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

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

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

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [118 x i8], align 1

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

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

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #2

declare noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064)) #3 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur14correctInertiaEv(ptr noundef nonnull align 8 dereferenceable(1256)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #5 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur24setupAuxiliaryWorkingSetEPKNS_6BoundsEPKNS_11ConstraintsENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %0, ptr noundef %1, ptr noundef %2, i32 noundef %3) unnamed_addr #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
  %14 = 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
  %15 = load ptr, ptr %6, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #6
  %16 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %15)
  store i32 %16, ptr %11, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #6
  %17 = call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %15)
  store i32 %17, ptr %12, align 4, !tbaa !11
  %18 = load ptr, ptr %7, align 8, !tbaa !5
  %19 = icmp ne ptr %18, null
  br i1 %19, label %20, label %43

20:                                               ; preds = %4
  store i32 0, ptr %10, align 4, !tbaa !11
  br label %21

21:                                               ; preds = %39, %20
  %22 = load i32, ptr %10, align 4, !tbaa !11
  %23 = load i32, ptr %11, align 4, !tbaa !11
  %24 = icmp slt i32 %22, %23
  br i1 %24, label %25, label %42

25:                                               ; preds = %21
  %26 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %15, i32 0, i32 6
  %27 = load i32, ptr %10, align 4, !tbaa !11
  %28 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %26, i32 noundef %27)
  %29 = icmp eq i32 %28, 4
  br i1 %29, label %35, label %30

30:                                               ; preds = %25
  %31 = load ptr, ptr %7, align 8, !tbaa !5
  %32 = load i32, ptr %10, align 4, !tbaa !11
  %33 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %31, i32 noundef %32)
  %34 = icmp eq i32 %33, 4
  br i1 %34, label %35, label %38

35:                                               ; preds = %30, %25
  %36 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %37 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %36, i32 noundef 9, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 527, i32 noundef 1)
  store i32 %37, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %267

38:                                               ; preds = %30
  br label %39

39:                                               ; preds = %38
  %40 = load i32, ptr %10, align 4, !tbaa !11
  %41 = add nsw i32 %40, 1
  store i32 %41, ptr %10, align 4, !tbaa !11
  br label %21, !llvm.loop !13

42:                                               ; preds = %21
  br label %46

43:                                               ; preds = %4
  %44 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %45 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %44, i32 noundef 3, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 531, i32 noundef 1)
  store i32 %45, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %267

46:                                               ; preds = %42
  %47 = load ptr, ptr %8, align 8, !tbaa !5
  %48 = icmp ne ptr %47, null
  br i1 %48, label %49, label %72

49:                                               ; preds = %46
  store i32 0, ptr %10, align 4, !tbaa !11
  br label %50

50:                                               ; preds = %68, %49
  %51 = load i32, ptr %10, align 4, !tbaa !11
  %52 = load i32, ptr %12, align 4, !tbaa !11
  %53 = icmp slt i32 %51, %52
  br i1 %53, label %54, label %71

54:                                               ; preds = %50
  %55 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %15, i32 0, i32 5
  %56 = load i32, ptr %10, align 4, !tbaa !11
  %57 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %55, i32 noundef %56)
  %58 = icmp eq i32 %57, 4
  br i1 %58, label %64, label %59

59:                                               ; preds = %54
  %60 = load ptr, ptr %8, align 8, !tbaa !5
  %61 = load i32, ptr %10, align 4, !tbaa !11
  %62 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %60, i32 noundef %61)
  %63 = icmp eq i32 %62, 4
  br i1 %63, label %64, label %67

64:                                               ; preds = %59, %54
  %65 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %66 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %65, i32 noundef 9, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 538, i32 noundef 1)
  store i32 %66, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %267

67:                                               ; preds = %59
  br label %68

68:                                               ; preds = %67
  %69 = load i32, ptr %10, align 4, !tbaa !11
  %70 = add nsw i32 %69, 1
  store i32 %70, ptr %10, align 4, !tbaa !11
  br label %50, !llvm.loop !15

71:                                               ; preds = %50
  br label %75

72:                                               ; preds = %46
  %73 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %74 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %73, i32 noundef 3, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 542, i32 noundef 1)
  store i32 %74, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %267

75:                                               ; preds = %71
  store i32 0, ptr %10, align 4, !tbaa !11
  br label %76

76:                                               ; preds = %119, %75
  %77 = load i32, ptr %10, align 4, !tbaa !11
  %78 = load i32, ptr %11, align 4, !tbaa !11
  %79 = icmp slt i32 %77, %78
  br i1 %79, label %80, label %122

80:                                               ; preds = %76
  %81 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %15, i32 0, i32 6
  %82 = load i32, ptr %10, align 4, !tbaa !11
  %83 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %81, i32 noundef %82)
  %84 = icmp eq i32 %83, -1
  br i1 %84, label %85, label %99

