; 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::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 }
%"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 }
%"struct.qpOASES::TabularOutput" = type { i32, i32, i32, i32, i32, i32, i32, i32 }
%"class.qpOASES::Constraints" = type { %"class.qpOASES::SubjectTo", %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }

@.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 @_ZNK7qpOASES8QProblem25obtainAuxiliaryWorkingSetEPKdS2_PKNS_6BoundsEPKNS_11ConstraintsEPS3_PS6_(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5, ptr noundef %6) #4 align 2 {
  %8 = alloca i32, align 4
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca i32, align 4
  %17 = alloca i32, align 4
  %18 = alloca i32, align 4
  %19 = alloca i32, align 4
  %20 = alloca i32, align 4
  store ptr %0, ptr %9, align 8, !tbaa !5
  store ptr %1, ptr %10, align 8, !tbaa !5
  store ptr %2, ptr %11, align 8, !tbaa !5
  store ptr %3, ptr %12, align 8, !tbaa !5
  store ptr %4, ptr %13, align 8, !tbaa !5
  store ptr %5, ptr %14, align 8, !tbaa !5
  store ptr %6, ptr %15, align 8, !tbaa !5
  %21 = load ptr, ptr %9, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #5
  store i32 0, ptr %16, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #5
  %22 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %21)
  store i32 %22, ptr %17, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #5
  %23 = call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %21)
  store i32 %23, ptr %18, align 4, !tbaa !9
  %24 = load ptr, ptr %14, align 8, !tbaa !5
  %25 = icmp eq ptr %24, null
  br i1 %25, label %30, label %26

26:                                               ; preds = %7
  %27 = load ptr, ptr %14, align 8, !tbaa !5
  %28 = load ptr, ptr %12, align 8, !tbaa !5
  %29 = icmp eq ptr %27, %28
  br i1 %29, label %30, label %33

30:                                               ; preds = %26, %7
  %31 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %32 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %31, i32 noundef 3, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2211, i32 noundef 1)
  store i32 %32, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %300

33:                                               ; preds = %26
  %34 = load ptr, ptr %15, align 8, !tbaa !5
  %35 = icmp eq ptr %34, null
  br i1 %35, label %40, label %36

36:                                               ; preds = %33
  %37 = load ptr, ptr %15, align 8, !tbaa !5
  %38 = load ptr, ptr %13, align 8, !tbaa !5
  %39 = icmp eq ptr %37, %38
  br i1 %39, label %40, label %43

40:                                               ; preds = %36, %33
  %41 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %42 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %41, i32 noundef 3, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2214, i32 noundef 1)
  store i32 %42, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %300

43:                                               ; preds = %36
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #5
  %44 = load ptr, ptr %10, align 8, !tbaa !5
  %45 = load ptr, ptr %11, align 8, !tbaa !5
  %46 = load ptr, ptr %12, align 8, !tbaa !5
  %47 = load ptr, ptr %14, align 8, !tbaa !5
  %48 = call noundef i32 @_ZNK7qpOASES9QProblemB25obtainAuxiliaryWorkingSetEPKdS2_PKNS_6BoundsEPS3_(ptr noundef nonnull align 8 dereferenceable(800) %21, ptr noundef %44, ptr noundef %45, ptr noundef %46, ptr noundef %47)
  %49 = icmp ne i32 %48, 0
  br i1 %49, label %50, label %53

50:                                               ; preds = %43
  %51 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %52 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %51, i32 noundef 41, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2221, i32 noundef 1)
  store i32 %52, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %299

53:                                               ; preds = %43
  %54 = load ptr, ptr %13, align 8, !tbaa !5
  %55 = icmp ne ptr %54, null
  br i1 %55, label %56, label %93

56:                                               ; preds = %53
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %57

57:                                               ; preds = %89, %56
  %58 = load i32, ptr %16, align 4, !tbaa !9
  %59 = load i32, ptr %18, align 4, !tbaa !9
  %60 = icmp slt i32 %58, %59
  br i1 %60, label %61, label %92

61:                                               ; preds = %57
  %62 = load ptr, ptr %13, align 8, !tbaa !5
  %63 = load i32, ptr %16, align 4, !tbaa !9
  %64 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %62, i32 noundef %63)
  store i32 %64, ptr %20, align 4, !tbaa !11
  %65 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %21, i32 0, i32 5
  %66 = load i32, ptr %16, align 4, !tbaa !9
  %67 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %65, i32 noundef %66)
  %68 = icmp eq i32 %67, 2
  br i1 %68, label %69, label %78

69:                                               ; preds = %61
  %70 = load ptr, ptr %15, align 8, !tbaa !5
  %71 = load i32, ptr %16, align 4, !tbaa !9
  %72 = call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %70, i32 noundef %71, i32 noundef -1)
  %73 = icmp ne i32 %72, 0
  br i1 %73, label %74, label %77

