 8, !tbaa !27
  %461 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 4
  %462 = load ptr, ptr %461, align 8, !tbaa !37
  %463 = load i32, ptr %10, align 4, !tbaa !11
  %464 = sext i32 %463 to i64
  %465 = getelementptr inbounds double, ptr %462, i64 %464
  %466 = load double, ptr %465, align 8, !tbaa !27
  %467 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 11
  %468 = load ptr, ptr %467, align 8, !tbaa !36
  %469 = load i32, ptr %10, align 4, !tbaa !11
  %470 = sext i32 %469 to i64
  %471 = getelementptr inbounds double, ptr %468, i64 %470
  %472 = load double, ptr %471, align 8, !tbaa !27
  %473 = fsub double %466, %472
  %474 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 11
  %475 = load ptr, ptr %474, align 8, !tbaa !36
  %476 = load i32, ptr %10, align 4, !tbaa !11
  %477 = sext i32 %476 to i64
  %478 = getelementptr inbounds double, ptr %475, i64 %477
  store double %473, ptr %478, align 8, !tbaa !27
  br label %479

479:                                              ; preds = %442
  %480 = load i32, ptr %10, align 4, !tbaa !11
  %481 = add nsw i32 %480, 1
  store i32 %481, ptr %10, align 4, !tbaa !11
  br label %232, !llvm.loop !38

482:                                              ; preds = %232
  store i32 0, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %483

483:                                              ; preds = %482, %439, %224
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #5
  %484 = load i32, ptr %5, align 4
  ret i32 %484
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #3 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!14, !6, i64 184}
!14 = !{!"_ZTSN7qpOASES9QProblemBE", !10, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !15, i64 48, !6, i64 168, !10, i64 176, !6, i64 184, !6, i64 192, !18, i64 200, !19, i64 208, !10, i64 212, !10, i64 216, !20, i64 220, !18, i64 224, !12, i64 232, !6, i64 240, !18, i64 248, !18, i64 256, !12, i64 264, !21, i64 272, !24, i64 496, !26, i64 768}
!15 = !{!"_ZTSN7qpOASES6BoundsE", !16, i64 0, !17, i64 40, !17, i64 80}
!16 = !{!"_ZTSN7qpOASES9SubjectToE", !12, i64 8, !6, i64 16, !6, i64 24, !10, i64 32, !10, i64 36}
!17 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !12, i64 16, !12, i64 20, !12, i64 24, !12, i64 28, !12, i64 32}
!18 = !{!"double", !7, i64 0}
!19 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!20 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!21 = !{!"_ZTSN7qpOASES7OptionsE", !22, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !12, i64 28, !12, i64 32, !10, i64 36, !18, i64 40, !18, i64 48, !18, i64 56, !18, i64 64, !18, i64 72, !18, i64 80, !18, i64 88, !18, i64 96, !18, i64 104, !18, i64 112, !18, i64 120, !23, i64 128, !18, i64 136, !12, i64 144, !18, i64 152, !12, i64 160, !18, i64 168, !18, i64 176, !18, i64 184, !18, i64 192, !10, i64 200, !10, i64 204, !12, i64 208, !12, i64 212, !12, i64 216}
!22 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!24 = !{!"_ZTSN7qpOASES7FlipperE", !12, i64 0, !12, i64 4, !15, i64 8, !25, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!25 = !{!"_ZTSN7qpOASES11ConstraintsE", !16, i64 0, !17, i64 40, !17, i64 80}
!26 = !{!"_ZTSN7qpOASES13TabularOutputE", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !12, i64 24, !12, i64 28}
!27 = !{!18, !18, i64 0}
!28 = !{!14, !6, i64 32}
!29 = !{!14, !6, i64 40}
!30 = !{!14, !18, i64 328}
!31 = distinct !{!31, !32}
!32 = !{!"llvm.loop.mustprogress"}
!33 = !{!34, !6, i64 984}
!34 = !{!"_ZTSN7qpOASES8QProblemE", !14, i64 0, !10, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !25, i64 832, !6, i64 952, !6, i64 960, !12, 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}
!35 = !{!34, !6, i64 816}
!36 = !{!34, !6, i64 992}
!37 = !{!34, !6, i64 824}
!38 = distinct !{!38, !32}


