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

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

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

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

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #1

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

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare { i64, i1 } @llvm.umul.with.overflow.i64(i64, i64) #2

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) #3

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) #4

; 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)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #6 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) #6 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800)) #6 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800), double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800), double noundef, double noundef, double noundef, double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem8addBoundEiNS_15SubjectToStatusENS_11BooleanTypeES2_(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, i32 noundef %4) unnamed_addr #7 align 2 {
  %6 = alloca i32, align 4
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca i32, align 4
  %11 = alloca i32, align 4
  %12 = alloca i32, align 4
  %13 = alloca i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca i32, align 4
  %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
  %21 = alloca i32, align 4
  %22 = alloca i32, align 4
  %23 = alloca ptr, align 8
  %24 = alloca ptr, align 8
  %25 = alloca double, align 8
  %26 = alloca double, align 8
  %27 = alloca double, align 8
  %28 = alloca ptr, align 8
  store ptr %0, ptr %7, align 8, !tbaa !5
  store i32 %1, ptr %8, align 4, !tbaa !9
  store i32 %2, ptr %9, align 4, !tbaa !11
  store i32 %3, ptr %10, align 4, !tbaa !13
  store i32 %4, ptr %11, align 4, !tbaa !13
  %29 = load ptr, ptr %7, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #8
  %30 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 6
  %31 = load i32, ptr %8, align 4, !tbaa !9
  %32 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %30, i32 noundef %31)
  %33 = icmp ne i32 %32, 0
  br i1 %33, label %34, label %37

34:                                               ; preds = %5
  %35 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %36 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %35, i32 noundef 95, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3316, i32 noundef 1)
  store i32 %36, ptr %6, align 4
  store i32 1, ptr %15, align 4
  br label %760

37:                                               ; preds = %5
  %38 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %29)
  %39 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 6
  %40 = call noundef i32 @_ZNK7qpOASES6Bounds6getNUVEv(ptr noundef nonnull align 8 dereferenceable(120) %39)
  %41 = icmp eq i32 %38, %40
  br i1 %41, label %42, label %45

42:                                               ; preds = %37
  %43 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %44 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %43, i32 noundef 96, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3319, i32 noundef 1)
  store i32 %44, ptr %6, align 4
  store i32 1, ptr %15, align 4
  br label %760

45:                                               ; preds = %37
  %46 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %29)
  %47 = icmp eq i32 %46, 0
  br i1 %47, label %57, label %48

48:                                               ; preds = %45
  %49 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %29)
  %50 = icmp eq i32 %49, 2
  br i1 %50, label %57, label %51

51:                                               ; preds = %48
  %52 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %29)
  %53 = icmp eq i32 %52, 4
  br i1 %53, label %57, label %54

54:                                               ; preds = %51
  %55 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %29)
  %56 = icmp eq i32 %55, 5
  br i1 %56, label %57, label %60

57:                                               ; preds = %54, %51, %48, %45
  %58 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %59 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %58, i32 noundef 9, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3326, i32 noundef 1)
  store i32 %59, ptr %6, align 4
  store i32 1, ptr %15, align 4
  br label %760

60:                                               ; preds = %54
  %61 = load i32, ptr %10, align 4, !tbaa !13
  %62 = icmp eq i32 %61, 1
  br i1 %62, label %63, label %84

63:                                               ; preds = %60
  %64 = load i32, ptr %11, align 4, !tbaa !13
  %65 = icmp eq i32 %64, 1
  br i1 %65, label %66, label %84

66:                                               ; preds = %63
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #8
  %67 = load i32, ptr %8, align 4, !tbaa !9
  %68 = load i32, ptr %9, align 4, !tbaa !11
  %69 = load ptr, ptr %29, align 8, !tbaa !15
  %70 = getelementptr inbounds ptr, ptr %69, i64 30
  %71 = load ptr, ptr %70, align 8
  %72 = call noundef i32 %71(ptr noundef nonnull align 8 dereferenceable(1064) %29, i32 noundef %67, i32 noundef %68)
  store i32 %72, ptr %16, align 4, !tbaa !17
  %73 = load i32, ptr %16, align 4, !tbaa !17
  switch i32 %73, label %77 [
    i32 0, label %80
    i32 90, label %80
    i32 93, label %74
    i32 94, label %75
    i32 141, label %76
  ]

74:                                               ; preds = %66
  store i32 79, ptr %6, align 4
  store i32 1, ptr %15, align 4
  br label %81

75:                                               ; preds = %66
  store i32 79, ptr %6, align 4
  store i32 1, ptr %15, align 4
  br label %81

76:                                               ; preds = %66
  store i32 0, ptr %6, align 4
  store i32 1, ptr %15, align 4
  br label %81

77:                                               ; preds = %66
  %78 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %79 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %78, i32 noundef 91, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3355, i32 noundef 1)
  store i32 %79, ptr %6, align 4
  store i32 1, ptr %15, align 4
  br label %81

80:                                               ; preds = %66, %66
  store i32 0, ptr %15, align 4
  br label %81

81:                                               ; preds = %80, %77, %76, %75, %74
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #8
  %82 = load i32, ptr %15, align 4
  switch i32 %82, label %760 [
    i32 0, label %83
  ]

83:                                               ; preds = %81
  br label %84

84:                                               ; preds = %83, %63, %60
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #8
  %85 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %29)
  store i32 %85, ptr %17, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #8
  %86 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %29)
  store i32 %86, ptr %18, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #8
  %87 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %29)
  store i32 %87, ptr %19, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %20) #8
  %88 = load ptr, ptr %29, align 8, !tbaa !15
  %89 = getelementptr inbounds ptr, ptr %88, i64 7
  %90 = load ptr, ptr %89, align 8
  %91 = call noundef i32 %90(ptr noundef nonnull align 8 dereferenceable(1064) %29)
  store i32 %91, ptr %20, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #8
  %92 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 8
  %93 = load i32, ptr %92, align 8, !tbaa !19
  %94 = load i32, ptr %19, align 4, !tbaa !9
  %95 = sub nsw i32 %93, %94
  store i32 %95, ptr %21, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #8
  %96 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 6
  %97 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %96)
  %98 = call noundef i32 @_ZNK7qpOASES9Indexlist13getLastNumberEv(ptr noundef nonnull align 8 dereferenceable(36) %97)
  store i32 %98, ptr %22, align 4, !tbaa !9
  %99 = load i32, ptr %22, align 4, !tbaa !9
  %100 = load i32, ptr %8, align 4, !tbaa !9
  %101 = icmp ne i32 %99, %100
  br i1 %101, label %102, label %112

102:                                              ; preds = %84
  %103 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 6
  %104 = load i32, ptr %8, align 4, !tbaa !9
  %105 = load i32, ptr %22, align 4, !tbaa !9
  %106 = call noundef i32 @_ZN7qpOASES6Bounds8swapFreeEii(ptr noundef nonnull align 8 dereferenceable(120) %103, i32 noundef %104, i32 noundef %105)
  %107 = icmp ne i32 %106, 0
  br i1 %107, label %108, label %111

108:                                              ; preds = %102
  %109 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %110 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %109, i32 noundef 78, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3374, i32 noundef 1)
  br label %111

111:                                              ; preds = %108, %102
  br label %112

112:                                              ; preds = %111, %84
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #8
  %113 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 6
  %114 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %113)
  %115 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %114, ptr noundef %23)
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #8
  %116 = load i32, ptr %18, align 4, !tbaa !9
  %117 = sext i32 %116 to i64
  %118 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %117, i64 8)
  %119 = extractvalue { i64, i1 } %118, 1
  %120 = extractvalue { i64, i1 } %118, 0
  %121 = select i1 %119, i64 -1, i64 %120
  %122 = call noalias noundef nonnull ptr @_Znam(i64 noundef %121) #9
  store ptr %122, ptr %24, align 8, !tbaa !5
  store i32 0, ptr %12, align 4, !tbaa !9
  br label %123

123:                                              ; preds = %147, %112
  %124 = load i32, ptr %12, align 4, !tbaa !9
  %125 = load i32, ptr %18, align 4, !tbaa !9
  %126 = icmp slt i32 %124, %125
  br i1 %126, label %127, label %150

127:                                              ; preds = %123
  %128 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %129 = load ptr, ptr %128, align 8, !tbaa !33
  %130 = load ptr, ptr %23, align 8, !tbaa !5
  %131 = load i32, ptr %18, align 4, !tbaa !9
  %132 = sub nsw i32 %131, 1
  %133 = sext i32 %132 to i64
  %134 = getelementptr inbounds i32, ptr %130, i64 %133
  %135 = load i32, ptr %134, align 4, !tbaa !9
  %136 = load i32, ptr %17, align 4, !tbaa !9
  %137 = load i32, ptr %12, align 4, !tbaa !9
  %138 = mul nsw i32 %136, %137
  %139 = add nsw i32 %135, %138
  %140 = sext i32 %139 to i64
  %141 = getelementptr inbounds double, ptr %129, i64 %140
  %142 = load double, ptr %141, align 8, !tbaa !34
  %143 = load ptr, ptr %24, align 8, !tbaa !5
  %144 = load i32, ptr %12, align 4, !tbaa !9
  %145 = sext i32 %144 to i64
  %146 = getelementptr inbounds double, ptr %143, i64 %145
  store double %142, ptr %146, align 8, !tbaa !34
  br label %147

147:                                              ; preds = %127
  %148 = load i32, ptr %12, align 4, !tbaa !9
  %149 = add nsw i32 %148, 1
  store i32 %149, ptr %12, align 4, !tbaa !9
  br label %123, !llvm.loop !35

150:                                              ; preds = %123
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #8
  store i32 0, ptr %13, align 4, !tbaa !9
  br label %151

151:                                              ; preds = %303, %150
  %152 = load i32, ptr %13, align 4, !tbaa !9
  %153 = load i32, ptr %20, align 4, !tbaa !9
  %154 = sub nsw i32 %153, 1
  %155 = icmp slt i32 %152, %154
  br i1 %155, label %156, label %306