74:                                               ; preds = %69
  %75 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %76 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %75, i32 noundef 41, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2237, i32 noundef 1)
  store i32 %76, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %299

77:                                               ; preds = %69
  br label %88

78:                                               ; preds = %61
  %79 = load ptr, ptr %15, align 8, !tbaa !5
  %80 = load i32, ptr %16, align 4, !tbaa !9
  %81 = load i32, ptr %20, align 4, !tbaa !11
  %82 = call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %79, i32 noundef %80, i32 noundef %81)
  %83 = icmp ne i32 %82, 0
  br i1 %83, label %84, label %87

84:                                               ; preds = %78
  %85 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %86 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %85, i32 noundef 41, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2243, i32 noundef 1)
  store i32 %86, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %299

87:                                               ; preds = %78
  br label %88

88:                                               ; preds = %87, %77
  br label %89

89:                                               ; preds = %88
  %90 = load i32, ptr %16, align 4, !tbaa !9
  %91 = add nsw i32 %90, 1
  store i32 %91, ptr %16, align 4, !tbaa !9
  br label %57, !llvm.loop !13

92:                                               ; preds = %57
  br label %298

93:                                               ; preds = %53
  %94 = load ptr, ptr %10, align 8, !tbaa !5
  %95 = icmp ne ptr %94, null
  br i1 %95, label %96, label %186

96:                                               ; preds = %93
  %97 = load ptr, ptr %11, align 8, !tbaa !5
  %98 = icmp eq ptr %97, null
  br i1 %98, label %99, label %186

99:                                               ; preds = %96
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %100

100:                                              ; preds = %182, %99
  %101 = load i32, ptr %16, align 4, !tbaa !9
  %102 = load i32, ptr %18, align 4, !tbaa !9
  %103 = icmp slt i32 %101, %102
  br i1 %103, label %104, label %185

104:                                              ; preds = %100
  %105 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %21, i32 0, i32 9
  %106 = load ptr, ptr %105, align 8, !tbaa !15
  %107 = load i32, ptr %16, align 4, !tbaa !9
  %108 = sext i32 %107 to i64
  %109 = getelementptr inbounds double, ptr %106, i64 %108
  %110 = load double, ptr %109, align 8, !tbaa !30
  %111 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %21, i32 0, i32 3
  %112 = load ptr, ptr %111, align 8, !tbaa !31
  %113 = load i32, ptr %16, align 4, !tbaa !9
  %114 = sext i32 %113 to i64
  %115 = getelementptr inbounds double, ptr %112, i64 %114
  %116 = load double, ptr %115, align 8, !tbaa !30
  %117 = fsub double %110, %116
  %118 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %21, i32 0, i32 23
  %119 = getelementptr inbounds %"class.qpOASES::Options", ptr %118, i32 0, i32 11
  %120 = load double, ptr %119, align 8, !tbaa !32
  %121 = fcmp ole double %117, %120
  br i1 %121, label %122, label %131

122:                                              ; preds = %104
  %123 = load ptr, ptr %15, align 8, !tbaa !5
  %124 = load i32, ptr %16, align 4, !tbaa !9
  %125 = call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %123, i32 noundef %124, i32 noundef -1)
  %126 = icmp ne i32 %125, 0
  br i1 %126, label %127, label %130

127:                                              ; preds = %122
  %128 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %129 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %128, i32 noundef 41, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2257, i32 noundef 1)
  store i32 %129, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %299

130:                                              ; preds = %122
  br label %182

131:                                              ; preds = %104
  %132 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %21, i32 0, i32 4
  %133 = load ptr, ptr %132, align 8, !tbaa !33
  %134 = load i32, ptr %16, align 4, !tbaa !9
  %135 = sext i32 %134 to i64
  %136 = getelementptr inbounds double, ptr %133, i64 %135
  %137 = load double, ptr %136, align 8, !tbaa !30
  %138 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %21, i32 0, i32 11
  %139 = load ptr, ptr %138, align 8, !tbaa !34
  %140 = load i32, ptr %16, align 4, !tbaa !9
  %141 = sext i32 %140 to i64
  %142 = getelementptr inbounds double, ptr %139, i64 %141
  %143 = load double, ptr %142, align 8, !tbaa !30
  %144 = fsub double %137, %143
  %145 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %21, i32 0, i32 23
  %146 = getelementptr inbounds %"class.qpOASES::Options", ptr %145, i32 0, i32 11
  %147 = load double, ptr %146, align 8, !tbaa !32
  %148 = fcmp ole double %144, %147
  br i1 %148, label %149, label %158