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

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #0

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: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #1 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 #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem22setupAuxiliaryQPboundsEPKNS_6BoundsEPKNS_11ConstraintsENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef %1, ptr noundef %2, i32 noundef %3) local_unnamed_addr #3 align 2 {
  %5 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %6 = tail call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %7 = icmp sgt i32 %5, 0
  br i1 %7, label %.lr.ph, label %.preheader

.lr.ph:                                           ; preds = %4
  %8 = getelementptr inbounds i8, ptr %0, i64 48
  %9 = getelementptr inbounds i8, ptr %0, i64 184
  %10 = getelementptr inbounds i8, ptr %0, i64 40
  %11 = icmp eq i32 %3, 1
  %12 = getelementptr inbounds i8, ptr %0, i64 328
  %13 = getelementptr inbounds i8, ptr %0, i64 32
  %wide.trip.count = zext nneg i32 %5 to i64
  br label %22

.preheader:                                       ; preds = %93, %4
  %14 = icmp sgt i32 %6, 0
  br i1 %14, label %.lr.ph86, label %.loopexit

.lr.ph86:                                         ; preds = %.preheader
  %15 = getelementptr inbounds i8, ptr %0, i64 832
  %16 = getelementptr inbounds i8, ptr %0, i64 992
  %17 = getelementptr inbounds i8, ptr %0, i64 824
  %18 = icmp eq i32 %3, 1
  %19 = getelementptr inbounds i8, ptr %0, i64 328
  %20 = getelementptr inbounds i8, ptr %0, i64 816
  %21 = getelementptr inbounds i8, ptr %0, i64 984
  %wide.trip.count91 = zext nneg i32 %6 to i64
  br label %94

22:                                               ; preds = %.lr.ph, %93
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %93 ]
  %23 = trunc nuw nsw i64 %indvars.iv to i32
  %24 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %8, i32 noundef %23)
  switch i32 %24, label %.loopexit.sink.split [
    i32 0, label %25
    i32 -1, label %53
    i32 1, label %72
    i32 2, label %93
    i32 3, label %93
  ]

25:                                               ; preds = %22
  br i1 %11, label %26, label %93

26:                                               ; preds = %25
  %27 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %8, i32 noundef %23)
  %28 = icmp eq i32 %27, 2
  br i1 %28, label %29, label %35

29:                                               ; preds = %26
  %30 = load ptr, ptr %9, align 8, !tbaa !5
  %31 = getelementptr inbounds double, ptr %30, i64 %indvars.iv
  %32 = load double, ptr %31, align 8, !tbaa !24
  %33 = load ptr, ptr %13, align 8, !tbaa !25
  %34 = getelementptr inbounds double, ptr %33, i64 %indvars.iv
  store double %32, ptr %34, align 8, !tbaa !24
  br label %.sink.split

35:                                               ; preds = %26
  %36 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %1, i32 noundef %23)
  %37 = icmp eq i32 %36, -1
  %38 = load ptr, ptr %9, align 8, !tbaa !5
  %39 = getelementptr inbounds double, ptr %38, i64 %indvars.iv
  %40 = load double, ptr %39, align 8, !tbaa !24
  %41 = load double, ptr %12, align 8
  %42 = fsub double %40, %41
  %.sink = select i1 %37, double %40, double %42
  %43 = load ptr, ptr %13, align 8, !tbaa !25
  %44 = getelementptr inbounds double, ptr %43, i64 %indvars.iv
  store double %.sink, ptr %44, align 8, !tbaa !24
  %45 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %1, i32 noundef %23)
  %46 = icmp eq i32 %45, 1
  %47 = load ptr, ptr %9, align 8, !tbaa !5
  %48 = getelementptr inbounds double, ptr %47, i64 %indvars.iv
  %49 = load double, ptr %48, align 8, !tbaa !24
  br i1 %46, label %.sink.split, label %50

50:                                               ; preds = %35
  %51 = load double, ptr %12, align 8, !tbaa !26
  %52 = fadd double %49, %51
  br label %.sink.split