156:                                              ; preds = %151
  %157 = load ptr, ptr %24, align 8, !tbaa !5
  %158 = load i32, ptr %13, align 4, !tbaa !9
  %159 = add nsw i32 %158, 1
  %160 = sext i32 %159 to i64
  %161 = getelementptr inbounds double, ptr %157, i64 %160
  %162 = load double, ptr %161, align 8, !tbaa !34
  %163 = load ptr, ptr %24, align 8, !tbaa !5
  %164 = load i32, ptr %13, align 4, !tbaa !9
  %165 = sext i32 %164 to i64
  %166 = getelementptr inbounds double, ptr %163, i64 %165
  %167 = load double, ptr %166, align 8, !tbaa !34
  %168 = load ptr, ptr %24, align 8, !tbaa !5
  %169 = load i32, ptr %13, align 4, !tbaa !9
  %170 = add nsw i32 %169, 1
  %171 = sext i32 %170 to i64
  %172 = getelementptr inbounds double, ptr %168, i64 %171
  %173 = load ptr, ptr %24, align 8, !tbaa !5
  %174 = load i32, ptr %13, align 4, !tbaa !9
  %175 = sext i32 %174 to i64
  %176 = getelementptr inbounds double, ptr %173, i64 %175
  call void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800) %29, double noundef %162, double noundef %167, ptr noundef nonnull align 8 dereferenceable(8) %172, ptr noundef nonnull align 8 dereferenceable(8) %176, ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull align 8 dereferenceable(8) %26)
  %177 = load double, ptr %26, align 8, !tbaa !34
  %178 = load double, ptr %25, align 8, !tbaa !34
  %179 = fadd double 1.000000e+00, %178
  %180 = fdiv double %177, %179
  store double %180, ptr %27, align 8, !tbaa !34
  store i32 0, ptr %12, align 4, !tbaa !9
  br label %181

181:                                              ; preds = %234, %156
  %182 = load i32, ptr %12, align 4, !tbaa !9
  %183 = load i32, ptr %18, align 4, !tbaa !9
  %184 = icmp slt i32 %182, %183
  br i1 %184, label %185, label %237

185:                                              ; preds = %181
  %186 = load ptr, ptr %23, align 8, !tbaa !5
  %187 = load i32, ptr %12, align 4, !tbaa !9
  %188 = sext i32 %187 to i64
  %189 = getelementptr inbounds i32, ptr %186, i64 %188
  %190 = load i32, ptr %189, align 4, !tbaa !9
  store i32 %190, ptr %14, align 4, !tbaa !9
  %191 = load double, ptr %25, align 8, !tbaa !34
  %192 = load double, ptr %26, align 8, !tbaa !34
  %193 = load double, ptr %27, align 8, !tbaa !34
  %194 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %195 = load ptr, ptr %194, align 8, !tbaa !33
  %196 = load i32, ptr %14, align 4, !tbaa !9
  %197 = load i32, ptr %17, align 4, !tbaa !9
  %198 = load i32, ptr %13, align 4, !tbaa !9
  %199 = add nsw i32 1, %198
  %200 = mul nsw i32 %197, %199
  %201 = add nsw i32 %196, %200
  %202 = sext i32 %201 to i64
  %203 = getelementptr inbounds double, ptr %195, i64 %202
  %204 = load double, ptr %203, align 8, !tbaa !34
  %205 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %206 = load ptr, ptr %205, align 8, !tbaa !33
  %207 = load i32, ptr %14, align 4, !tbaa !9
  %208 = load i32, ptr %17, align 4, !tbaa !9
  %209 = load i32, ptr %13, align 4, !tbaa !9
  %210 = mul nsw i32 %208, %209
  %211 = add nsw i32 %207, %210
  %212 = sext i32 %211 to i64
  %213 = getelementptr inbounds double, ptr %206, i64 %212
  %214 = load double, ptr %213, align 8, !tbaa !34
  %215 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %216 = load ptr, ptr %215, align 8, !tbaa !33
  %217 = load i32, ptr %14, align 4, !tbaa !9
  %218 = load i32, ptr %17, align 4, !tbaa !9
  %219 = load i32, ptr %13, align 4, !tbaa !9
  %220 = add nsw i32 1, %219
  %221 = mul nsw i32 %218, %220
  %222 = add nsw i32 %217, %221
  %223 = sext i32 %222 to i64
  %224 = getelementptr inbounds double, ptr %216, i64 %223
  %225 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %226 = load ptr, ptr %225, align 8, !tbaa !33
  %227 = load i32, ptr %14, align 4, !tbaa !9
  %228 = load i32, ptr %17, align 4, !tbaa !9
  %229 = load i32, ptr %13, align 4, !tbaa !9
  %230 = mul nsw i32 %228, %229
  %231 = add nsw i32 %227, %230
  %232 = sext i32 %231 to i64
  %233 = getelementptr inbounds double, ptr %226, i64 %232
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %29, double noundef %191, double noundef %192, double noundef %193, double noundef %204, double noundef %214, ptr noundef nonnull align 8 dereferenceable(8) %224, ptr noundef nonnull align 8 dereferenceable(8) %233)
  br label %234

234:                                              ; preds = %185
  %235 = load i32, ptr %12, align 4, !tbaa !9
  %236 = add nsw i32 %235, 1
  store i32 %236, ptr %12, align 4, !tbaa !9
  br label %181, !llvm.loop !37

237:                                              ; preds = %181
  %238 = load i32, ptr %10, align 4, !tbaa !13
  %239 = icmp eq i32 %238, 1
  br i1 %239, label %240, label %302

240:                                              ; preds = %237
  %241 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 15
  %242 = load i32, ptr %241, align 4, !tbaa !38
  %243 = icmp ne i32 %242, 0
  br i1 %243, label %244, label %302

244:                                              ; preds = %240
  %245 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 15
  %246 = load i32, ptr %245, align 4, !tbaa !38
  %247 = icmp ne i32 %246, 1
  br i1 %247, label %248, label %302

248:                                              ; preds = %244
  store i32 0, ptr %12, align 4, !tbaa !9
  br label %249

249:                                              ; preds = %298, %248
  %250 = load i32, ptr %12, align 4, !tbaa !9
  %251 = load i32, ptr %13, align 4, !tbaa !9
  %252 = add nsw i32 %251, 1
  %253 = icmp sle i32 %250, %252
  br i1 %253, label %254, label %301

254:                                              ; preds = %249
  %255 = load double, ptr %25, align 8, !tbaa !34
  %256 = load double, ptr %26, align 8, !tbaa !34
  %257 = load double, ptr %27, align 8, !tbaa !34
  %258 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 7
  %259 = load ptr, ptr %258, align 8, !tbaa !39
  %260 = load i32, ptr %12, align 4, !tbaa !9
  %261 = load i32, ptr %17, align 4, !tbaa !9
  %262 = load i32, ptr %13, align 4, !tbaa !9
  %263 = add nsw i32 1, %262
  %264 = mul nsw i32 %261, %263
  %265 = add nsw i32 %260, %264
  %266 = sext i32 %265 to i64
  %267 = getelementptr inbounds double, ptr %259, i64 %266
  %268 = load double, ptr %267, align 8, !tbaa !34
  %269 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 7
  %270 = load ptr, ptr %269, align 8, !tbaa !39
  %271 = load i32, ptr %12, align 4, !tbaa !9
  %272 = load i32, ptr %17, align 4, !tbaa !9
  %273 = load i32, ptr %13, align 4, !tbaa !9
  %274 = mul nsw i32 %272, %273
  %275 = add nsw i32 %271, %274
  %276 = sext i32 %275 to i64
  %277 = getelementptr inbounds double, ptr %270, i64 %276
  %278 = load double, ptr %277, align 8, !tbaa !34
  %279 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 7
  %280 = load ptr, ptr %279, align 8, !tbaa !39
  %281 = load i32, ptr %12, align 4, !tbaa !9
  %282 = load i32, ptr %17, align 4, !tbaa !9
  %283 = load i32, ptr %13, align 4, !tbaa !9
  %284 = add nsw i32 1, %283
  %285 = mul nsw i32 %282, %284
  %286 = add nsw i32 %281, %285
  %287 = sext i32 %286 to i64
  %288 = getelementptr inbounds double, ptr %280, i64 %287
  %289 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 7
  %290 = load ptr, ptr %289, align 8, !tbaa !39
  %291 = load i32, ptr %12, align 4, !tbaa !9
  %292 = load i32, ptr %17, align 4, !tbaa !9
  %293 = load i32, ptr %13, align 4, !tbaa !9
  %294 = mul nsw i32 %292, %293
  %295 = add nsw i32 %291, %294
  %296 = sext i32 %295 to i64
  %297 = getelementptr inbounds double, ptr %290, i64 %296
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %29, double noundef %255, double noundef %256, double noundef %257, double noundef %268, double noundef %278, ptr noundef nonnull align 8 dereferenceable(8) %288, ptr noundef nonnull align 8 dereferenceable(8) %297)
  br label %298

298:                                              ; preds = %254
  %299 = load i32, ptr %12, align 4, !tbaa !9
  %300 = add nsw i32 %299, 1
  store i32 %300, ptr %12, align 4, !tbaa !9
  br label %249, !llvm.loop !40

301:                                              ; preds = %249
  br label %302

302:                                              ; preds = %301, %244, %240, %237
  br label %303

303:                                              ; preds = %302
  %304 = load i32, ptr %13, align 4, !tbaa !9
  %305 = add nsw i32 %304, 1
  store i32 %305, ptr %13, align 4, !tbaa !9
  br label %151, !llvm.loop !41

306:                                              ; preds = %151
  %307 = load i32, ptr %19, align 4, !tbaa !9
  %308 = icmp sgt i32 %307, 0
  br i1 %308, label %309, label %602

309:                                              ; preds = %306
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #8
  %310 = load i32, ptr %19, align 4, !tbaa !9
  %311 = sext i32 %310 to i64
  %312 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %311, i64 8)
  %313 = extractvalue { i64, i1 } %312, 1
  %314 = extractvalue { i64, i1 } %312, 0
  %315 = select i1 %313, i64 -1, i64 %314
  %316 = call noalias noundef nonnull ptr @_Znam(i64 noundef %315) #9
  store ptr %316, ptr %28, align 8, !tbaa !5
  store i32 0, ptr %12, align 4, !tbaa !9
  br label %317

317:                                              ; preds = %326, %309
  %318 = load i32, ptr %12, align 4, !tbaa !9
  %319 = load i32, ptr %19, align 4, !tbaa !9
  %320 = icmp slt i32 %318, %319
  br i1 %320, label %321, label %329

321:                                              ; preds = %317
  %322 = load ptr, ptr %28, align 8, !tbaa !5
  %323 = load i32, ptr %12, align 4, !tbaa !9
  %324 = sext i32 %323 to i64
  %325 = getelementptr inbounds double, ptr %322, i64 %324
  store double 0.000000e+00, ptr %325, align 8, !tbaa !34
  br label %326