85:                                               ; preds = %80
  %86 = load ptr, ptr %7, align 8, !tbaa !5
  %87 = load i32, ptr %10, align 4, !tbaa !11
  %88 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %86, i32 noundef %87)
  %89 = icmp ne i32 %88, -1
  br i1 %89, label %90, label %99

90:                                               ; preds = %85
  %91 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %15, i32 0, i32 6
  %92 = load i32, ptr %10, align 4, !tbaa !11
  %93 = call noundef i32 @_ZN7qpOASES6Bounds15moveFixedToFreeEi(ptr noundef nonnull align 8 dereferenceable(120) %91, i32 noundef %92)
  %94 = icmp ne i32 %93, 0
  br i1 %94, label %95, label %98

95:                                               ; preds = %90
  %96 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %97 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %96, i32 noundef 42, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 553, i32 noundef 1)
  store i32 %97, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %267

98:                                               ; preds = %90
  br label %99

99:                                               ; preds = %98, %85, %80
  %100 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %15, i32 0, i32 6
  %101 = load i32, ptr %10, align 4, !tbaa !11
  %102 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %100, i32 noundef %101)
  %103 = icmp eq i32 %102, 1
  br i1 %103, label %104, label %118

104:                                              ; preds = %99
  %105 = load ptr, ptr %7, align 8, !tbaa !5
  %106 = load i32, ptr %10, align 4, !tbaa !11
  %107 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %105, i32 noundef %106)
  %108 = icmp ne i32 %107, 1
  br i1 %108, label %109, label %118

109:                                              ; preds = %104
  %110 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %15, i32 0, i32 6
  %111 = load i32, ptr %10, align 4, !tbaa !11
  %112 = call noundef i32 @_ZN7qpOASES6Bounds15moveFixedToFreeEi(ptr noundef nonnull align 8 dereferenceable(120) %110, i32 noundef %111)
  %113 = icmp ne i32 %112, 0
  br i1 %113, label %114, label %117

114:                                              ; preds = %109
  %115 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %116 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %115, i32 noundef 42, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 557, i32 noundef 1)
  store i32 %116, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %267

117:                                              ; preds = %109
  br label %118

118:                                              ; preds = %117, %104, %99
  br label %119

119:                                              ; preds = %118
  %120 = load i32, ptr %10, align 4, !tbaa !11
  %121 = add nsw i32 %120, 1
  store i32 %121, ptr %10, align 4, !tbaa !11
  br label %76, !llvm.loop !16

122:                                              ; preds = %76
  store i32 0, ptr %10, align 4, !tbaa !11
  br label %123

123:                                              ; preds = %166, %122
  %124 = load i32, ptr %10, align 4, !tbaa !11
  %125 = load i32, ptr %12, align 4, !tbaa !11
  %126 = icmp slt i32 %124, %125
  br i1 %126, label %127, label %169

127:                                              ; preds = %123
  %128 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %15, i32 0, i32 5
  %129 = load i32, ptr %10, align 4, !tbaa !11
  %130 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %128, i32 noundef %129)
  %131 = icmp eq i32 %130, -1
  br i1 %131, label %132, label %146

132:                                              ; preds = %127
  %133 = load ptr, ptr %8, align 8, !tbaa !5
  %134 = load i32, ptr %10, align 4, !tbaa !11
  %135 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %133, i32 noundef %134)
  %136 = icmp ne i32 %135, -1
  br i1 %136, label %137, label %146

137:                                              ; preds = %132
  %138 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %15, i32 0, i32 5
  %139 = load i32, ptr %10, align 4, !tbaa !11
  %140 = call noundef i32 @_ZN7qpOASES11Constraints20moveActiveToInactiveEi(ptr noundef nonnull align 8 dereferenceable(120) %138, i32 noundef %139)
  %141 = icmp ne i32 %140, 0
  br i1 %141, label %142, label %145

142:                                              ; preds = %137
  %143 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %144 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %143, i32 noundef 42, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 566, i32 noundef 1)
  store i32 %144, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %267

145:                                              ; preds = %137
  br label %146

146:                                              ; preds = %145, %132, %127
  %147 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %15, i32 0, i32 5
  %148 = load i32, ptr %10, align 4, !tbaa !11
  %149 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %147, i32 noundef %148)
  %150 = icmp eq i32 %149, 1
  br i1 %150, label %151, label %165

151:                                              ; preds = %146
  %152 = load ptr, ptr %8, align 8, !tbaa !5
  %153 = load i32, ptr %10, align 4, !tbaa !11
  %154 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %152, i32 noundef %153)
  %155 = icmp ne i32 %154, 1
  br i1 %155, label %156, label %165