53:                                               ; preds = %22
  %54 = load ptr, ptr %9, align 8, !tbaa !5
  %55 = getelementptr inbounds double, ptr %54, i64 %indvars.iv
  %56 = load double, ptr %55, align 8, !tbaa !24
  %57 = load ptr, ptr %13, align 8, !tbaa !25
  %58 = getelementptr inbounds double, ptr %57, i64 %indvars.iv
  store double %56, ptr %58, align 8, !tbaa !24
  %59 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %8, i32 noundef %23)
  %60 = icmp eq i32 %59, 2
  br i1 %60, label %61, label %65

61:                                               ; preds = %53
  %62 = load ptr, ptr %9, align 8, !tbaa !5
  %63 = getelementptr inbounds double, ptr %62, i64 %indvars.iv
  %64 = load double, ptr %63, align 8, !tbaa !24
  br label %.sink.split

65:                                               ; preds = %53
  br i1 %11, label %66, label %93

66:                                               ; preds = %65
  %67 = load ptr, ptr %9, align 8, !tbaa !5
  %68 = getelementptr inbounds double, ptr %67, i64 %indvars.iv
  %69 = load double, ptr %68, align 8, !tbaa !24
  %70 = load double, ptr %12, align 8, !tbaa !26
  %71 = fadd double %69, %70
  br label %.sink.split

72:                                               ; preds = %22
  %73 = load ptr, ptr %9, align 8, !tbaa !5
  %74 = getelementptr inbounds double, ptr %73, i64 %indvars.iv
  %75 = load double, ptr %74, align 8, !tbaa !24
  %76 = load ptr, ptr %10, align 8, !tbaa !27
  %77 = getelementptr inbounds double, ptr %76, i64 %indvars.iv
  store double %75, ptr %77, align 8, !tbaa !24
  %78 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %8, i32 noundef %23)
  %79 = icmp eq i32 %78, 2
  br i1 %79, label %80, label %84

80:                                               ; preds = %72
  %81 = load ptr, ptr %9, align 8, !tbaa !5
  %82 = getelementptr inbounds double, ptr %81, i64 %indvars.iv
  %83 = load double, ptr %82, align 8, !tbaa !24
  br label %.sink.split

84:                                               ; preds = %72
  br i1 %11, label %85, label %93

85:                                               ; preds = %84
  %86 = load ptr, ptr %9, align 8, !tbaa !5
  %87 = getelementptr inbounds double, ptr %86, i64 %indvars.iv
  %88 = load double, ptr %87, align 8, !tbaa !24
  %89 = load double, ptr %12, align 8, !tbaa !26
  %90 = fsub double %88, %89
  br label %.sink.split

.sink.split:                                      ; preds = %35, %80, %85, %61, %66, %50, %29
  %.sink98 = phi ptr [ %10, %29 ], [ %10, %50 ], [ %10, %66 ], [ %10, %61 ], [ %13, %85 ], [ %13, %80 ], [ %10, %35 ]
  %.sink95 = phi double [ %32, %29 ], [ %52, %50 ], [ %71, %66 ], [ %64, %61 ], [ %90, %85 ], [ %83, %80 ], [ %49, %35 ]
  %91 = load ptr, ptr %.sink98, align 8, !tbaa !28
  %92 = getelementptr inbounds double, ptr %91, i64 %indvars.iv
  store double %.sink95, ptr %92, align 8, !tbaa !24
  br label %93

93:                                               ; preds = %.sink.split, %25, %65, %84, %22, %22
  %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 %.preheader, label %22, !llvm.loop !29

94:                                               ; preds = %.lr.ph86, %168
  %indvars.iv88 = phi i64 [ 0, %.lr.ph86 ], [ %indvars.iv.next89, %168 ]
  %95 = trunc nuw nsw i64 %indvars.iv88 to i32
  %96 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %15, i32 noundef %95)
  switch i32 %96, label %.loopexit.sink.split [
    i32 0, label %97
    i32 -1, label %128
    i32 1, label %147
    i32 2, label %168
    i32 3, label %168
  ]

97:                                               ; preds = %94
  br i1 %18, label %98, label %168

98:                                               ; preds = %97
  %99 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %15, i32 noundef %95)
  %100 = icmp eq i32 %99, 2
  br i1 %100, label %101, label %110