326:                                              ; preds = %321
  %327 = load i32, ptr %12, align 4, !tbaa !9
  %328 = add nsw i32 %327, 1
  store i32 %328, ptr %12, align 4, !tbaa !9
  br label %317, !llvm.loop !42

329:                                              ; preds = %317
  %330 = load i32, ptr %20, align 4, !tbaa !9
  %331 = sub nsw i32 %330, 1
  store i32 %331, ptr %13, align 4, !tbaa !9
  %332 = load ptr, ptr %24, align 8, !tbaa !5
  %333 = load i32, ptr %13, align 4, !tbaa !9
  %334 = add nsw i32 %333, 1
  %335 = sext i32 %334 to i64
  %336 = getelementptr inbounds double, ptr %332, i64 %335
  %337 = load double, ptr %336, align 8, !tbaa !34
  %338 = load ptr, ptr %24, align 8, !tbaa !5
  %339 = load i32, ptr %13, align 4, !tbaa !9
  %340 = sext i32 %339 to i64
  %341 = getelementptr inbounds double, ptr %338, i64 %340
  %342 = load double, ptr %341, align 8, !tbaa !34
  %343 = load ptr, ptr %24, align 8, !tbaa !5
  %344 = load i32, ptr %13, align 4, !tbaa !9
  %345 = add nsw i32 %344, 1
  %346 = sext i32 %345 to i64
  %347 = getelementptr inbounds double, ptr %343, i64 %346
  %348 = load ptr, ptr %24, align 8, !tbaa !5
  %349 = load i32, ptr %13, align 4, !tbaa !9
  %350 = sext i32 %349 to i64
  %351 = getelementptr inbounds double, ptr %348, i64 %350
  call void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800) %29, double noundef %337, double noundef %342, ptr noundef nonnull align 8 dereferenceable(8) %347, ptr noundef nonnull align 8 dereferenceable(8) %351, ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull align 8 dereferenceable(8) %26)
  %352 = load double, ptr %26, align 8, !tbaa !34
  %353 = load double, ptr %25, align 8, !tbaa !34
  %354 = fadd double 1.000000e+00, %353
  %355 = fdiv double %352, %354
  store double %355, ptr %27, align 8, !tbaa !34
  store i32 0, ptr %12, align 4, !tbaa !9
  br label %356

356:                                              ; preds = %409, %329
  %357 = load i32, ptr %12, align 4, !tbaa !9
  %358 = load i32, ptr %18, align 4, !tbaa !9
  %359 = icmp slt i32 %357, %358
  br i1 %359, label %360, label %412

360:                                              ; preds = %356
  %361 = load ptr, ptr %23, align 8, !tbaa !5
  %362 = load i32, ptr %12, align 4, !tbaa !9
  %363 = sext i32 %362 to i64
  %364 = getelementptr inbounds i32, ptr %361, i64 %363
  %365 = load i32, ptr %364, align 4, !tbaa !9
  store i32 %365, ptr %14, align 4, !tbaa !9
  %366 = load double, ptr %25, align 8, !tbaa !34
  %367 = load double, ptr %26, align 8, !tbaa !34
  %368 = load double, ptr %27, align 8, !tbaa !34
  %369 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %370 = load ptr, ptr %369, align 8, !tbaa !33
  %371 = load i32, ptr %14, align 4, !tbaa !9
  %372 = load i32, ptr %17, align 4, !tbaa !9
  %373 = load i32, ptr %13, align 4, !tbaa !9
  %374 = add nsw i32 1, %373
  %375 = mul nsw i32 %372, %374
  %376 = add nsw i32 %371, %375
  %377 = sext i32 %376 to i64
  %378 = getelementptr inbounds double, ptr %370, i64 %377
  %379 = load double, ptr %378, align 8, !tbaa !34
  %380 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %381 = load ptr, ptr %380, align 8, !tbaa !33
  %382 = load i32, ptr %14, align 4, !tbaa !9
  %383 = load i32, ptr %17, align 4, !tbaa !9
  %384 = load i32, ptr %13, align 4, !tbaa !9
  %385 = mul nsw i32 %383, %384
  %386 = add nsw i32 %382, %385
  %387 = sext i32 %386 to i64
  %388 = getelementptr inbounds double, ptr %381, i64 %387
  %389 = load double, ptr %388, align 8, !tbaa !34
  %390 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %391 = load ptr, ptr %390, align 8, !tbaa !33
  %392 = load i32, ptr %14, align 4, !tbaa !9
  %393 = load i32, ptr %17, align 4, !tbaa !9
  %394 = load i32, ptr %13, align 4, !tbaa !9
  %395 = add nsw i32 1, %394
  %396 = mul nsw i32 %393, %395
  %397 = add nsw i32 %392, %396
  %398 = sext i32 %397 to i64
  %399 = getelementptr inbounds double, ptr %391, i64 %398
  %400 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %401 = load ptr, ptr %400, align 8, !tbaa !33
  %402 = load i32, ptr %14, align 4, !tbaa !9
  %403 = load i32, ptr %17, align 4, !tbaa !9
  %404 = load i32, ptr %13, align 4, !tbaa !9
  %405 = mul nsw i32 %403, %404
  %406 = add nsw i32 %402, %405
  %407 = sext i32 %406 to i64
  %408 = getelementptr inbounds double, ptr %401, i64 %407
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %29, double noundef %366, double noundef %367, double noundef %368, double noundef %379, double noundef %389, ptr noundef nonnull align 8 dereferenceable(8) %399, ptr noundef nonnull align 8 dereferenceable(8) %408)
  br label %409

409:                                              ; preds = %360
  %410 = load i32, ptr %12, align 4, !tbaa !9
  %411 = add nsw i32 %410, 1
  store i32 %411, ptr %12, align 4, !tbaa !9
  br label %356, !llvm.loop !43

412:                                              ; preds = %356
  %413 = load double, ptr %25, align 8, !tbaa !34
  %414 = load double, ptr %26, align 8, !tbaa !34
  %415 = load double, ptr %27, align 8, !tbaa !34
  %416 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 6
  %417 = load ptr, ptr %416, align 8, !tbaa !44
  %418 = load i32, ptr %19, align 4, !tbaa !9
  %419 = sub nsw i32 %418, 1
  %420 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 8
  %421 = load i32, ptr %420, align 8, !tbaa !19
  %422 = mul nsw i32 %419, %421
  %423 = load i32, ptr %21, align 4, !tbaa !9
  %424 = add nsw i32 %422, %423
  %425 = sext i32 %424 to i64
  %426 = getelementptr inbounds double, ptr %417, i64 %425
  %427 = load double, ptr %426, align 8, !tbaa !34
  %428 = load ptr, ptr %28, align 8, !tbaa !5
  %429 = load i32, ptr %19, align 4, !tbaa !9
  %430 = sub nsw i32 %429, 1
  %431 = sext i32 %430 to i64
  %432 = getelementptr inbounds double, ptr %428, i64 %431
  %433 = load double, ptr %432, align 8, !tbaa !34
  %434 = load ptr, ptr %28, align 8, !tbaa !5
  %435 = load i32, ptr %19, align 4, !tbaa !9
  %436 = sub nsw i32 %435, 1
  %437 = sext i32 %436 to i64
  %438 = getelementptr inbounds double, ptr %434, i64 %437
  %439 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 6
  %440 = load ptr, ptr %439, align 8, !tbaa !44
  %441 = load i32, ptr %19, align 4, !tbaa !9
  %442 = sub nsw i32 %441, 1
  %443 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 8
  %444 = load i32, ptr %443, align 8, !tbaa !19
  %445 = mul nsw i32 %442, %444
  %446 = load i32, ptr %21, align 4, !tbaa !9
  %447 = add nsw i32 %445, %446
  %448 = sext i32 %447 to i64
  %449 = getelementptr inbounds double, ptr %440, i64 %448
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %29, double noundef %413, double noundef %414, double noundef %415, double noundef %427, double noundef %433, ptr noundef nonnull align 8 dereferenceable(8) %438, ptr noundef nonnull align 8 dereferenceable(8) %449)
  %450 = load i32, ptr %20, align 4, !tbaa !9
  store i32 %450, ptr %13, align 4, !tbaa !9
  br label %451

451:                                              ; preds = %594, %412
  %452 = load i32, ptr %13, align 4, !tbaa !9
  %453 = load i32, ptr %18, align 4, !tbaa !9
  %454 = sub nsw i32 %453, 1
  %455 = icmp slt i32 %452, %454
  br i1 %455, label %456, label %597

456:                                              ; preds = %451
  %457 = load ptr, ptr %24, align 8, !tbaa !5
  %458 = load i32, ptr %13, align 4, !tbaa !9
  %459 = add nsw i32 %458, 1
  %460 = sext i32 %459 to i64
  %461 = getelementptr inbounds double, ptr %457, i64 %460
  %462 = load double, ptr %461, align 8, !tbaa !34
  %463 = load ptr, ptr %24, align 8, !tbaa !5
  %464 = load i32, ptr %13, align 4, !tbaa !9
  %465 = sext i32 %464 to i64
  %466 = getelementptr inbounds double, ptr %463, i64 %465
  %467 = load double, ptr %466, align 8, !tbaa !34
  %468 = load ptr, ptr %24, align 8, !tbaa !5
  %469 = load i32, ptr %13, align 4, !tbaa !9
  %470 = add nsw i32 %469, 1
  %471 = sext i32 %470 to i64
  %472 = getelementptr inbounds double, ptr %468, i64 %471
  %473 = load ptr, ptr %24, align 8, !tbaa !5
  %474 = load i32, ptr %13, align 4, !tbaa !9
  %475 = sext i32 %474 to i64
  %476 = getelementptr inbounds double, ptr %473, i64 %475
  call void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800) %29, double noundef %462, double noundef %467, ptr noundef nonnull align 8 dereferenceable(8) %472, ptr noundef nonnull align 8 dereferenceable(8) %476, ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull align 8 dereferenceable(8) %26)
  %477 = load double, ptr %26, align 8, !tbaa !34
  %478 = load double, ptr %25, align 8, !tbaa !34
  %479 = fadd double 1.000000e+00, %478
  %480 = fdiv double %477, %479
  store double %480, ptr %27, align 8, !tbaa !34
  store i32 0, ptr %12, align 4, !tbaa !9
  br label %481