149:                                              ; preds = %131
  %150 = load ptr, ptr %15, align 8, !tbaa !5
  %151 = load i32, ptr %16, align 4, !tbaa !9
  %152 = call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %150, i32 noundef %151, i32 noundef 1)
  %153 = icmp ne i32 %152, 0
  br i1 %153, label %154, label %157

154:                                              ; preds = %149
  %155 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %156 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %155, i32 noundef 41, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2264, i32 noundef 1)
  store i32 %156, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %299

157:                                              ; preds = %149
  br label %182

158:                                              ; preds = %131
  %159 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %21, i32 0, i32 5
  %160 = load i32, ptr %16, align 4, !tbaa !9
  %161 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %159, i32 noundef %160)
  %162 = icmp eq i32 %161, 2
  br i1 %162, label %163, label %172

163:                                              ; preds = %158
  %164 = load ptr, ptr %15, align 8, !tbaa !5
  %165 = load i32, ptr %16, align 4, !tbaa !9
  %166 = call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %164, i32 noundef %165, i32 noundef -1)
  %167 = icmp ne i32 %166, 0
  br i1 %167, label %168, label %171

168:                                              ; preds = %163
  %169 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %170 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %169, i32 noundef 41, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2273, i32 noundef 1)
  store i32 %170, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %299

171:                                              ; preds = %163
  br label %181

172:                                              ; preds = %158
  %173 = load ptr, ptr %15, align 8, !tbaa !5
  %174 = load i32, ptr %16, align 4, !tbaa !9
  %175 = call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %173, i32 noundef %174, i32 noundef 0)
  %176 = icmp ne i32 %175, 0
  br i1 %176, label %177, label %180

177:                                              ; preds = %172
  %178 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %179 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %178, i32 noundef 41, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2279, i32 noundef 1)
  store i32 %179, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %299

180:                                              ; preds = %172
  br label %181

181:                                              ; preds = %180, %171
  br label %182

182:                                              ; preds = %181, %157, %130
  %183 = load i32, ptr %16, align 4, !tbaa !9
  %184 = add nsw i32 %183, 1
  store i32 %184, ptr %16, align 4, !tbaa !9
  br label %100, !llvm.loop !35

185:                                              ; preds = %100
  br label %186

186:                                              ; preds = %185, %96, %93
  %187 = load ptr, ptr %11, align 8, !tbaa !5
  %188 = icmp ne ptr %187, null
  br i1 %188, label %189, label %258

189:                                              ; preds = %186
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %190

190:                                              ; preds = %254, %189
  %191 = load i32, ptr %16, align 4, !tbaa !9
  %192 = load i32, ptr %18, align 4, !tbaa !9
  %193 = icmp slt i32 %191, %192
  br i1 %193, label %194, label %257

194:                                              ; preds = %190
  %195 = load ptr, ptr %11, align 8, !tbaa !5
  %196 = load i32, ptr %17, align 4, !tbaa !9
  %197 = load i32, ptr %16, align 4, !tbaa !9
  %198 = add nsw i32 %196, %197
  %199 = sext i32 %198 to i64
  %200 = getelementptr inbounds double, ptr %195, i64 %199
  %201 = load double, ptr %200, align 8, !tbaa !30
  %202 = fcmp ogt double %201, 2.221000e-16
  br i1 %202, label %203, label %212

203:                                              ; preds = %194
  %204 = load ptr, ptr %15, align 8, !tbaa !5
  %205 = load i32, ptr %16, align 4, !tbaa !9
  %206 = call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %204, i32 noundef %205, i32 noundef -1)
  %207 = icmp ne i32 %206, 0
  br i1 %207, label %208, label %211

208:                                              ; preds = %203
  %209 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %210 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %209, i32 noundef 41, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2292, i32 noundef 1)
  store i32 %210, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %299

211:                                              ; preds = %203
  br label %254

212:                                              ; preds = %194
  %213 = load ptr, ptr %11, align 8, !tbaa !5
  %214 = load i32, ptr %17, align 4, !tbaa !9
  %215 = load i32, ptr %16, align 4, !tbaa !9
  %216 = add nsw i32 %214, %215
  %217 = sext i32 %216 to i64
  %218 = getelementptr inbounds double, ptr %213, i64 %217
  %219 = load double, ptr %218, align 8, !tbaa !30
  %220 = fcmp olt double %219, -2.221000e-16
  br i1 %220, label %221, label %230

221:                                              ; preds = %212
  %222 = load ptr, ptr %15, align 8, !tbaa !5
  %223 = load i32, ptr %16, align 4, !tbaa !9
  %224 = call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %222, i32 noundef %223, i32 noundef 1)
  %225 = icmp ne i32 %224, 0
  br i1 %225, label %226, label %229

226:                                              ; preds = %221
  %227 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %228 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %227, i32 noundef 41, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2299, i32 noundef 1)
  store i32 %228, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %299