156:                                              ; preds = %151
  %157 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %15, i32 0, i32 5
  %158 = load i32, ptr %10, align 4, !tbaa !11
  %159 = call noundef i32 @_ZN7qpOASES11Constraints20moveActiveToInactiveEi(ptr noundef nonnull align 8 dereferenceable(120) %157, i32 noundef %158)
  %160 = icmp ne i32 %159, 0
  br i1 %160, label %161, label %164

161:                                              ; preds = %156
  %162 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %163 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %162, i32 noundef 42, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 570, i32 noundef 1)
  store i32 %163, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %267

164:                                              ; preds = %156
  br label %165

165:                                              ; preds = %164, %151, %146
  br label %166

166:                                              ; preds = %165
  %167 = load i32, ptr %10, align 4, !tbaa !11
  %168 = add nsw i32 %167, 1
  store i32 %168, ptr %10, align 4, !tbaa !11
  br label %123, !llvm.loop !17

169:                                              ; preds = %123
  store i32 0, ptr %10, align 4, !tbaa !11
  br label %170

170:                                              ; preds = %197, %169
  %171 = load i32, ptr %10, align 4, !tbaa !11
  %172 = load i32, ptr %11, align 4, !tbaa !11
  %173 = icmp slt i32 %171, %172
  br i1 %173, label %174, label %200

174:                                              ; preds = %170
  %175 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %15, i32 0, i32 6
  %176 = load i32, ptr %10, align 4, !tbaa !11
  %177 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %175, i32 noundef %176)
  %178 = icmp eq i32 %177, 0
  br i1 %178, label %179, label %196

179:                                              ; preds = %174
  %180 = load ptr, ptr %7, align 8, !tbaa !5
  %181 = load i32, ptr %10, align 4, !tbaa !11
  %182 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %180, i32 noundef %181)
  %183 = icmp ne i32 %182, 0
  br i1 %183, label %184, label %196

184:                                              ; preds = %179
  %185 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %15, i32 0, i32 6
  %186 = load i32, ptr %10, align 4, !tbaa !11
  %187 = load ptr, ptr %7, align 8, !tbaa !5
  %188 = load i32, ptr %10, align 4, !tbaa !11
  %189 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %187, i32 noundef %188)
  %190 = call noundef i32 @_ZN7qpOASES6Bounds15moveFreeToFixedEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %185, i32 noundef %186, i32 noundef %189)
  %191 = icmp ne i32 %190, 0
  br i1 %191, label %192, label %195

192:                                              ; preds = %184
  %193 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %194 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %193, i32 noundef 42, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 580, i32 noundef 1)
  store i32 %194, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %267

195:                                              ; preds = %184
  br label %196

196:                                              ; preds = %195, %179, %174
  br label %197

197:                                              ; preds = %196
  %198 = load i32, ptr %10, align 4, !tbaa !11
  %199 = add nsw i32 %198, 1
  store i32 %199, ptr %10, align 4, !tbaa !11
  br label %170, !llvm.loop !18

200:                                              ; preds = %170
  store i32 0, ptr %10, align 4, !tbaa !11
  br label %201

201:                                              ; preds = %228, %200
  %202 = load i32, ptr %10, align 4, !tbaa !11
  %203 = load i32, ptr %12, align 4, !tbaa !11
  %204 = icmp slt i32 %202, %203
  br i1 %204, label %205, label %231

205:                                              ; preds = %201
  %206 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %15, i32 0, i32 5
  %207 = load i32, ptr %10, align 4, !tbaa !11
  %208 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %206, i32 noundef %207)
  %209 = icmp eq i32 %208, 0
  br i1 %209, label %210, label %227

210:                                              ; preds = %205
  %211 = load ptr, ptr %8, align 8, !tbaa !5
  %212 = load i32, ptr %10, align 4, !tbaa !11
  %213 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %211, i32 noundef %212)
  %214 = icmp ne i32 %213, 0
  br i1 %214, label %215, label %227

215:                                              ; preds = %210
  %216 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %15, i32 0, i32 5
  %217 = load i32, ptr %10, align 4, !tbaa !11
  %218 = load ptr, ptr %8, align 8, !tbaa !5
  %219 = load i32, ptr %10, align 4, !tbaa !11
  %220 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %218, i32 noundef %219)
  %221 = call noundef i32 @_ZN7qpOASES11Constraints20moveInactiveToActiveEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %216, i32 noundef %217, i32 noundef %220)
  %222 = icmp ne i32 %221, 0
  br i1 %222, label %223, label %226

223:                                              ; preds = %215
  %224 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %225 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %224, i32 noundef 42, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 588, i32 noundef 1)
  store i32 %225, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %267

226:                                              ; preds = %215
  br label %227

227:                                              ; preds = %226, %210, %205
  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 %201, !llvm.loop !19

231:                                              ; preds = %201
  %232 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %15, i32 noundef 0)
  %233 = icmp ne i32 %232, 0
  br i1 %233, label %234, label %237