481:                                              ; preds = %534, %456
  %482 = load i32, ptr %12, align 4, !tbaa !9
  %483 = load i32, ptr %18, align 4, !tbaa !9
  %484 = icmp slt i32 %482, %483
  br i1 %484, label %485, label %537

485:                                              ; preds = %481
  %486 = load ptr, ptr %23, align 8, !tbaa !5
  %487 = load i32, ptr %12, align 4, !tbaa !9
  %488 = sext i32 %487 to i64
  %489 = getelementptr inbounds i32, ptr %486, i64 %488
  %490 = load i32, ptr %489, align 4, !tbaa !9
  store i32 %490, ptr %14, align 4, !tbaa !9
  %491 = load double, ptr %25, align 8, !tbaa !34
  %492 = load double, ptr %26, align 8, !tbaa !34
  %493 = load double, ptr %27, align 8, !tbaa !34
  %494 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %495 = load ptr, ptr %494, align 8, !tbaa !33
  %496 = load i32, ptr %14, align 4, !tbaa !9
  %497 = load i32, ptr %17, align 4, !tbaa !9
  %498 = load i32, ptr %13, align 4, !tbaa !9
  %499 = add nsw i32 1, %498
  %500 = mul nsw i32 %497, %499
  %501 = add nsw i32 %496, %500
  %502 = sext i32 %501 to i64
  %503 = getelementptr inbounds double, ptr %495, i64 %502
  %504 = load double, ptr %503, align 8, !tbaa !34
  %505 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %506 = load ptr, ptr %505, align 8, !tbaa !33
  %507 = load i32, ptr %14, align 4, !tbaa !9
  %508 = load i32, ptr %17, align 4, !tbaa !9
  %509 = load i32, ptr %13, align 4, !tbaa !9
  %510 = mul nsw i32 %508, %509
  %511 = add nsw i32 %507, %510
  %512 = sext i32 %511 to i64
  %513 = getelementptr inbounds double, ptr %506, i64 %512
  %514 = load double, ptr %513, align 8, !tbaa !34
  %515 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %516 = load ptr, ptr %515, align 8, !tbaa !33
  %517 = load i32, ptr %14, align 4, !tbaa !9
  %518 = load i32, ptr %17, align 4, !tbaa !9
  %519 = load i32, ptr %13, align 4, !tbaa !9
  %520 = add nsw i32 1, %519
  %521 = mul nsw i32 %518, %520
  %522 = add nsw i32 %517, %521
  %523 = sext i32 %522 to i64
  %524 = getelementptr inbounds double, ptr %516, i64 %523
  %525 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %526 = load ptr, ptr %525, align 8, !tbaa !33
  %527 = load i32, ptr %14, align 4, !tbaa !9
  %528 = load i32, ptr %17, align 4, !tbaa !9
  %529 = load i32, ptr %13, align 4, !tbaa !9
  %530 = mul nsw i32 %528, %529
  %531 = add nsw i32 %527, %530
  %532 = sext i32 %531 to i64
  %533 = getelementptr inbounds double, ptr %526, i64 %532
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %29, double noundef %491, double noundef %492, double noundef %493, double noundef %504, double noundef %514, ptr noundef nonnull align 8 dereferenceable(8) %524, ptr noundef nonnull align 8 dereferenceable(8) %533)
  br label %534

534:                                              ; preds = %485
  %535 = load i32, ptr %12, align 4, !tbaa !9
  %536 = add nsw i32 %535, 1
  store i32 %536, ptr %12, align 4, !tbaa !9
  br label %481, !llvm.loop !45

537:                                              ; preds = %481
  %538 = load i32, ptr %18, align 4, !tbaa !9
  %539 = sub nsw i32 %538, 2
  %540 = load i32, ptr %13, align 4, !tbaa !9
  %541 = sub nsw i32 %539, %540
  store i32 %541, ptr %12, align 4, !tbaa !9
  br label %542

542:                                              ; preds = %590, %537
  %543 = load i32, ptr %12, align 4, !tbaa !9
  %544 = load i32, ptr %19, align 4, !tbaa !9
  %545 = icmp slt i32 %543, %544
  br i1 %545, label %546, label %593

546:                                              ; preds = %542
  %547 = load double, ptr %25, align 8, !tbaa !34
  %548 = load double, ptr %26, align 8, !tbaa !34
  %549 = load double, ptr %27, align 8, !tbaa !34
  %550 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 6
  %551 = load ptr, ptr %550, align 8, !tbaa !44
  %552 = load i32, ptr %12, align 4, !tbaa !9
  %553 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 8
  %554 = load i32, ptr %553, align 8, !tbaa !19
  %555 = mul nsw i32 %552, %554
  %556 = load i32, ptr %21, align 4, !tbaa !9
  %557 = add nsw i32 1, %556
  %558 = load i32, ptr %20, align 4, !tbaa !9
  %559 = sub nsw i32 %557, %558
  %560 = load i32, ptr %13, align 4, !tbaa !9
  %561 = add nsw i32 %559, %560
  %562 = add nsw i32 %555, %561
  %563 = sext i32 %562 to i64
  %564 = getelementptr inbounds double, ptr %551, i64 %563
  %565 = load double, ptr %564, align 8, !tbaa !34
  %566 = load ptr, ptr %28, align 8, !tbaa !5
  %567 = load i32, ptr %12, align 4, !tbaa !9
  %568 = sext i32 %567 to i64
  %569 = getelementptr inbounds double, ptr %566, i64 %568
  %570 = load double, ptr %569, align 8, !tbaa !34
  %571 = load ptr, ptr %28, align 8, !tbaa !5
  %572 = load i32, ptr %12, align 4, !tbaa !9
  %573 = sext i32 %572 to i64
  %574 = getelementptr inbounds double, ptr %571, i64 %573
  %575 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 6
  %576 = load ptr, ptr %575, align 8, !tbaa !44
  %577 = load i32, ptr %12, align 4, !tbaa !9
  %578 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 8
  %579 = load i32, ptr %578, align 8, !tbaa !19
  %580 = mul nsw i32 %577, %579
  %581 = load i32, ptr %21, align 4, !tbaa !9
  %582 = add nsw i32 1, %581
  %583 = load i32, ptr %20, align 4, !tbaa !9
  %584 = sub nsw i32 %582, %583
  %585 = load i32, ptr %13, align 4, !tbaa !9
  %586 = add nsw i32 %584, %585
  %587 = add nsw i32 %580, %586
  %588 = sext i32 %587 to i64
  %589 = getelementptr inbounds double, ptr %576, i64 %588
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %29, double noundef %547, double noundef %548, double noundef %549, double noundef %565, double noundef %570, ptr noundef nonnull align 8 dereferenceable(8) %574, ptr noundef nonnull align 8 dereferenceable(8) %589)
  br label %590

590:                                              ; preds = %546
  %591 = load i32, ptr %12, align 4, !tbaa !9
  %592 = add nsw i32 %591, 1
  store i32 %592, ptr %12, align 4, !tbaa !9
  br label %542, !llvm.loop !46

593:                                              ; preds = %542
  br label %594

594:                                              ; preds = %593
  %595 = load i32, ptr %13, align 4, !tbaa !9
  %596 = add nsw i32 %595, 1
  store i32 %596, ptr %13, align 4, !tbaa !9
  br label %451, !llvm.loop !47

597:                                              ; preds = %451
  %598 = load ptr, ptr %28, align 8, !tbaa !5
  %599 = icmp eq ptr %598, null
  br i1 %599, label %601, label %600

600:                                              ; preds = %597
  call void @_ZdaPv(ptr noundef %598) #10
  br label %601

601:                                              ; preds = %600, %597
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #8
  br label %602

602:                                              ; preds = %601, %306
  %603 = load ptr, ptr %24, align 8, !tbaa !5
  %604 = icmp eq ptr %603, null
  br i1 %604, label %606, label %605

605:                                              ; preds = %602
  call void @_ZdaPv(ptr noundef %603) #10
  br label %606

606:                                              ; preds = %605, %602
  %607 = load i32, ptr %10, align 4, !tbaa !13
  %608 = icmp eq i32 %607, 1
  br i1 %608, label %609, label %746

609:                                              ; preds = %606
  %610 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 15
  %611 = load i32, ptr %610, align 4, !tbaa !38
  %612 = icmp ne i32 %611, 0
  br i1 %612, label %613, label %746

613:                                              ; preds = %609
  %614 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 15
  %615 = load i32, ptr %614, align 4, !tbaa !38
  %616 = icmp ne i32 %615, 1
  br i1 %616, label %617, label %746

617:                                              ; preds = %613
  store i32 0, ptr %12, align 4, !tbaa !9
  br label %618

618:                                              ; preds = %723, %617
  %619 = load i32, ptr %12, align 4, !tbaa !9
  %620 = load i32, ptr %20, align 4, !tbaa !9
  %621 = sub nsw i32 %620, 1
  %622 = icmp slt i32 %619, %621
  br i1 %622, label %623, label %726

623:                                              ; preds = %618
  %624 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 7
  %625 = load ptr, ptr %624, align 8, !tbaa !39
  %626 = load i32, ptr %12, align 4, !tbaa !9
  %627 = load i32, ptr %17, align 4, !tbaa !9
  %628 = load i32, ptr %12, align 4, !tbaa !9
  %629 = mul nsw i32 %627, %628
  %630 = add nsw i32 %626, %629
  %631 = sext i32 %630 to i64
  %632 = getelementptr inbounds double, ptr %625, i64 %631
  %633 = load double, ptr %632, align 8, !tbaa !34
  %634 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 7
  %635 = load ptr, ptr %634, align 8, !tbaa !39
  %636 = load i32, ptr %12, align 4, !tbaa !9
  %637 = add nsw i32 1, %636
  %638 = load i32, ptr %17, align 4, !tbaa !9
  %639 = load i32, ptr %12, align 4, !tbaa !9
  %640 = mul nsw i32 %638, %639
  %641 = add nsw i32 %637, %640
  %642 = sext i32 %641 to i64
  %643 = getelementptr inbounds double, ptr %635, i64 %642
  %644 = load double, ptr %643, align 8, !tbaa !34
  %645 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 7
  %646 = load ptr, ptr %645, align 8, !tbaa !39
  %647 = load i32, ptr %12, align 4, !tbaa !9
  %648 = load i32, ptr %17, align 4, !tbaa !9
  %649 = load i32, ptr %12, align 4, !tbaa !9
  %650 = mul nsw i32 %648, %649
  %651 = add nsw i32 %647, %650
  %652 = sext i32 %651 to i64
  %653 = getelementptr inbounds double, ptr %646, i64 %652
  %654 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 7
  %655 = load ptr, ptr %654, align 8, !tbaa !39
  %656 = load i32, ptr %12, align 4, !tbaa !9
  %657 = add nsw i32 1, %656
  %658 = load i32, ptr %17, align 4, !tbaa !9
  %659 = load i32, ptr %12, align 4, !tbaa !9
  %660 = mul nsw i32 %658, %659
  %661 = add nsw i32 %657, %660
  %662 = sext i32 %661 to i64
  %663 = getelementptr inbounds double, ptr %655, i64 %662
  call void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800) %29, double noundef %633, double noundef %644, ptr noundef nonnull align 8 dereferenceable(8) %653, ptr noundef nonnull align 8 dereferenceable(8) %663, ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull align 8 dereferenceable(8) %26)
  %664 = load double, ptr %26, align 8, !tbaa !34
  %665 = load double, ptr %25, align 8, !tbaa !34
  %666 = fadd double 1.000000e+00, %665
  %667 = fdiv double %664, %666
  store double %667, ptr %27, align 8, !tbaa !34
  %668 = load i32, ptr %12, align 4, !tbaa !9
  %669 = add nsw i32 1, %668
  store i32 %669, ptr %13, align 4, !tbaa !9
  br label %670