229:                                              ; preds = %221
  br label %254

230:                                              ; preds = %212
  %231 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %21, i32 0, i32 5
  %232 = load i32, ptr %16, align 4, !tbaa !9
  %233 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %231, i32 noundef %232)
  %234 = icmp eq i32 %233, 2
  br i1 %234, label %235, label %244

235:                                              ; preds = %230
  %236 = load ptr, ptr %15, align 8, !tbaa !5
  %237 = load i32, ptr %16, align 4, !tbaa !9
  %238 = call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %236, i32 noundef %237, i32 noundef -1)
  %239 = icmp ne i32 %238, 0
  br i1 %239, label %240, label %243

240:                                              ; preds = %235
  %241 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %242 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %241, i32 noundef 41, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2308, i32 noundef 1)
  store i32 %242, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %299

243:                                              ; preds = %235
  br label %253

244:                                              ; preds = %230
  %245 = load ptr, ptr %15, align 8, !tbaa !5
  %246 = load i32, ptr %16, align 4, !tbaa !9
  %247 = call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %245, i32 noundef %246, i32 noundef 0)
  %248 = icmp ne i32 %247, 0
  br i1 %248, label %249, label %252

249:                                              ; preds = %244
  %250 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %251 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %250, i32 noundef 41, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2314, i32 noundef 1)
  store i32 %251, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %299

252:                                              ; preds = %244
  br label %253

253:                                              ; preds = %252, %243
  br label %254

254:                                              ; preds = %253, %229, %211
  %255 = load i32, ptr %16, align 4, !tbaa !9
  %256 = add nsw i32 %255, 1
  store i32 %256, ptr %16, align 4, !tbaa !9
  br label %190, !llvm.loop !36

257:                                              ; preds = %190
  br label %258

258:                                              ; preds = %257, %186
  %259 = load ptr, ptr %10, align 8, !tbaa !5
  %260 = icmp eq ptr %259, null
  br i1 %260, label %261, label %297

261:                                              ; preds = %258
  %262 = load ptr, ptr %11, align 8, !tbaa !5
  %263 = icmp eq ptr %262, null
  br i1 %263, label %264, label %297

264:                                              ; preds = %261
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %265

265:                                              ; preds = %293, %264
  %266 = load i32, ptr %16, align 4, !tbaa !9
  %267 = load i32, ptr %18, align 4, !tbaa !9
  %268 = icmp slt i32 %266, %267
  br i1 %268, label %269, label %296

269:                                              ; preds = %265
  %270 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %21, i32 0, i32 5
  %271 = load i32, ptr %16, align 4, !tbaa !9
  %272 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %270, i32 noundef %271)
  %273 = icmp eq i32 %272, 2
  br i1 %273, label %274, label %283

274:                                              ; preds = %269
  %275 = load ptr, ptr %15, align 8, !tbaa !5
  %276 = load i32, ptr %16, align 4, !tbaa !9
  %277 = call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %275, i32 noundef %276, i32 noundef -1)
  %278 = icmp ne i32 %277, 0
  br i1 %278, label %279, label %282

279:                                              ; preds = %274
  %280 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %281 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %280, i32 noundef 41, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2331, i32 noundef 1)
  store i32 %281, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %299

282:                                              ; preds = %274
  br label %292

283:                                              ; preds = %269
  %284 = load ptr, ptr %15, align 8, !tbaa !5
  %285 = load i32, ptr %16, align 4, !tbaa !9
  %286 = call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %284, i32 noundef %285, i32 noundef 0)
  %287 = icmp ne i32 %286, 0
  br i1 %287, label %288, label %291

288:                                              ; preds = %283
  %289 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %290 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %289, i32 noundef 41, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2337, i32 noundef 1)
  store i32 %290, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %299

291:                                              ; preds = %283
  br label %292

292:                                              ; preds = %291, %282
  br label %293

293:                                              ; preds = %292
  %294 = load i32, ptr %16, align 4, !tbaa !9
  %295 = add nsw i32 %294, 1
  store i32 %295, ptr %16, align 4, !tbaa !9
  br label %265, !llvm.loop !37

296:                                              ; preds = %265
  br label %297

297:                                              ; preds = %296, %261, %258
  br label %298

298:                                              ; preds = %297, %92
  store i32 0, ptr %8, align 4
  store i32 1, ptr %19, align 4
  br label %299

299:                                              ; preds = %298, %288, %279, %249, %240, %226, %208, %177, %168, %154, %127, %84, %74, %50
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #5
  br label %300

300:                                              ; preds = %299, %40, %30
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #5
  %301 = load i32, ptr %8, align 4
  ret i32 %301
}

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

declare noundef i32 @_ZNK7qpOASES9QProblemB25obtainAuxiliaryWorkingSetEPKdS2_PKNS_6BoundsEPS3_(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef, ptr noundef, ptr noundef, ptr noundef) #1

declare noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef, i32 noundef) #1