234:                                              ; preds = %231
  %235 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %236 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %235, i32 noundef 42, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 595, i32 noundef 1)
  store i32 %236, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %267

237:                                              ; preds = %231
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #6
  %238 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %15, i32 0, i32 1
  %239 = load ptr, ptr %238, align 8, !tbaa !20
  %240 = load ptr, ptr %239, align 8, !tbaa !37
  %241 = getelementptr inbounds ptr, ptr %240, i64 7
  %242 = load ptr, ptr %241, align 8
  %243 = call noundef i32 %242(ptr noundef nonnull align 8 dereferenceable(8) %239)
  store i32 %243, ptr %14, align 4, !tbaa !11
  %244 = load i32, ptr %14, align 4, !tbaa !11
  %245 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %15)
  %246 = icmp eq i32 %244, %245
  br i1 %246, label %247, label %248

247:                                              ; preds = %237
  store i32 0, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %266

248:                                              ; preds = %237
  %249 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %15, i32 0, i32 23
  %250 = getelementptr inbounds %"class.qpOASES::Options", ptr %249, i32 0, i32 0
  %251 = load i32, ptr %250, align 8, !tbaa !39
  %252 = icmp eq i32 %251, 3
  br i1 %252, label %253, label %256

253:                                              ; preds = %248
  %254 = load i32, ptr %14, align 4, !tbaa !11
  %255 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %15)
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.5, i32 noundef %254, i32 noundef %255)
  br label %256

256:                                              ; preds = %253, %248
  %257 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %15, i32 0, i32 23
  %258 = getelementptr inbounds %"class.qpOASES::Options", ptr %257, i32 0, i32 33
  %259 = load i32, ptr %258, align 8, !tbaa !40
  %260 = icmp eq i32 %259, 1
  br i1 %260, label %261, label %263

261:                                              ; preds = %256
  %262 = call noundef i32 @_ZN7qpOASES14SQProblemSchur14correctInertiaEv(ptr noundef nonnull align 8 dereferenceable(1256) %15)
  store i32 %262, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %266

263:                                              ; preds = %256
  %264 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %265 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %264, i32 noundef 42, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 615, i32 noundef 1)
  store i32 %265, ptr %5, align 4
  store i32 1, ptr %13, align 4
  br label %266

266:                                              ; preds = %263, %261, %247
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #6
  br label %267

267:                                              ; preds = %266, %234, %223, %192, %161, %142, %114, %95, %72, %64, %43, %35
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #6
  %268 = load i32, ptr %5, align 4
  ret i32 %268
}

declare noundef i32 @_ZN7qpOASES6Bounds15moveFixedToFreeEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) #2

declare noundef i32 @_ZN7qpOASES11Constraints20moveActiveToInactiveEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) #2

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

declare noundef i32 @_ZN7qpOASES11Constraints20moveInactiveToActiveEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef, i32 noundef) #2

attributes #0 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = distinct !{!15, !14}
!16 = distinct !{!16, !14}
!17 = distinct !{!17, !14}
!18 = distinct !{!18, !14}
!19 = distinct !{!19, !14}
!20 = !{!21, !6, i64 1064}
!21 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !22, i64 0, !6, i64 1064, !6, i64 1072, !12, i64 1080, !12, i64 1084, !6, i64 1088, !6, i64 1096, !28, i64 1104, !28, i64 1112, !12, i64 1120, !6, i64 1128, !6, i64 1136, !12, i64 1144, !6, i64 1152, !6, i64 1160, !6, i64 1168, !27, i64 1176, !27, i64 1216}
!22 = !{!"_ZTSN7qpOASES9SQProblemE", !23, i64 0}
!23 = !{!"_ZTSN7qpOASES8QProblemE", !24, i64 0, !10, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !35, 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}
!24 = !{!"_ZTSN7qpOASES9QProblemBE", !10, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !25, i64 48, !6, i64 168, !10, i64 176, !6, i64 184, !6, i64 192, !28, i64 200, !29, i64 208, !10, i64 212, !10, i64 216, !30, i64 220, !28, i64 224, !12, i64 232, !6, i64 240, !28, i64 248, !28, i64 256, !12, i64 264, !31, i64 272, !34, i64 496, !36, i64 768}
!25 = !{!"_ZTSN7qpOASES6BoundsE", !26, i64 0, !27, i64 40, !27, i64 80}
!26 = !{!"_ZTSN7qpOASES9SubjectToE", !12, i64 8, !6, i64 16, !6, i64 24, !10, i64 32, !10, i64 36}
!27 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !12, i64 16, !12, i64 20, !12, i64 24, !12, i64 28, !12, i64 32}
!28 = !{!"double", !7, i64 0}
!29 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!30 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!31 = !{!"_ZTSN7qpOASES7OptionsE", !32, 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, !28, i64 40, !28, i64 48, !28, i64 56, !28, i64 64, !28, i64 72, !28, i64 80, !28, i64 88, !28, i64 96, !28, i64 104, !28, i64 112, !28, i64 120, !33, i64 128, !28, i64 136, !12, i64 144, !28, i64 152, !12, i64 160, !28, i64 168, !28, i64 176, !28, i64 184, !28, i64 192, !10, i64 200, !10, i64 204, !12, i64 208, !12, i64 212, !12, i64 216}
!32 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!33 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!34 = !{!"_ZTSN7qpOASES7FlipperE", !12, i64 0, !12, i64 4, !25, i64 8, !35, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!35 = !{!"_ZTSN7qpOASES11ConstraintsE", !26, i64 0, !27, i64 40, !27, i64 80}
!36 = !{!"_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}
!37 = !{!38, !38, i64 0}
!38 = !{!"vtable pointer", !8, i64 0}
!39 = !{!24, !32, i64 272}
!40 = !{!24, !10, i64 472}