670:                                              ; preds = %719, %623
  %671 = load i32, ptr %13, align 4, !tbaa !9
  %672 = load i32, ptr %20, align 4, !tbaa !9
  %673 = sub nsw i32 %672, 1
  %674 = icmp slt i32 %671, %673
  br i1 %674, label %675, label %722

675:                                              ; preds = %670
  %676 = load double, ptr %25, align 8, !tbaa !34
  %677 = load double, ptr %26, align 8, !tbaa !34
  %678 = load double, ptr %27, align 8, !tbaa !34
  %679 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 7
  %680 = load ptr, ptr %679, align 8, !tbaa !39
  %681 = load i32, ptr %12, align 4, !tbaa !9
  %682 = load i32, ptr %17, align 4, !tbaa !9
  %683 = load i32, ptr %13, align 4, !tbaa !9
  %684 = mul nsw i32 %682, %683
  %685 = add nsw i32 %681, %684
  %686 = sext i32 %685 to i64
  %687 = getelementptr inbounds double, ptr %680, i64 %686
  %688 = load double, ptr %687, align 8, !tbaa !34
  %689 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 7
  %690 = load ptr, ptr %689, align 8, !tbaa !39
  %691 = load i32, ptr %12, align 4, !tbaa !9
  %692 = add nsw i32 1, %691
  %693 = load i32, ptr %17, align 4, !tbaa !9
  %694 = load i32, ptr %13, align 4, !tbaa !9
  %695 = mul nsw i32 %693, %694
  %696 = add nsw i32 %692, %695
  %697 = sext i32 %696 to i64
  %698 = getelementptr inbounds double, ptr %690, i64 %697
  %699 = load double, ptr %698, align 8, !tbaa !34
  %700 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 7
  %701 = load ptr, ptr %700, align 8, !tbaa !39
  %702 = load i32, ptr %12, align 4, !tbaa !9
  %703 = load i32, ptr %17, align 4, !tbaa !9
  %704 = load i32, ptr %13, align 4, !tbaa !9
  %705 = mul nsw i32 %703, %704
  %706 = add nsw i32 %702, %705
  %707 = sext i32 %706 to i64
  %708 = getelementptr inbounds double, ptr %701, i64 %707
  %709 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 7
  %710 = load ptr, ptr %709, align 8, !tbaa !39
  %711 = load i32, ptr %12, align 4, !tbaa !9
  %712 = add nsw i32 1, %711
  %713 = load i32, ptr %17, align 4, !tbaa !9
  %714 = load i32, ptr %13, align 4, !tbaa !9
  %715 = mul nsw i32 %713, %714
  %716 = add nsw i32 %712, %715
  %717 = sext i32 %716 to i64
  %718 = getelementptr inbounds double, ptr %710, i64 %717
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %29, double noundef %676, double noundef %677, double noundef %678, double noundef %688, double noundef %699, ptr noundef nonnull align 8 dereferenceable(8) %708, ptr noundef nonnull align 8 dereferenceable(8) %718)
  br label %719

719:                                              ; preds = %675
  %720 = load i32, ptr %13, align 4, !tbaa !9
  %721 = add nsw i32 %720, 1
  store i32 %721, ptr %13, align 4, !tbaa !9
  br label %670, !llvm.loop !48

722:                                              ; preds = %670
  br label %723

723:                                              ; preds = %722
  %724 = load i32, ptr %12, align 4, !tbaa !9
  %725 = add nsw i32 %724, 1
  store i32 %725, ptr %12, align 4, !tbaa !9
  br label %618, !llvm.loop !49

726:                                              ; preds = %618
  store i32 0, ptr %12, align 4, !tbaa !9
  br label %727

727:                                              ; preds = %742, %726
  %728 = load i32, ptr %12, align 4, !tbaa !9
  %729 = load i32, ptr %20, align 4, !tbaa !9
  %730 = icmp slt i32 %728, %729
  br i1 %730, label %731, label %745

731:                                              ; preds = %727
  %732 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 7
  %733 = load ptr, ptr %732, align 8, !tbaa !39
  %734 = load i32, ptr %12, align 4, !tbaa !9
  %735 = load i32, ptr %17, align 4, !tbaa !9
  %736 = load i32, ptr %20, align 4, !tbaa !9
  %737 = sub nsw i32 %736, 1
  %738 = mul nsw i32 %735, %737
  %739 = add nsw i32 %734, %738
  %740 = sext i32 %739 to i64
  %741 = getelementptr inbounds double, ptr %733, i64 %740
  store double 0.000000e+00, ptr %741, align 8, !tbaa !34
  br label %742

742:                                              ; preds = %731
  %743 = load i32, ptr %12, align 4, !tbaa !9
  %744 = add nsw i32 %743, 1
  store i32 %744, ptr %12, align 4, !tbaa !9
  br label %727, !llvm.loop !50

745:                                              ; preds = %727
  br label %746

746:                                              ; preds = %745, %613, %609, %606
  %747 = load i32, ptr %8, align 4, !tbaa !9
  %748 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 25
  %749 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %748, i32 0, i32 0
  store i32 %747, ptr %749, align 8, !tbaa !51
  %750 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 6
  %751 = load i32, ptr %8, align 4, !tbaa !9
  %752 = load i32, ptr %9, align 4, !tbaa !11
  %753 = call noundef i32 @_ZN7qpOASES6Bounds15moveFreeToFixedEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %750, i32 noundef %751, i32 noundef %752)
  %754 = icmp ne i32 %753, 0
  br i1 %754, label %755, label %758

755:                                              ; preds = %746
  %756 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %757 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %756, i32 noundef 78, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3478, i32 noundef 1)
  store i32 %757, ptr %6, align 4
  store i32 1, ptr %15, align 4
  br label %759

758:                                              ; preds = %746
  store i32 0, ptr %6, align 4
  store i32 1, ptr %15, align 4
  br label %759

759:                                              ; preds = %758, %755
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #8
  br label %760

760:                                              ; preds = %759, %81, %57, %42, %34
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #8
  %761 = load i32, ptr %6, align 4
  ret i32 %761
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES6Bounds6getNUVEv(ptr noundef nonnull align 8 dereferenceable(120)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9Indexlist13getLastNumberEv(ptr noundef nonnull align 8 dereferenceable(36)) #6 align 2

declare noundef i32 @_ZN7qpOASES6Bounds8swapFreeEii(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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { nobuiltin allocsize(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 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { 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 #7 = { 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 #8 = { nounwind }
attributes #9 = { builtin allocsize(0) }
attributes #10 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!15 = !{!16, !16, i64 0}
!16 = !{!"vtable pointer", !8, i64 0}
!17 = !{!18, !18, i64 0}
!18 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!19 = !{!20, !10, i64 968}
!20 = !{!"_ZTSN7qpOASES8QProblemE", !21, i64 0, !14, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !31, 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}
!21 = !{!"_ZTSN7qpOASES9QProblemBE", !14, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !22, i64 48, !6, i64 168, !14, i64 176, !6, i64 184, !6, i64 192, !25, i64 200, !26, i64 208, !14, i64 212, !14, i64 216, !27, i64 220, !25, i64 224, !10, i64 232, !6, i64 240, !25, i64 248, !25, i64 256, !10, i64 264, !28, i64 272, !30, i64 496, !32, i64 768}
!22 = !{!"_ZTSN7qpOASES6BoundsE", !23, i64 0, !24, i64 40, !24, i64 80}
!23 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !14, i64 32, !14, i64 36}
!24 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!25 = !{!"double", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!27 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!28 = !{!"_ZTSN7qpOASES7OptionsE", !29, i64 0, !14, i64 4, !14, i64 8, !14, i64 12, !14, i64 16, !14, i64 20, !14, i64 24, !10, i64 28, !10, i64 32, !14, i64 36, !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, !12, i64 128, !25, i64 136, !10, i64 144, !25, i64 152, !10, i64 160, !25, i64 168, !25, i64 176, !25, i64 184, !25, i64 192, !14, i64 200, !14, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!29 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!30 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !22, i64 8, !31, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!31 = !{!"_ZTSN7qpOASES11ConstraintsE", !23, i64 0, !24, i64 40, !24, i64 80}
!32 = !{!"_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}
!33 = !{!20, !6, i64 960}
!34 = !{!25, !25, i64 0}
!35 = distinct !{!35, !36}
!36 = !{!"llvm.loop.mustprogress"}
!37 = distinct !{!37, !36}
!38 = !{!21, !27, i64 220}
!39 = !{!21, !6, i64 168}
!40 = distinct !{!40, !36}
!41 = distinct !{!41, !36}
!42 = distinct !{!42, !36}
!43 = distinct !{!43, !36}
!44 = !{!20, !6, i64 952}
!45 = distinct !{!45, !36}
!46 = distinct !{!46, !36}
!47 = distinct !{!47, !36}
!48 = distinct !{!48, !36}
!49 = distinct !{!49, !36}
!50 = distinct !{!50, !36}
!51 = !{!21, !10, i64 768}


; 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

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #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: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) local_unnamed_addr #2