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 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = !{!16, !6, i64 976}
!16 = !{!"_ZTSN7qpOASES8QProblemE", !17, i64 0, !18, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !28, i64 832, !6, i64 952, !6, i64 960, !10, i64 968, !6, i64 976, !6, i64 984, !6, i64 992, !6, i64 1000, !6, i64 1008, !6, i64 1016, !6, i64 1024, !6, i64 1032, !6, i64 1040, !6, i64 1048, !6, i64 1056}
!17 = !{!"_ZTSN7qpOASES9QProblemBE", !18, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !19, i64 48, !6, i64 168, !18, i64 176, !6, i64 184, !6, i64 192, !22, i64 200, !23, i64 208, !18, i64 212, !18, i64 216, !24, i64 220, !22, i64 224, !10, i64 232, !6, i64 240, !22, i64 248, !22, i64 256, !10, i64 264, !25, i64 272, !27, i64 496, !29, i64 768}
!18 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!19 = !{!"_ZTSN7qpOASES6BoundsE", !20, i64 0, !21, i64 40, !21, i64 80}
!20 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !18, i64 32, !18, i64 36}
!21 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!22 = !{!"double", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!24 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!25 = !{!"_ZTSN7qpOASES7OptionsE", !26, i64 0, !18, i64 4, !18, i64 8, !18, i64 12, !18, i64 16, !18, i64 20, !18, i64 24, !10, i64 28, !10, i64 32, !18, i64 36, !22, i64 40, !22, i64 48, !22, i64 56, !22, i64 64, !22, i64 72, !22, i64 80, !22, i64 88, !22, i64 96, !22, i64 104, !22, i64 112, !22, i64 120, !12, i64 128, !22, i64 136, !10, i64 144, !22, i64 152, !10, i64 160, !22, i64 168, !22, i64 176, !22, i64 184, !22, i64 192, !18, i64 200, !18, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!26 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!27 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !19, i64 8, !28, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!28 = !{!"_ZTSN7qpOASES11ConstraintsE", !20, i64 0, !21, i64 40, !21, i64 80}
!29 = !{!"_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}
!30 = !{!22, !22, i64 0}
!31 = !{!16, !6, i64 816}
!32 = !{!17, !22, i64 320}
!33 = !{!16, !6, i64 824}
!34 = !{!16, !6, i64 992}
!35 = distinct !{!35, !14}
!36 = distinct !{!36, !14}
!37 = distinct !{!37, !14}


; 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 @_ZNK7qpOASES8QProblem25obtainAuxiliaryWorkingSetEPKdS2_PKNS_6BoundsEPKNS_11ConstraintsEPS3_PS6_(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5, ptr noundef %6) local_unnamed_addr #3 align 2 {
  %8 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %9 = tail call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %10 = icmp eq ptr %5, null
  %11 = icmp eq ptr %5, %3
  %or.cond96 = or i1 %10, %11
  br i1 %or.cond96, label %12, label %15

12:                                               ; preds = %7
  %13 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %14 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %13, i32 noundef 3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2211, i32 noundef 1)
  br label %.thread

15:                                               ; preds = %7
  %16 = icmp eq ptr %6, null
  %17 = icmp eq ptr %6, %4
  %or.cond97 = or i1 %16, %17
  br i1 %or.cond97, label %18, label %21

18:                                               ; preds = %15
  %19 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %20 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %19, i32 noundef 3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2214, i32 noundef 1)
  br label %.thread

21:                                               ; preds = %15
  %22 = tail call noundef i32 @_ZNK7qpOASES9QProblemB25obtainAuxiliaryWorkingSetEPKdS2_PKNS_6BoundsEPS3_(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef nonnull %5)
  %.not = icmp eq i32 %22, 0
  br i1 %.not, label %26, label %23

23:                                               ; preds = %21
  %24 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %25 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %24, i32 noundef 41, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2221, i32 noundef 1)
  br label %.thread

26:                                               ; preds = %21
  %.not82 = icmp eq ptr %4, null
  br i1 %.not82, label %45, label %.preheader102

.preheader102:                                    ; preds = %26
  %27 = icmp sgt i32 %9, 0
  br i1 %27, label %.lr.ph, label %.thread

.lr.ph:                                           ; preds = %.preheader102
  %28 = getelementptr inbounds i8, ptr %0, i64 832
  br label %29

29:                                               ; preds = %.lr.ph, %43
  %.073104 = phi i32 [ 0, %.lr.ph ], [ %44, %43 ]
  %30 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %4, i32 noundef %.073104)
  %31 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %28, i32 noundef %.073104)
  %32 = icmp eq i32 %31, 2
  br i1 %32, label %33, label %38