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

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [118 x i8], align 1

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #1

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

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

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur14correctInertiaEv(ptr noundef nonnull align 8 dereferenceable(1256)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur24setupAuxiliaryWorkingSetEPKNS_6BoundsEPKNS_11ConstraintsENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %0, ptr noundef %1, ptr noundef %2, i32 noundef %3) 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)
  %.not = icmp eq ptr %1, null
  br i1 %.not, label %20, label %.preheader82

.preheader82:                                     ; preds = %4
  %7 = icmp sgt i32 %5, 0
  br i1 %7, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %.preheader82
  %8 = getelementptr inbounds i8, ptr %0, i64 48
  br label %11

9:                                                ; preds = %14
  %10 = add nuw nsw i32 %.05783, 1
  %exitcond.not = icmp eq i32 %10, %5
  br i1 %exitcond.not, label %._crit_edge, label %11, !llvm.loop !5

11:                                               ; preds = %.lr.ph, %9
  %.05783 = phi i32 [ 0, %.lr.ph ], [ %10, %9 ]
  %12 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %8, i32 noundef %.05783)
  %13 = icmp eq i32 %12, 4
  br i1 %13, label %17, label %14

14:                                               ; preds = %11
  %15 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %1, i32 noundef %.05783)
  %16 = icmp eq i32 %15, 4
  br i1 %16, label %17, label %9

17:                                               ; preds = %14, %11
  %18 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %19 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %18, i32 noundef 9, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 527, i32 noundef 1)
  br label %141

20:                                               ; preds = %4
  %21 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %22 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %21, i32 noundef 3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 531, i32 noundef 1)
  br label %141

._crit_edge:                                      ; preds = %9, %.preheader82
  %.not64 = icmp eq ptr %2, null
  br i1 %.not64, label %37, label %.preheader81

.preheader81:                                     ; preds = %._crit_edge
  %23 = icmp sgt i32 %6, 0
  br i1 %23, label %.lr.ph85, label %.preheader80

.lr.ph85:                                         ; preds = %.preheader81
  %24 = getelementptr inbounds i8, ptr %0, i64 832
  br label %28

25:                                               ; preds = %31
  %26 = add nuw nsw i32 %.15884, 1
  %exitcond95.not = icmp eq i32 %26, %6
  br i1 %exitcond95.not, label %.preheader80, label %28, !llvm.loop !7

.preheader80:                                     ; preds = %25, %.preheader81
  br i1 %7, label %.lr.ph87, label %.preheader79

.lr.ph87:                                         ; preds = %.preheader80
  %27 = getelementptr inbounds i8, ptr %0, i64 48
  br label %41

28:                                               ; preds = %.lr.ph85, %25
  %.15884 = phi i32 [ 0, %.lr.ph85 ], [ %26, %25 ]
  %29 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %24, i32 noundef %.15884)
  %30 = icmp eq i32 %29, 4
  br i1 %30, label %34, label %31

31:                                               ; preds = %28
  %32 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %2, i32 noundef %.15884)
  %33 = icmp eq i32 %32, 4
  br i1 %33, label %34, label %25

34:                                               ; preds = %31, %28
  %35 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %36 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %35, i32 noundef 9, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 538, i32 noundef 1)
  br label %141

37:                                               ; preds = %._crit_edge
  %38 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %39 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %38, i32 noundef 3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 542, i32 noundef 1)
  br label %141

.preheader79:                                     ; preds = %61, %.preheader80
  br i1 %23, label %.lr.ph89, label %.preheader78

.lr.ph89:                                         ; preds = %.preheader79
  %40 = getelementptr inbounds i8, ptr %0, i64 832
  br label %64