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress 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)) local_unnamed_addr #4 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #5 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #5 align 2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800), double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800), double noundef, double noundef, double noundef, double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem8addBoundEiNS_15SubjectToStatusENS_11BooleanTypeES2_(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, i32 noundef %4) unnamed_addr #6 align 2 {
  %6 = alloca ptr, align 8
  %7 = alloca double, align 8
  %8 = alloca double, align 8
  %9 = getelementptr inbounds i8, ptr %0, i64 48
  %10 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %9, i32 noundef %1)
  %.not = icmp eq i32 %10, 0
  br i1 %.not, label %14, label %11

11:                                               ; preds = %5
  %12 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %13 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %12, i32 noundef 95, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3316, i32 noundef 1)
  br label %.thread

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

18:                                               ; preds = %14
  %19 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %20 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %19, i32 noundef 96, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3319, i32 noundef 1)
  br label %.thread

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

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

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

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

33:                                               ; preds = %30, %27, %24, %21
  %34 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %35 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %34, i32 noundef 9, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3326, i32 noundef 1)
  br label %.thread

36:                                               ; preds = %30
  %37 = icmp eq i32 %3, 1
  %38 = icmp eq i32 %4, 1
  %or.cond = and i1 %37, %38
  br i1 %or.cond, label %39, label %48

39:                                               ; preds = %36
  %40 = load ptr, ptr %0, align 8, !tbaa !5
  %41 = getelementptr inbounds i8, ptr %40, i64 240
  %42 = load ptr, ptr %41, align 8
  %43 = tail call noundef i32 %42(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %1, i32 noundef %2)
  switch i32 %43, label %45 [
    i32 0, label %48
    i32 90, label %48
    i32 93, label %.thread
    i32 94, label %.thread
    i32 141, label %44
  ]

44:                                               ; preds = %39
  br label %.thread

45:                                               ; preds = %39
  %46 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %47 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %46, i32 noundef 91, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3355, i32 noundef 1)
  br label %.thread

48:                                               ; preds = %39, %39, %36
  %49 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %50 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %51 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %52 = load ptr, ptr %0, align 8, !tbaa !5
  %53 = getelementptr inbounds i8, ptr %52, i64 56
  %54 = load ptr, ptr %53, align 8
  %55 = tail call noundef i32 %54(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %56 = getelementptr inbounds i8, ptr %0, i64 968
  %57 = load i32, ptr %56, align 8, !tbaa !8
  %58 = sub nsw i32 %57, %51
  %59 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %9)
  %60 = tail call noundef i32 @_ZNK7qpOASES9Indexlist13getLastNumberEv(ptr noundef nonnull align 8 dereferenceable(36) %59)
  %.not217 = icmp eq i32 %60, %1
  br i1 %.not217, label %66, label %61

61:                                               ; preds = %48
  %62 = tail call noundef i32 @_ZN7qpOASES6Bounds8swapFreeEii(ptr noundef nonnull align 8 dereferenceable(120) %9, i32 noundef %1, i32 noundef %60)
  %.not218 = icmp eq i32 %62, 0
  br i1 %.not218, label %66, label %63

63:                                               ; preds = %61
  %64 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %65 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %64, i32 noundef 78, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3374, i32 noundef 1)
  br label %66

66:                                               ; preds = %61, %63, %48
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #8
  %67 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %9)
  %68 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %67, ptr noundef nonnull %6)
  %69 = sext i32 %50 to i64
  %70 = icmp slt i32 %50, 0
  %71 = shl nsw i64 %69, 3
  %72 = select i1 %70, i64 -1, i64 %71
  %73 = call noalias noundef nonnull ptr @_Znam(i64 noundef %72) #9
  %74 = ptrtoint ptr %73 to i64
  %75 = icmp sgt i32 %50, 0
  br i1 %75, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %66
  %76 = getelementptr inbounds i8, ptr %0, i64 960
  %77 = load ptr, ptr %76, align 8, !tbaa !27
  %78 = load ptr, ptr %6, align 8, !tbaa !28
  %79 = getelementptr i32, ptr %78, i64 %69
  %80 = getelementptr i8, ptr %79, i64 -4
  %81 = load i32, ptr %80, align 4, !tbaa !29
  %82 = sext i32 %49 to i64
  %83 = sext i32 %81 to i64
  %wide.trip.count = zext nneg i32 %50 to i64
  %invariant.gep = getelementptr double, ptr %77, i64 %83
  %min.iters.check = icmp ugt i32 %50, 13
  %ident.check.not = icmp eq i32 %49, 1
  %or.cond334 = and i1 %min.iters.check, %ident.check.not
  br i1 %or.cond334, label %vector.memcheck, label %scalar.ph.preheader

vector.memcheck:                                  ; preds = %.lr.ph
  %84 = ptrtoint ptr %77 to i64
  %85 = shl nsw i64 %83, 3
  %86 = add i64 %85, %84
  %87 = sub i64 %74, %86
  %diff.check = icmp ult i64 %87, 32
  br i1 %diff.check, label %scalar.ph.preheader, label %vector.ph

vector.ph:                                        ; preds = %vector.memcheck
  %n.vec = and i64 %wide.trip.count, 2147483644
  br label %vector.body

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %88 = getelementptr double, ptr %invariant.gep, i64 %index
  %89 = getelementptr i8, ptr %88, i64 16
  %wide.load = load <2 x double>, ptr %88, align 8, !tbaa !30
  %wide.load333 = load <2 x double>, ptr %89, align 8, !tbaa !30
  %90 = getelementptr inbounds double, ptr %73, i64 %index
  %91 = getelementptr inbounds i8, ptr %90, i64 16
  store <2 x double> %wide.load, ptr %90, align 8, !tbaa !30
  store <2 x double> %wide.load333, ptr %91, align 8, !tbaa !30
  %index.next = add nuw i64 %index, 4
  %92 = icmp eq i64 %index.next, %n.vec
  br i1 %92, label %middle.block, label %vector.body, !llvm.loop !31

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %wide.trip.count
  br i1 %cmp.n, label %._crit_edge, label %scalar.ph.preheader

scalar.ph.preheader:                              ; preds = %middle.block, %vector.memcheck, %.lr.ph
  %indvars.iv.ph = phi i64 [ 0, %vector.memcheck ], [ 0, %.lr.ph ], [ %n.vec, %middle.block ]
  %xtraiter = and i64 %wide.trip.count, 3
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %scalar.ph.prol.loopexit, label %scalar.ph.prol

scalar.ph.prol:                                   ; preds = %scalar.ph.preheader, %scalar.ph.prol
  %indvars.iv.prol = phi i64 [ %indvars.iv.next.prol, %scalar.ph.prol ], [ %indvars.iv.ph, %scalar.ph.preheader ]
  %prol.iter = phi i64 [ %prol.iter.next, %scalar.ph.prol ], [ 0, %scalar.ph.preheader ]
  %93 = mul nsw i64 %indvars.iv.prol, %82
  %gep.prol = getelementptr double, ptr %invariant.gep, i64 %93
  %94 = load double, ptr %gep.prol, align 8, !tbaa !30
  %95 = getelementptr inbounds double, ptr %73, i64 %indvars.iv.prol
  store double %94, ptr %95, align 8, !tbaa !30
  %indvars.iv.next.prol = add nuw nsw i64 %indvars.iv.prol, 1
  %prol.iter.next = add i64 %prol.iter, 1
  %prol.iter.cmp.not = icmp eq i64 %prol.iter.next, %xtraiter
  br i1 %prol.iter.cmp.not, label %scalar.ph.prol.loopexit, label %scalar.ph.prol, !llvm.loop !35

scalar.ph.prol.loopexit:                          ; preds = %scalar.ph.prol, %scalar.ph.preheader
  %indvars.iv.unr = phi i64 [ %indvars.iv.ph, %scalar.ph.preheader ], [ %indvars.iv.next.prol, %scalar.ph.prol ]
  %96 = sub nsw i64 %indvars.iv.ph, %wide.trip.count
  %97 = icmp ugt i64 %96, -4
  br i1 %97, label %._crit_edge, label %scalar.ph

scalar.ph:                                        ; preds = %scalar.ph.prol.loopexit, %scalar.ph
  %indvars.iv = phi i64 [ %indvars.iv.next.3, %scalar.ph ], [ %indvars.iv.unr, %scalar.ph.prol.loopexit ]
  %98 = mul nsw i64 %indvars.iv, %82
  %gep = getelementptr double, ptr %invariant.gep, i64 %98
  %99 = load double, ptr %gep, align 8, !tbaa !30
  %100 = getelementptr inbounds double, ptr %73, i64 %indvars.iv
  store double %99, ptr %100, align 8, !tbaa !30
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %101 = mul nsw i64 %indvars.iv.next, %82
  %gep.1 = getelementptr double, ptr %invariant.gep, i64 %101
  %102 = load double, ptr %gep.1, align 8, !tbaa !30
  %103 = getelementptr inbounds double, ptr %73, i64 %indvars.iv.next
  store double %102, ptr %103, align 8, !tbaa !30
  %indvars.iv.next.1 = add nuw nsw i64 %indvars.iv, 2
  %104 = mul nsw i64 %indvars.iv.next.1, %82
  %gep.2 = getelementptr double, ptr %invariant.gep, i64 %104
  %105 = load double, ptr %gep.2, align 8, !tbaa !30
  %106 = getelementptr inbounds double, ptr %73, i64 %indvars.iv.next.1
  store double %105, ptr %106, align 8, !tbaa !30
  %indvars.iv.next.2 = add nuw nsw i64 %indvars.iv, 3
  %107 = mul nsw i64 %indvars.iv.next.2, %82
  %gep.3 = getelementptr double, ptr %invariant.gep, i64 %107
  %108 = load double, ptr %gep.3, align 8, !tbaa !30
  %109 = getelementptr inbounds double, ptr %73, i64 %indvars.iv.next.2
  store double %108, ptr %109, align 8, !tbaa !30
  %indvars.iv.next.3 = add nuw nsw i64 %indvars.iv, 4
  %exitcond.not.3 = icmp eq i64 %indvars.iv.next.3, %wide.trip.count
  br i1 %exitcond.not.3, label %._crit_edge, label %scalar.ph, !llvm.loop !37

._crit_edge:                                      ; preds = %scalar.ph.prol.loopexit, %scalar.ph, %middle.block, %66
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #8
  %110 = add i32 %55, -1
  %111 = icmp sgt i32 %55, 1
  br i1 %111, label %.lr.ph247, label %._crit_edge248