33:                                               ; preds = %29
  %34 = tail call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %6, i32 noundef %.073104, i32 noundef -1)
  %.not95 = icmp eq i32 %34, 0
  br i1 %.not95, label %43, label %35

35:                                               ; preds = %33
  %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 41, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2237, i32 noundef 1)
  br label %.thread

38:                                               ; preds = %29
  %39 = tail call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %6, i32 noundef %.073104, i32 noundef %30)
  %.not94 = icmp eq i32 %39, 0
  br i1 %.not94, label %43, label %40

40:                                               ; preds = %38
  %41 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %42 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %41, i32 noundef 41, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2243, i32 noundef 1)
  br label %.thread

43:                                               ; preds = %33, %38
  %44 = add nuw nsw i32 %.073104, 1
  %exitcond.not = icmp eq i32 %44, %9
  br i1 %exitcond.not, label %.thread, label %29, !llvm.loop !5

45:                                               ; preds = %26
  %46 = icmp ne ptr %1, null
  %47 = icmp eq ptr %2, null
  %48 = icmp sgt i32 %9, 0
  %49 = and i1 %46, %48
  %or.cond111 = and i1 %49, %47
  br i1 %or.cond111, label %.lr.ph106, label %.loopexit

.lr.ph106:                                        ; preds = %45
  %50 = getelementptr inbounds i8, ptr %0, i64 976
  %51 = getelementptr inbounds i8, ptr %0, i64 816
  %52 = getelementptr inbounds i8, ptr %0, i64 320
  %53 = getelementptr inbounds i8, ptr %0, i64 824
  %54 = getelementptr inbounds i8, ptr %0, i64 992
  %55 = getelementptr inbounds i8, ptr %0, i64 832
  %wide.trip.count = zext nneg i32 %9 to i64
  br label %56

56:                                               ; preds = %.lr.ph106, %100
  %indvars.iv = phi i64 [ 0, %.lr.ph106 ], [ %indvars.iv.next, %100 ]
  %57 = load ptr, ptr %50, align 8, !tbaa !7
  %58 = getelementptr inbounds double, ptr %57, i64 %indvars.iv
  %59 = load double, ptr %58, align 8, !tbaa !27
  %60 = load ptr, ptr %51, align 8, !tbaa !28
  %61 = getelementptr inbounds double, ptr %60, i64 %indvars.iv
  %62 = load double, ptr %61, align 8, !tbaa !27
  %63 = fsub double %59, %62
  %64 = load double, ptr %52, align 8, !tbaa !29
  %65 = fcmp ugt double %63, %64
  br i1 %65, label %72, label %66

66:                                               ; preds = %56
  %67 = trunc nuw nsw i64 %indvars.iv to i32
  %68 = tail call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %6, i32 noundef %67, i32 noundef -1)
  %.not93 = icmp eq i32 %68, 0
  br i1 %.not93, label %100, label %69

69:                                               ; preds = %66
  %70 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %71 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %70, i32 noundef 41, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2257, i32 noundef 1)
  br label %.thread

72:                                               ; preds = %56
  %73 = load ptr, ptr %53, align 8, !tbaa !30
  %74 = getelementptr inbounds double, ptr %73, i64 %indvars.iv
  %75 = load double, ptr %74, align 8, !tbaa !27
  %76 = load ptr, ptr %54, align 8, !tbaa !31
  %77 = getelementptr inbounds double, ptr %76, i64 %indvars.iv
  %78 = load double, ptr %77, align 8, !tbaa !27
  %79 = fsub double %75, %78
  %80 = fcmp ugt double %79, %64
  %81 = trunc nuw nsw i64 %indvars.iv to i32
  br i1 %80, label %87, label %82

82:                                               ; preds = %72
  %83 = tail call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %6, i32 noundef %81, i32 noundef 1)
  %.not92 = icmp eq i32 %83, 0
  br i1 %.not92, label %100, label %84

84:                                               ; preds = %82
  %85 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %86 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %85, i32 noundef 41, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2264, i32 noundef 1)
  br label %.thread

87:                                               ; preds = %72
  %88 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %55, i32 noundef %81)
  %89 = icmp eq i32 %88, 2
  br i1 %89, label %90, label %95

90:                                               ; preds = %87
  %91 = tail call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %6, i32 noundef %81, i32 noundef -1)
  %.not91 = icmp eq i32 %91, 0
  br i1 %.not91, label %100, label %92

92:                                               ; preds = %90
  %93 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %94 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %93, i32 noundef 41, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2273, i32 noundef 1)
  br label %.thread

95:                                               ; preds = %87
  %96 = tail call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %6, i32 noundef %81, i32 noundef 0)
  %.not90 = icmp eq i32 %96, 0
  br i1 %.not90, label %100, label %97