41:                                               ; preds = %.lr.ph87, %61
  %.286 = phi i32 [ 0, %.lr.ph87 ], [ %62, %61 ]
  %42 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %27, i32 noundef %.286)
  %43 = icmp eq i32 %42, -1
  br i1 %43, label %44, label %51

44:                                               ; preds = %41
  %45 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %1, i32 noundef %.286)
  %.not74 = icmp eq i32 %45, -1
  br i1 %.not74, label %51, label %46

46:                                               ; preds = %44
  %47 = tail call noundef i32 @_ZN7qpOASES6Bounds15moveFixedToFreeEi(ptr noundef nonnull align 8 dereferenceable(120) %27, i32 noundef %.286)
  %.not75 = icmp eq i32 %47, 0
  br i1 %.not75, label %51, label %48

48:                                               ; preds = %46
  %49 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %50 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %49, i32 noundef 42, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 553, i32 noundef 1)
  br label %141

51:                                               ; preds = %46, %44, %41
  %52 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %27, i32 noundef %.286)
  %53 = icmp eq i32 %52, 1
  br i1 %53, label %54, label %61

54:                                               ; preds = %51
  %55 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %1, i32 noundef %.286)
  %.not76 = icmp eq i32 %55, 1
  br i1 %.not76, label %61, label %56

56:                                               ; preds = %54
  %57 = tail call noundef i32 @_ZN7qpOASES6Bounds15moveFixedToFreeEi(ptr noundef nonnull align 8 dereferenceable(120) %27, i32 noundef %.286)
  %.not77 = icmp eq i32 %57, 0
  br i1 %.not77, label %61, label %58

58:                                               ; preds = %56
  %59 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %60 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %59, i32 noundef 42, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 557, i32 noundef 1)
  br label %141

61:                                               ; preds = %51, %54, %56
  %62 = add nuw nsw i32 %.286, 1
  %exitcond96.not = icmp eq i32 %62, %5
  br i1 %exitcond96.not, label %.preheader79, label %41, !llvm.loop !8

.preheader78:                                     ; preds = %84, %.preheader79
  br i1 %7, label %.lr.ph91, label %.preheader

.lr.ph91:                                         ; preds = %.preheader78
  %63 = getelementptr inbounds i8, ptr %0, i64 48
  br label %87

64:                                               ; preds = %.lr.ph89, %84
  %.388 = phi i32 [ 0, %.lr.ph89 ], [ %85, %84 ]
  %65 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %40, i32 noundef %.388)
  %66 = icmp eq i32 %65, -1
  br i1 %66, label %67, label %74

67:                                               ; preds = %64
  %68 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %2, i32 noundef %.388)
  %.not70 = icmp eq i32 %68, -1
  br i1 %.not70, label %74, label %69

69:                                               ; preds = %67
  %70 = tail call noundef i32 @_ZN7qpOASES11Constraints20moveActiveToInactiveEi(ptr noundef nonnull align 8 dereferenceable(120) %40, i32 noundef %.388)
  %.not71 = icmp eq i32 %70, 0
  br i1 %.not71, label %74, label %71

71:                                               ; preds = %69
  %72 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %73 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %72, i32 noundef 42, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 566, i32 noundef 1)
  br label %141

74:                                               ; preds = %69, %67, %64
  %75 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %40, i32 noundef %.388)
  %76 = icmp eq i32 %75, 1
  br i1 %76, label %77, label %84

77:                                               ; preds = %74
  %78 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %2, i32 noundef %.388)
  %.not72 = icmp eq i32 %78, 1
  br i1 %.not72, label %84, label %79

79:                                               ; preds = %77
  %80 = tail call noundef i32 @_ZN7qpOASES11Constraints20moveActiveToInactiveEi(ptr noundef nonnull align 8 dereferenceable(120) %40, i32 noundef %.388)
  %.not73 = icmp eq i32 %80, 0
  br i1 %.not73, label %84, label %81

81:                                               ; preds = %79
  %82 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %83 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %82, i32 noundef 42, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 570, i32 noundef 1)
  br label %141

84:                                               ; preds = %74, %77, %79
  %85 = add nuw nsw i32 %.388, 1
  %exitcond97.not = icmp eq i32 %85, %6
  br i1 %exitcond97.not, label %.preheader78, label %64, !llvm.loop !9

.preheader:                                       ; preds = %98, %.preheader78
  br i1 %23, label %.lr.ph93, label %._crit_edge94

.lr.ph93:                                         ; preds = %.preheader
  %86 = getelementptr inbounds i8, ptr %0, i64 832
  br label %100

87:                                               ; preds = %.lr.ph91, %98
  %.490 = phi i32 [ 0, %.lr.ph91 ], [ %99, %98 ]
  %88 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %63, i32 noundef %.490)
  %89 = icmp eq i32 %88, 0
  br i1 %89, label %90, label %98