.lr.ph247:                                        ; preds = %._crit_edge
  %112 = getelementptr inbounds i8, ptr %0, i64 960
  %113 = getelementptr inbounds i8, ptr %0, i64 220
  %114 = getelementptr inbounds i8, ptr %0, i64 168
  %115 = sext i32 %49 to i64
  %wide.trip.count292 = zext nneg i32 %110 to i64
  %wide.trip.count276 = zext nneg i32 %50 to i64
  br label %116

116:                                              ; preds = %.lr.ph247, %.loopexit238
  %indvars.iv287 = phi i64 [ 0, %.lr.ph247 ], [ %indvars.iv.next288, %.loopexit238 ]
  %indvars.iv285 = phi i64 [ 2, %.lr.ph247 ], [ %indvars.iv.next286, %.loopexit238 ]
  %indvars.iv.next288 = add nuw nsw i64 %indvars.iv287, 1
  %117 = getelementptr inbounds double, ptr %73, i64 %indvars.iv.next288
  %118 = load double, ptr %117, align 8, !tbaa !30
  %119 = getelementptr inbounds double, ptr %73, i64 %indvars.iv287
  %120 = load double, ptr %119, align 8, !tbaa !30
  call void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %118, double noundef %120, ptr noundef nonnull align 8 dereferenceable(8) %117, ptr noundef nonnull align 8 dereferenceable(8) %119, ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef nonnull align 8 dereferenceable(8) %8)
  %121 = load double, ptr %8, align 8, !tbaa !30
  %122 = load double, ptr %7, align 8, !tbaa !30
  %123 = fadd double %122, 1.000000e+00
  %124 = fdiv double %121, %123
  br i1 %75, label %.lr.ph242, label %._crit_edge243

.lr.ph242:                                        ; preds = %116
  %125 = mul nsw i64 %indvars.iv.next288, %115
  %126 = mul nsw i64 %indvars.iv287, %115
  br label %127

127:                                              ; preds = %.lr.ph242, %127
  %indvars.iv273 = phi i64 [ 0, %.lr.ph242 ], [ %indvars.iv.next274, %127 ]
  %128 = load ptr, ptr %6, align 8, !tbaa !28
  %129 = getelementptr inbounds i32, ptr %128, i64 %indvars.iv273
  %130 = load i32, ptr %129, align 4, !tbaa !29
  %131 = load double, ptr %7, align 8, !tbaa !30
  %132 = load double, ptr %8, align 8, !tbaa !30
  %133 = load ptr, ptr %112, align 8, !tbaa !27
  %134 = sext i32 %130 to i64
  %135 = getelementptr double, ptr %133, i64 %125
  %136 = getelementptr double, ptr %135, i64 %134
  %137 = load double, ptr %136, align 8, !tbaa !30
  %138 = getelementptr double, ptr %133, i64 %126
  %139 = getelementptr double, ptr %138, i64 %134
  %140 = load double, ptr %139, align 8, !tbaa !30
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %131, double noundef %132, double noundef %124, double noundef %137, double noundef %140, ptr noundef nonnull align 8 dereferenceable(8) %136, ptr noundef nonnull align 8 dereferenceable(8) %139)
  %indvars.iv.next274 = add nuw nsw i64 %indvars.iv273, 1
  %exitcond277.not = icmp eq i64 %indvars.iv.next274, %wide.trip.count276
  br i1 %exitcond277.not, label %._crit_edge243, label %127, !llvm.loop !38

._crit_edge243:                                   ; preds = %127, %116
  %141 = load i32, ptr %113, align 4
  %switch = icmp ugt i32 %141, 1
  %or.cond227.not = select i1 %37, i1 %switch, i1 false
  br i1 %or.cond227.not, label %.preheader237, label %.loopexit238

.preheader237:                                    ; preds = %._crit_edge243
  %142 = mul nsw i64 %indvars.iv.next288, %115
  %143 = mul nsw i64 %indvars.iv287, %115
  br label %144

144:                                              ; preds = %.preheader237, %144
  %indvars.iv278 = phi i64 [ 0, %.preheader237 ], [ %indvars.iv.next279, %144 ]
  %145 = load double, ptr %7, align 8, !tbaa !30
  %146 = load double, ptr %8, align 8, !tbaa !30
  %147 = load ptr, ptr %114, align 8, !tbaa !39
  %148 = getelementptr double, ptr %147, i64 %indvars.iv278
  %149 = getelementptr double, ptr %148, i64 %142
  %150 = load double, ptr %149, align 8, !tbaa !30
  %151 = getelementptr double, ptr %147, i64 %indvars.iv278
  %152 = getelementptr double, ptr %151, i64 %143
  %153 = load double, ptr %152, align 8, !tbaa !30
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %145, double noundef %146, double noundef %124, double noundef %150, double noundef %153, ptr noundef nonnull align 8 dereferenceable(8) %149, ptr noundef nonnull align 8 dereferenceable(8) %152)
  %indvars.iv.next279 = add nuw nsw i64 %indvars.iv278, 1
  %exitcond284 = icmp eq i64 %indvars.iv.next279, %indvars.iv285
  br i1 %exitcond284, label %.loopexit238, label %144, !llvm.loop !40

.loopexit238:                                     ; preds = %144, %._crit_edge243
  %indvars.iv.next286 = add nuw nsw i64 %indvars.iv285, 1
  %exitcond293.not = icmp eq i64 %indvars.iv.next288, %wide.trip.count292
  br i1 %exitcond293.not, label %._crit_edge248, label %116, !llvm.loop !41

._crit_edge248:                                   ; preds = %.loopexit238, %._crit_edge
  %154 = icmp sgt i32 %51, 0
  br i1 %154, label %155, label %252

155:                                              ; preds = %._crit_edge248
  %156 = zext nneg i32 %51 to i64
  %157 = shl nuw nsw i64 %156, 3
  %158 = call noalias noundef nonnull ptr @_Znam(i64 noundef %157) #9
  call void @llvm.memset.p0.i64(ptr nonnull align 8 %158, i8 0, i64 %157, i1 false), !tbaa !30
  %159 = sext i32 %55 to i64
  %160 = getelementptr inbounds double, ptr %73, i64 %159
  %161 = load double, ptr %160, align 8, !tbaa !30
  %162 = sext i32 %110 to i64
  %163 = getelementptr inbounds double, ptr %73, i64 %162
  %164 = load double, ptr %163, align 8, !tbaa !30
  call void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %161, double noundef %164, ptr noundef nonnull align 8 dereferenceable(8) %160, ptr noundef nonnull align 8 dereferenceable(8) %163, ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef nonnull align 8 dereferenceable(8) %8)
  %165 = load double, ptr %8, align 8, !tbaa !30
  %166 = load double, ptr %7, align 8, !tbaa !30
  %167 = fadd double %166, 1.000000e+00
  %168 = fdiv double %165, %167
  br i1 %75, label %.lr.ph252, label %._crit_edge253

.lr.ph252:                                        ; preds = %155
  %169 = getelementptr inbounds i8, ptr %0, i64 960
  %170 = mul nsw i32 %55, %49
  %171 = mul nsw i32 %110, %49
  %wide.trip.count300 = zext nneg i32 %50 to i64
  br label %172

172:                                              ; preds = %.lr.ph252, %172
  %indvars.iv297 = phi i64 [ 0, %.lr.ph252 ], [ %indvars.iv.next298, %172 ]
  %173 = load ptr, ptr %6, align 8, !tbaa !28
  %174 = getelementptr inbounds i32, ptr %173, i64 %indvars.iv297
  %175 = load i32, ptr %174, align 4, !tbaa !29
  %176 = load double, ptr %7, align 8, !tbaa !30
  %177 = load double, ptr %8, align 8, !tbaa !30
  %178 = load ptr, ptr %169, align 8, !tbaa !27
  %179 = add nsw i32 %175, %170
  %180 = sext i32 %179 to i64
  %181 = getelementptr inbounds double, ptr %178, i64 %180
  %182 = load double, ptr %181, align 8, !tbaa !30
  %183 = add nsw i32 %175, %171
  %184 = sext i32 %183 to i64
  %185 = getelementptr inbounds double, ptr %178, i64 %184
  %186 = load double, ptr %185, align 8, !tbaa !30
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %176, double noundef %177, double noundef %168, double noundef %182, double noundef %186, ptr noundef nonnull align 8 dereferenceable(8) %181, ptr noundef nonnull align 8 dereferenceable(8) %185)
  %indvars.iv.next298 = add nuw nsw i64 %indvars.iv297, 1
  %exitcond301.not = icmp eq i64 %indvars.iv.next298, %wide.trip.count300
  br i1 %exitcond301.not, label %._crit_edge253.loopexit, label %172, !llvm.loop !42

._crit_edge253.loopexit:                          ; preds = %172
  %.pre = load double, ptr %7, align 8, !tbaa !30
  %.pre332 = load double, ptr %8, align 8, !tbaa !30
  br label %._crit_edge253

._crit_edge253:                                   ; preds = %._crit_edge253.loopexit, %155
  %187 = phi double [ %.pre332, %._crit_edge253.loopexit ], [ %165, %155 ]
  %188 = phi double [ %.pre, %._crit_edge253.loopexit ], [ %166, %155 ]
  %189 = getelementptr inbounds i8, ptr %0, i64 952
  %190 = load ptr, ptr %189, align 8, !tbaa !43
  %191 = add nsw i32 %51, -1
  %192 = load i32, ptr %56, align 8, !tbaa !8
  %193 = mul nsw i32 %192, %191
  %194 = add nsw i32 %193, %58
  %195 = sext i32 %194 to i64
  %196 = getelementptr inbounds double, ptr %190, i64 %195
  %197 = load double, ptr %196, align 8, !tbaa !30
  %198 = zext nneg i32 %191 to i64
  %199 = getelementptr inbounds double, ptr %158, i64 %198
  %200 = load double, ptr %199, align 8, !tbaa !30
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %188, double noundef %187, double noundef %168, double noundef %197, double noundef %200, ptr noundef nonnull align 8 dereferenceable(8) %199, ptr noundef nonnull align 8 dereferenceable(8) %196)
  %201 = add nsw i32 %50, -1
  %202 = icmp slt i32 %55, %201
  br i1 %202, label %.lr.ph263, label %._crit_edge264