97:                                               ; preds = %95
  %98 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %99 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %98, i32 noundef 41, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2279, i32 noundef 1)
  br label %.thread

100:                                              ; preds = %90, %95, %82, %66
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond116.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond116.not, label %.loopexit, label %56, !llvm.loop !32

.loopexit:                                        ; preds = %100, %45
  br i1 %47, label %134, label %.preheader99

.preheader99:                                     ; preds = %.loopexit
  br i1 %48, label %.lr.ph108, label %.thread

.lr.ph108:                                        ; preds = %.preheader99
  %101 = getelementptr inbounds i8, ptr %0, i64 832
  %102 = sext i32 %8 to i64
  %wide.trip.count120 = zext nneg i32 %9 to i64
  %invariant.gep = getelementptr double, ptr %2, i64 %102
  br label %103

103:                                              ; preds = %.lr.ph108, %133
  %indvars.iv117 = phi i64 [ 0, %.lr.ph108 ], [ %indvars.iv.next118, %133 ]
  %gep = getelementptr double, ptr %invariant.gep, i64 %indvars.iv117
  %104 = load double, ptr %gep, align 8, !tbaa !27
  %105 = fcmp ogt double %104, 2.221000e-16
  br i1 %105, label %106, label %112

106:                                              ; preds = %103
  %107 = trunc nuw nsw i64 %indvars.iv117 to i32
  %108 = tail call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %6, i32 noundef %107, i32 noundef -1)
  %.not89 = icmp eq i32 %108, 0
  br i1 %.not89, label %133, label %109

109:                                              ; preds = %106
  %110 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %111 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %110, i32 noundef 41, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2292, i32 noundef 1)
  br label %.thread

112:                                              ; preds = %103
  %113 = fcmp olt double %104, -2.221000e-16
  %114 = trunc nuw nsw i64 %indvars.iv117 to i32
  br i1 %113, label %115, label %120

115:                                              ; preds = %112
  %116 = tail call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %6, i32 noundef %114, i32 noundef 1)
  %.not88 = icmp eq i32 %116, 0
  br i1 %.not88, label %133, label %117

117:                                              ; preds = %115
  %118 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %119 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %118, i32 noundef 41, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2299, i32 noundef 1)
  br label %.thread

120:                                              ; preds = %112
  %121 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %101, i32 noundef %114)
  %122 = icmp eq i32 %121, 2
  br i1 %122, label %123, label %128

123:                                              ; preds = %120
  %124 = tail call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %6, i32 noundef %114, i32 noundef -1)
  %.not87 = icmp eq i32 %124, 0
  br i1 %.not87, label %133, label %125

125:                                              ; preds = %123
  %126 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %127 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %126, i32 noundef 41, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2308, i32 noundef 1)
  br label %.thread

128:                                              ; preds = %120
  %129 = tail call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %6, i32 noundef %114, i32 noundef 0)
  %.not86 = icmp eq i32 %129, 0
  br i1 %.not86, label %133, label %130

130:                                              ; preds = %128
  %131 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %132 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %131, i32 noundef 41, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2314, i32 noundef 1)
  br label %.thread

133:                                              ; preds = %123, %128, %115, %106
  %indvars.iv.next118 = add nuw nsw i64 %indvars.iv117, 1
  %exitcond121.not = icmp eq i64 %indvars.iv.next118, %wide.trip.count120
  br i1 %exitcond121.not, label %.thread, label %103, !llvm.loop !33

134:                                              ; preds = %.loopexit
  %135 = icmp eq ptr %1, null
  %or.cond112 = and i1 %135, %48
  br i1 %or.cond112, label %.lr.ph110, label %.thread

.lr.ph110:                                        ; preds = %134
  %136 = getelementptr inbounds i8, ptr %0, i64 832
  br label %137

137:                                              ; preds = %.lr.ph110, %150
  %.3109 = phi i32 [ 0, %.lr.ph110 ], [ %151, %150 ]
  %138 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %136, i32 noundef %.3109)
  %139 = icmp eq i32 %138, 2
  br i1 %139, label %140, label %145

140:                                              ; preds = %137
  %141 = tail call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %6, i32 noundef %.3109, i32 noundef -1)
  %.not85 = icmp eq i32 %141, 0
  br i1 %.not85, label %150, label %142

142:                                              ; preds = %140
  %143 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %144 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %143, i32 noundef 41, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2331, i32 noundef 1)
  br label %.thread

145:                                              ; preds = %137
  %146 = tail call noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %6, i32 noundef %.3109, i32 noundef 0)
  %.not84 = icmp eq i32 %146, 0
  br i1 %.not84, label %150, label %147

147:                                              ; preds = %145
  %148 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %149 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %148, i32 noundef 41, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2337, i32 noundef 1)
  br label %.thread