101:                                              ; preds = %98
  %102 = load ptr, ptr %21, align 8, !tbaa !31
  %103 = getelementptr inbounds double, ptr %102, i64 %indvars.iv88
  %104 = load double, ptr %103, align 8, !tbaa !24
  %105 = load ptr, ptr %20, align 8, !tbaa !33
  %106 = getelementptr inbounds double, ptr %105, i64 %indvars.iv88
  store double %104, ptr %106, align 8, !tbaa !24
  %107 = load ptr, ptr %16, align 8, !tbaa !34
  %108 = getelementptr inbounds double, ptr %107, i64 %indvars.iv88
  %109 = load double, ptr %108, align 8, !tbaa !24
  br label %.sink.split102

110:                                              ; preds = %98
  %111 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %2, i32 noundef %95)
  %112 = icmp eq i32 %111, -1
  %113 = load ptr, ptr %21, align 8, !tbaa !31
  %114 = getelementptr inbounds double, ptr %113, i64 %indvars.iv88
  %115 = load double, ptr %114, align 8, !tbaa !24
  %116 = load double, ptr %19, align 8
  %117 = fsub double %115, %116
  %.sink99 = select i1 %112, double %115, double %117
  %118 = load ptr, ptr %20, align 8, !tbaa !33
  %119 = getelementptr inbounds double, ptr %118, i64 %indvars.iv88
  store double %.sink99, ptr %119, align 8, !tbaa !24
  %120 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %2, i32 noundef %95)
  %121 = icmp eq i32 %120, 1
  %122 = load ptr, ptr %16, align 8, !tbaa !34
  %123 = getelementptr inbounds double, ptr %122, i64 %indvars.iv88
  %124 = load double, ptr %123, align 8, !tbaa !24
  br i1 %121, label %.sink.split102, label %125

125:                                              ; preds = %110
  %126 = load double, ptr %19, align 8, !tbaa !26
  %127 = fadd double %124, %126
  br label %.sink.split102

128:                                              ; preds = %94
  %129 = load ptr, ptr %21, align 8, !tbaa !31
  %130 = getelementptr inbounds double, ptr %129, i64 %indvars.iv88
  %131 = load double, ptr %130, align 8, !tbaa !24
  %132 = load ptr, ptr %20, align 8, !tbaa !33
  %133 = getelementptr inbounds double, ptr %132, i64 %indvars.iv88
  store double %131, ptr %133, align 8, !tbaa !24
  %134 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %15, i32 noundef %95)
  %135 = icmp eq i32 %134, 2
  br i1 %135, label %136, label %140

136:                                              ; preds = %128
  %137 = load ptr, ptr %21, align 8, !tbaa !31
  %138 = getelementptr inbounds double, ptr %137, i64 %indvars.iv88
  %139 = load double, ptr %138, align 8, !tbaa !24
  br label %.sink.split102

140:                                              ; preds = %128
  br i1 %18, label %141, label %168

141:                                              ; preds = %140
  %142 = load ptr, ptr %21, align 8, !tbaa !31
  %143 = getelementptr inbounds double, ptr %142, i64 %indvars.iv88
  %144 = load double, ptr %143, align 8, !tbaa !24
  %145 = load double, ptr %19, align 8, !tbaa !26
  %146 = fadd double %144, %145
  br label %.sink.split102

147:                                              ; preds = %94
  %148 = load ptr, ptr %16, align 8, !tbaa !34
  %149 = getelementptr inbounds double, ptr %148, i64 %indvars.iv88
  %150 = load double, ptr %149, align 8, !tbaa !24
  %151 = load ptr, ptr %17, align 8, !tbaa !35
  %152 = getelementptr inbounds double, ptr %151, i64 %indvars.iv88
  store double %150, ptr %152, align 8, !tbaa !24
  %153 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %15, i32 noundef %95)
  %154 = icmp eq i32 %153, 2
  br i1 %154, label %155, label %159

155:                                              ; preds = %147
  %156 = load ptr, ptr %16, align 8, !tbaa !34
  %157 = getelementptr inbounds double, ptr %156, i64 %indvars.iv88
  %158 = load double, ptr %157, align 8, !tbaa !24
  br label %.sink.split102

159:                                              ; preds = %147
  br i1 %18, label %160, label %168