90:                                               ; preds = %87
  %91 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %1, i32 noundef %.490)
  %.not68 = icmp eq i32 %91, 0
  br i1 %.not68, label %98, label %92

92:                                               ; preds = %90
  %93 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %1, i32 noundef %.490)
  %94 = tail call noundef i32 @_ZN7qpOASES6Bounds15moveFreeToFixedEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %63, i32 noundef %.490, i32 noundef %93)
  %.not69 = icmp eq i32 %94, 0
  br i1 %.not69, label %98, label %95

95:                                               ; preds = %92
  %96 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %97 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %96, i32 noundef 42, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 580, i32 noundef 1)
  br label %141

98:                                               ; preds = %87, %90, %92
  %99 = add nuw nsw i32 %.490, 1
  %exitcond98.not = icmp eq i32 %99, %5
  br i1 %exitcond98.not, label %.preheader, label %87, !llvm.loop !10

100:                                              ; preds = %.lr.ph93, %111
  %.592 = phi i32 [ 0, %.lr.ph93 ], [ %112, %111 ]
  %101 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %86, i32 noundef %.592)
  %102 = icmp eq i32 %101, 0
  br i1 %102, label %103, label %111

103:                                              ; preds = %100
  %104 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %2, i32 noundef %.592)
  %.not66 = icmp eq i32 %104, 0
  br i1 %.not66, label %111, label %105

105:                                              ; preds = %103
  %106 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %2, i32 noundef %.592)
  %107 = tail call noundef i32 @_ZN7qpOASES11Constraints20moveInactiveToActiveEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %86, i32 noundef %.592, i32 noundef %106)
  %.not67 = icmp eq i32 %107, 0
  br i1 %.not67, label %111, label %108

108:                                              ; preds = %105
  %109 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %110 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %109, i32 noundef 42, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 588, i32 noundef 1)
  br label %141

111:                                              ; preds = %100, %103, %105
  %112 = add nuw nsw i32 %.592, 1
  %exitcond99.not = icmp eq i32 %112, %6
  br i1 %exitcond99.not, label %._crit_edge94, label %100, !llvm.loop !11

._crit_edge94:                                    ; preds = %111, %.preheader
  %113 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef 0)
  %.not65 = icmp eq i32 %113, 0
  br i1 %.not65, label %117, label %114

114:                                              ; preds = %._crit_edge94
  %115 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %116 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %115, i32 noundef 42, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 595, i32 noundef 1)
  br label %141

117:                                              ; preds = %._crit_edge94
  %118 = getelementptr inbounds i8, ptr %0, i64 1064
  %119 = load ptr, ptr %118, align 8, !tbaa !12
  %120 = load ptr, ptr %119, align 8, !tbaa !34
  %121 = getelementptr inbounds i8, ptr %120, i64 56
  %122 = load ptr, ptr %121, align 8
  %123 = tail call noundef i32 %122(ptr noundef nonnull align 8 dereferenceable(8) %119)
  %124 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %125 = icmp eq i32 %123, %124
  br i1 %125, label %141, label %126

126:                                              ; preds = %117
  %127 = getelementptr inbounds i8, ptr %0, i64 272
  %128 = load i32, ptr %127, align 8, !tbaa !36
  %129 = icmp eq i32 %128, 3
  br i1 %129, label %130, label %132

130:                                              ; preds = %126
  %131 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  tail call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.5, i32 noundef %123, i32 noundef %131)
  br label %132

132:                                              ; preds = %130, %126
  %133 = getelementptr inbounds i8, ptr %0, i64 472
  %134 = load i32, ptr %133, align 8, !tbaa !37
  %135 = icmp eq i32 %134, 1
  br i1 %135, label %136, label %138

136:                                              ; preds = %132
  %137 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur14correctInertiaEv(ptr noundef nonnull align 8 dereferenceable(1256) %0)
  br label %141

138:                                              ; preds = %132
  %139 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %140 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %139, i32 noundef 42, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 615, i32 noundef 1)
  br label %141

141:                                              ; preds = %136, %138, %117, %114, %108, %95, %81, %71, %58, %48, %37, %34, %20, %17
  %.1 = phi i32 [ %19, %17 ], [ %36, %34 ], [ %50, %48 ], [ %60, %58 ], [ %73, %71 ], [ %83, %81 ], [ %97, %95 ], [ %110, %108 ], [ %116, %114 ], [ %39, %37 ], [ %22, %20 ], [ %137, %136 ], [ %140, %138 ], [ 0, %117 ]
  ret i32 %.1
}

declare noundef i32 @_ZN7qpOASES6Bounds15moveFixedToFreeEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) local_unnamed_addr #1

declare noundef i32 @_ZN7qpOASES11Constraints20moveActiveToInactiveEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) local_unnamed_addr #1

declare noundef i32 @_ZN7qpOASES6Bounds15moveFreeToFixedEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef, i32 noundef) local_unnamed_addr #1

declare noundef i32 @_ZN7qpOASES11Constraints20moveInactiveToActiveEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef, i32 noundef) local_unnamed_addr #1

attributes #0 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { "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 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }

!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 = distinct !{!7, !6}
!8 = distinct !{!8, !6}
!9 = distinct !{!9, !6}
!10 = distinct !{!10, !6}
!11 = distinct !{!11, !6}
!12 = !{!13, !20, i64 1064}
!13 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !14, i64 0, !20, i64 1064, !20, i64 1072, !23, i64 1080, !23, i64 1084, !20, i64 1088, !20, i64 1096, !25, i64 1104, !25, i64 1112, !23, i64 1120, !20, i64 1128, !20, i64 1136, !23, i64 1144, !20, i64 1152, !20, i64 1160, !20, i64 1168, !24, i64 1176, !24, i64 1216}
!14 = !{!"_ZTSN7qpOASES9SQProblemE", !15, i64 0}
!15 = !{!"_ZTSN7qpOASES8QProblemE", !16, i64 0, !17, i64 800, !20, i64 808, !20, i64 816, !20, i64 824, !32, i64 832, !20, i64 952, !20, i64 960, !23, i64 968, !20, i64 976, !20, i64 984, !20, i64 992, !20, i64 1000, !20, i64 1008, !20, i64 1016, !20, i64 1024, !20, i64 1032, !20, i64 1040, !20, i64 1048, !20, i64 1056}
!16 = !{!"_ZTSN7qpOASES9QProblemBE", !17, i64 8, !20, i64 16, !20, i64 24, !20, i64 32, !20, i64 40, !21, i64 48, !20, i64 168, !17, i64 176, !20, i64 184, !20, i64 192, !25, i64 200, !26, i64 208, !17, i64 212, !17, i64 216, !27, i64 220, !25, i64 224, !23, i64 232, !20, i64 240, !25, i64 248, !25, i64 256, !23, i64 264, !28, i64 272, !31, i64 496, !33, i64 768}
!17 = !{!"_ZTSN7qpOASES11BooleanTypeE", !18, i64 0}
!18 = !{!"omnipotent char", !19, i64 0}
!19 = !{!"Simple C++ TBAA"}
!20 = !{!"any pointer", !18, i64 0}
!21 = !{!"_ZTSN7qpOASES6BoundsE", !22, i64 0, !24, i64 40, !24, i64 80}
!22 = !{!"_ZTSN7qpOASES9SubjectToE", !23, i64 8, !20, i64 16, !20, i64 24, !17, i64 32, !17, i64 36}
!23 = !{!"int", !18, i64 0}
!24 = !{!"_ZTSN7qpOASES9IndexlistE", !20, i64 0, !20, i64 8, !23, i64 16, !23, i64 20, !23, i64 24, !23, i64 28, !23, i64 32}
!25 = !{!"double", !18, i64 0}
!26 = !{!"_ZTSN7qpOASES14QProblemStatusE", !18, i64 0}
!27 = !{!"_ZTSN7qpOASES11HessianTypeE", !18, i64 0}
!28 = !{!"_ZTSN7qpOASES7OptionsE", !29, i64 0, !17, i64 4, !17, i64 8, !17, i64 12, !17, i64 16, !17, i64 20, !17, i64 24, !23, i64 28, !23, i64 32, !17, i64 36, !25, i64 40, !25, i64 48, !25, i64 56, !25, i64 64, !25, i64 72, !25, i64 80, !25, i64 88, !25, i64 96, !25, i64 104, !25, i64 112, !25, i64 120, !30, i64 128, !25, i64 136, !23, i64 144, !25, i64 152, !23, i64 160, !25, i64 168, !25, i64 176, !25, i64 184, !25, i64 192, !17, i64 200, !17, i64 204, !23, i64 208, !23, i64 212, !23, i64 216}
!29 = !{!"_ZTSN7qpOASES10PrintLevelE", !18, i64 0}
!30 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !18, i64 0}
!31 = !{!"_ZTSN7qpOASES7FlipperE", !23, i64 0, !23, i64 4, !21, i64 8, !32, i64 128, !20, i64 248, !20, i64 256, !20, i64 264}
!32 = !{!"_ZTSN7qpOASES11ConstraintsE", !22, i64 0, !24, i64 40, !24, i64 80}
!33 = !{!"_ZTSN7qpOASES13TabularOutputE", !23, i64 0, !23, i64 4, !23, i64 8, !23, i64 12, !23, i64 16, !23, i64 20, !23, i64 24, !23, i64 28}
!34 = !{!35, !35, i64 0}
!35 = !{!"vtable pointer", !19, i64 0}
!36 = !{!16, !29, i64 272}
!37 = !{!16, !17, i64 472}


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