150:                                              ; preds = %140, %145
  %151 = add nuw nsw i32 %.3109, 1
  %exitcond122.not = icmp eq i32 %151, %9
  br i1 %exitcond122.not, label %.thread, label %137, !llvm.loop !34

.thread:                                          ; preds = %43, %133, %150, %.preheader102, %.preheader99, %23, %35, %40, %69, %84, %92, %97, %109, %117, %125, %130, %142, %147, %134, %18, %12
  %.1 = phi i32 [ %14, %12 ], [ %20, %18 ], [ %25, %23 ], [ %37, %35 ], [ %42, %40 ], [ %71, %69 ], [ %86, %84 ], [ %94, %92 ], [ %99, %97 ], [ %111, %109 ], [ %119, %117 ], [ %127, %125 ], [ %132, %130 ], [ %144, %142 ], [ %149, %147 ], [ 0, %134 ], [ 0, %.preheader99 ], [ 0, %.preheader102 ], [ 0, %150 ], [ 0, %133 ], [ 0, %43 ]
  ret i32 %.1
}

; 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

declare noundef i32 @_ZNK7qpOASES9QProblemB25obtainAuxiliaryWorkingSetEPKdS2_PKNS_6BoundsEPS3_(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #0

declare noundef i32 @_ZN7qpOASES11Constraints15setupConstraintEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef, i32 noundef) local_unnamed_addr #0

attributes #0 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { 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 = distinct !{!5, !6}
!6 = !{!"llvm.loop.mustprogress"}
!7 = !{!8, !13, i64 976}
!8 = !{!"_ZTSN7qpOASES8QProblemE", !9, i64 0, !10, i64 800, !13, i64 808, !13, i64 816, !13, i64 824, !25, i64 832, !13, i64 952, !13, i64 960, !16, i64 968, !13, i64 976, !13, i64 984, !13, i64 992, !13, i64 1000, !13, i64 1008, !13, i64 1016, !13, i64 1024, !13, i64 1032, !13, i64 1040, !13, i64 1048, !13, i64 1056}
!9 = !{!"_ZTSN7qpOASES9QProblemBE", !10, i64 8, !13, i64 16, !13, i64 24, !13, i64 32, !13, i64 40, !14, i64 48, !13, i64 168, !10, i64 176, !13, i64 184, !13, i64 192, !18, i64 200, !19, i64 208, !10, i64 212, !10, i64 216, !20, i64 220, !18, i64 224, !16, i64 232, !13, i64 240, !18, i64 248, !18, i64 256, !16, i64 264, !21, i64 272, !24, i64 496, !26, i64 768}
!10 = !{!"_ZTSN7qpOASES11BooleanTypeE", !11, i64 0}
!11 = !{!"omnipotent char", !12, i64 0}
!12 = !{!"Simple C++ TBAA"}
!13 = !{!"any pointer", !11, i64 0}
!14 = !{!"_ZTSN7qpOASES6BoundsE", !15, i64 0, !17, i64 40, !17, i64 80}
!15 = !{!"_ZTSN7qpOASES9SubjectToE", !16, i64 8, !13, i64 16, !13, i64 24, !10, i64 32, !10, i64 36}
!16 = !{!"int", !11, i64 0}
!17 = !{!"_ZTSN7qpOASES9IndexlistE", !13, i64 0, !13, i64 8, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28, !16, i64 32}
!18 = !{!"double", !11, i64 0}
!19 = !{!"_ZTSN7qpOASES14QProblemStatusE", !11, i64 0}
!20 = !{!"_ZTSN7qpOASES11HessianTypeE", !11, 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, !16, i64 28, !16, 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, !16, i64 144, !18, i64 152, !16, i64 160, !18, i64 168, !18, i64 176, !18, i64 184, !18, i64 192, !10, i64 200, !10, i64 204, !16, i64 208, !16, i64 212, !16, i64 216}
!22 = !{!"_ZTSN7qpOASES10PrintLevelE", !11, i64 0}
!23 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !11, i64 0}
!24 = !{!"_ZTSN7qpOASES7FlipperE", !16, i64 0, !16, i64 4, !14, i64 8, !25, i64 128, !13, i64 248, !13, i64 256, !13, i64 264}
!25 = !{!"_ZTSN7qpOASES11ConstraintsE", !15, i64 0, !17, i64 40, !17, i64 80}
!26 = !{!"_ZTSN7qpOASES13TabularOutputE", !16, i64 0, !16, i64 4, !16, i64 8, !16, i64 12, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28}
!27 = !{!18, !18, i64 0}
!28 = !{!8, !13, i64 816}
!29 = !{!9, !18, i64 320}
!30 = !{!8, !13, i64 824}
!31 = !{!8, !13, i64 992}
!32 = distinct !{!32, !6}
!33 = distinct !{!33, !6}
!34 = distinct !{!34, !6}


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