160:                                              ; preds = %159
  %161 = load ptr, ptr %16, align 8, !tbaa !34
  %162 = getelementptr inbounds double, ptr %161, i64 %indvars.iv88
  %163 = load double, ptr %162, align 8, !tbaa !24
  %164 = load double, ptr %19, align 8, !tbaa !26
  %165 = fsub double %163, %164
  br label %.sink.split102

.sink.split102:                                   ; preds = %110, %101, %125, %141, %136, %160, %155
  %.sink106 = phi ptr [ %20, %155 ], [ %20, %160 ], [ %17, %136 ], [ %17, %141 ], [ %17, %125 ], [ %17, %101 ], [ %17, %110 ]
  %.sink103 = phi double [ %158, %155 ], [ %165, %160 ], [ %139, %136 ], [ %146, %141 ], [ %127, %125 ], [ %109, %101 ], [ %124, %110 ]
  %166 = load ptr, ptr %.sink106, align 8, !tbaa !28
  %167 = getelementptr inbounds double, ptr %166, i64 %indvars.iv88
  store double %.sink103, ptr %167, align 8, !tbaa !24
  br label %168

168:                                              ; preds = %.sink.split102, %94, %94, %159, %140, %97
  %169 = load ptr, ptr %21, align 8, !tbaa !31
  %170 = getelementptr inbounds double, ptr %169, i64 %indvars.iv88
  %171 = load double, ptr %170, align 8, !tbaa !24
  %172 = load ptr, ptr %20, align 8, !tbaa !33
  %173 = getelementptr inbounds double, ptr %172, i64 %indvars.iv88
  %174 = load double, ptr %173, align 8, !tbaa !24
  %175 = fsub double %171, %174
  store double %175, ptr %170, align 8, !tbaa !24
  %176 = load ptr, ptr %17, align 8, !tbaa !35
  %177 = getelementptr inbounds double, ptr %176, i64 %indvars.iv88
  %178 = load double, ptr %177, align 8, !tbaa !24
  %179 = load ptr, ptr %16, align 8, !tbaa !34
  %180 = getelementptr inbounds double, ptr %179, i64 %indvars.iv88
  %181 = load double, ptr %180, align 8, !tbaa !24
  %182 = fsub double %178, %181
  store double %182, ptr %180, align 8, !tbaa !24
  %indvars.iv.next89 = add nuw nsw i64 %indvars.iv88, 1
  %exitcond92.not = icmp eq i64 %indvars.iv.next89, %wide.trip.count91
  br i1 %exitcond92.not, label %.loopexit, label %94, !llvm.loop !36

.loopexit.sink.split:                             ; preds = %22, %94
  %.sink108 = phi i64 [ 2806, %94 ], [ 2740, %22 ]
  %183 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %184 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %183, i32 noundef 9, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef %.sink108, i32 noundef 1)
  br label %.loopexit

.loopexit:                                        ; preds = %168, %.loopexit.sink.split, %.preheader
  %.0 = phi i32 [ 0, %.preheader ], [ %184, %.loopexit.sink.split ], [ 0, %168 ]
  ret i32 %.0
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) local_unnamed_addr #2 align 2

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 = { 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 #2 = { 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 #3 = { 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" }

!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 184}
!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, !10, i64 32}
!26 = !{!6, !15, i64 328}
!27 = !{!6, !10, i64 40}
!28 = !{!10, !10, i64 0}
!29 = distinct !{!29, !30}
!30 = !{!"llvm.loop.mustprogress"}
!31 = !{!32, !10, i64 984}
!32 = !{!"_ZTSN7qpOASES8QProblemE", !6, i64 0, !7, i64 800, !10, i64 808, !10, i64 816, !10, i64 824, !22, i64 832, !10, i64 952, !10, i64 960, !13, i64 968, !10, i64 976, !10, i64 984, !10, i64 992, !10, i64 1000, !10, i64 1008, !10, i64 1016, !10, i64 1024, !10, i64 1032, !10, i64 1040, !10, i64 1048, !10, i64 1056}
!33 = !{!32, !10, i64 816}
!34 = !{!32, !10, i64 992}
!35 = !{!32, !10, i64 824}
!36 = distinct !{!36, !30}


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