.lr.ph263:                                        ; preds = %._crit_edge253
  %203 = getelementptr inbounds i8, ptr %0, i64 960
  %204 = add i32 %50, -2
  %reass.sub = sub i32 %58, %55
  %205 = add i32 %reass.sub, 1
  %206 = sub i32 %204, %55
  %207 = zext nneg i32 %51 to i64
  %208 = sext i32 %49 to i64
  %209 = sext i32 %205 to i64
  %wide.trip.count315 = sext i32 %201 to i64
  %wide.trip.count305 = zext nneg i32 %50 to i64
  br label %210

.loopexit236:                                     ; preds = %.lr.ph260, %._crit_edge257
  %indvars.iv.next308 = add i32 %indvars.iv307, -1
  %exitcond316.not = icmp eq i64 %indvars.iv.next313, %wide.trip.count315
  br i1 %exitcond316.not, label %._crit_edge264, label %210, !llvm.loop !44

210:                                              ; preds = %.lr.ph263, %.loopexit236
  %indvars.iv312 = phi i64 [ %159, %.lr.ph263 ], [ %indvars.iv.next313, %.loopexit236 ]
  %indvars.iv307 = phi i32 [ %206, %.lr.ph263 ], [ %indvars.iv.next308, %.loopexit236 ]
  %indvars314 = trunc i64 %indvars.iv312 to i32
  %211 = sext i32 %indvars.iv307 to i64
  %indvars.iv.next313 = add nsw i64 %indvars.iv312, 1
  %212 = getelementptr inbounds double, ptr %73, i64 %indvars.iv.next313
  %213 = load double, ptr %212, align 8, !tbaa !30
  %214 = getelementptr inbounds double, ptr %73, i64 %indvars.iv312
  %215 = load double, ptr %214, align 8, !tbaa !30
  call void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %213, double noundef %215, ptr noundef nonnull align 8 dereferenceable(8) %212, ptr noundef nonnull align 8 dereferenceable(8) %214, ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef nonnull align 8 dereferenceable(8) %8)
  %216 = load double, ptr %8, align 8, !tbaa !30
  %217 = load double, ptr %7, align 8, !tbaa !30
  %218 = fadd double %217, 1.000000e+00
  %219 = fdiv double %216, %218
  br i1 %75, label %.lr.ph256, label %._crit_edge257

.lr.ph256:                                        ; preds = %210
  %220 = mul nsw i64 %indvars.iv.next313, %208
  %221 = mul nsw i64 %indvars.iv312, %208
  br label %222

222:                                              ; preds = %.lr.ph256, %222
  %indvars.iv302 = phi i64 [ 0, %.lr.ph256 ], [ %indvars.iv.next303, %222 ]
  %223 = load ptr, ptr %6, align 8, !tbaa !28
  %224 = getelementptr inbounds i32, ptr %223, i64 %indvars.iv302
  %225 = load i32, ptr %224, align 4, !tbaa !29
  %226 = load double, ptr %7, align 8, !tbaa !30
  %227 = load double, ptr %8, align 8, !tbaa !30
  %228 = load ptr, ptr %203, align 8, !tbaa !27
  %229 = sext i32 %225 to i64
  %230 = getelementptr double, ptr %228, i64 %220
  %231 = getelementptr double, ptr %230, i64 %229
  %232 = load double, ptr %231, align 8, !tbaa !30
  %233 = getelementptr double, ptr %228, i64 %221
  %234 = getelementptr double, ptr %233, i64 %229
  %235 = load double, ptr %234, align 8, !tbaa !30
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %226, double noundef %227, double noundef %219, double noundef %232, double noundef %235, ptr noundef nonnull align 8 dereferenceable(8) %231, ptr noundef nonnull align 8 dereferenceable(8) %234)
  %indvars.iv.next303 = add nuw nsw i64 %indvars.iv302, 1
  %exitcond306.not = icmp eq i64 %indvars.iv.next303, %wide.trip.count305
  br i1 %exitcond306.not, label %._crit_edge257, label %222, !llvm.loop !45

._crit_edge257:                                   ; preds = %222, %210
  %236 = sub i32 %204, %indvars314
  %237 = icmp slt i32 %236, %51
  br i1 %237, label %.lr.ph260, label %.loopexit236

.lr.ph260:                                        ; preds = %._crit_edge257, %.lr.ph260
  %indvars.iv309 = phi i64 [ %indvars.iv.next310, %.lr.ph260 ], [ %211, %._crit_edge257 ]
  %238 = load double, ptr %7, align 8, !tbaa !30
  %239 = load double, ptr %8, align 8, !tbaa !30
  %240 = load ptr, ptr %189, align 8, !tbaa !43
  %241 = load i32, ptr %56, align 8, !tbaa !8
  %242 = trunc nsw i64 %indvars.iv309 to i32
  %243 = mul nsw i32 %241, %242
  %244 = sext i32 %243 to i64
  %245 = getelementptr double, ptr %240, i64 %indvars.iv312
  %246 = getelementptr double, ptr %245, i64 %209
  %247 = getelementptr double, ptr %246, i64 %244
  %248 = load double, ptr %247, align 8, !tbaa !30
  %249 = getelementptr inbounds double, ptr %158, i64 %indvars.iv309
  %250 = load double, ptr %249, align 8, !tbaa !30
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %238, double noundef %239, double noundef %219, double noundef %248, double noundef %250, ptr noundef nonnull align 8 dereferenceable(8) %249, ptr noundef nonnull align 8 dereferenceable(8) %247)
  %indvars.iv.next310 = add nsw i64 %indvars.iv309, 1
  %251 = icmp slt i64 %indvars.iv.next310, %207
  br i1 %251, label %.lr.ph260, label %.loopexit236, !llvm.loop !46

._crit_edge264:                                   ; preds = %.loopexit236, %._crit_edge253
  call void @_ZdaPv(ptr noundef nonnull %158) #10
  br label %252

252:                                              ; preds = %._crit_edge248, %._crit_edge264
  call void @_ZdaPv(ptr noundef nonnull %73) #10
  %253 = getelementptr inbounds i8, ptr %0, i64 220
  %254 = load i32, ptr %253, align 4
  %switch228 = icmp ugt i32 %254, 1
  %or.cond231.not = select i1 %37, i1 %switch228, i1 false
  br i1 %or.cond231.not, label %.preheader235, label %.loopexit

.preheader235:                                    ; preds = %252
  br i1 %111, label %.lr.ph269, label %.preheader

.lr.ph269:                                        ; preds = %.preheader235
  %255 = getelementptr inbounds i8, ptr %0, i64 168
  %256 = sext i32 %49 to i64
  %257 = zext nneg i32 %110 to i64
  %wide.trip.count327 = zext nneg i32 %110 to i64
  br label %266

.loopexit234:                                     ; preds = %.lr.ph267, %266
  %indvars.iv.next318 = add nuw nsw i64 %indvars.iv317, 1
  %exitcond328.not = icmp eq i64 %indvars.iv.next325, %wide.trip.count327
  br i1 %exitcond328.not, label %.preheader, label %266, !llvm.loop !47

.preheader:                                       ; preds = %.loopexit234, %.preheader235
  %258 = icmp sgt i32 %55, 0
  br i1 %258, label %.lr.ph271, label %.loopexit

.lr.ph271:                                        ; preds = %.preheader
  %259 = getelementptr inbounds i8, ptr %0, i64 168
  %260 = load ptr, ptr %259, align 8, !tbaa !39
  %261 = mul nsw i32 %110, %49
  %262 = sext i32 %261 to i64
  %263 = shl nsw i64 %262, 3
  %scevgep = getelementptr i8, ptr %260, i64 %263
  %264 = zext nneg i32 %55 to i64
  %265 = shl nuw nsw i64 %264, 3
  call void @llvm.memset.p0.i64(ptr align 8 %scevgep, i8 0, i64 %265, i1 false), !tbaa !30
  br label %.loopexit

266:                                              ; preds = %.lr.ph269, %.loopexit234
  %indvars.iv324 = phi i64 [ 0, %.lr.ph269 ], [ %indvars.iv.next325, %.loopexit234 ]
  %indvars.iv317 = phi i64 [ 1, %.lr.ph269 ], [ %indvars.iv.next318, %.loopexit234 ]
  %indvars326 = trunc i64 %indvars.iv324 to i32
  %267 = load ptr, ptr %255, align 8, !tbaa !39
  %268 = mul nsw i64 %indvars.iv324, %256
  %269 = mul nsw i32 %49, %indvars326
  %270 = sext i32 %269 to i64
  %271 = getelementptr double, ptr %267, i64 %indvars.iv324
  %272 = getelementptr double, ptr %271, i64 %270
  %273 = load double, ptr %272, align 8, !tbaa !30
  %indvars.iv.next325 = add nuw nsw i64 %indvars.iv324, 1
  %274 = getelementptr double, ptr %267, i64 %indvars.iv.next325
  %275 = getelementptr double, ptr %274, i64 %268
  %276 = load double, ptr %275, align 8, !tbaa !30
  call void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %273, double noundef %276, ptr noundef nonnull align 8 dereferenceable(8) %272, ptr noundef nonnull align 8 dereferenceable(8) %275, ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef nonnull align 8 dereferenceable(8) %8)
  %277 = load double, ptr %8, align 8, !tbaa !30
  %278 = load double, ptr %7, align 8, !tbaa !30
  %279 = fadd double %278, 1.000000e+00
  %280 = fdiv double %277, %279
  %281 = icmp ult i64 %indvars.iv.next325, %257
  br i1 %281, label %.lr.ph267, label %.loopexit234

.lr.ph267:                                        ; preds = %266, %.lr.ph267
  %indvars.iv319 = phi i64 [ %indvars.iv.next320, %.lr.ph267 ], [ %indvars.iv317, %266 ]
  %282 = load double, ptr %7, align 8, !tbaa !30
  %283 = load double, ptr %8, align 8, !tbaa !30
  %284 = load ptr, ptr %255, align 8, !tbaa !39
  %285 = mul nsw i64 %indvars.iv319, %256
  %286 = getelementptr double, ptr %284, i64 %285
  %287 = getelementptr double, ptr %286, i64 %indvars.iv324
  %288 = load double, ptr %287, align 8, !tbaa !30
  %289 = getelementptr double, ptr %284, i64 %285
  %290 = getelementptr double, ptr %289, i64 %indvars.iv.next325
  %291 = load double, ptr %290, align 8, !tbaa !30
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %282, double noundef %283, double noundef %280, double noundef %288, double noundef %291, ptr noundef nonnull align 8 dereferenceable(8) %287, ptr noundef nonnull align 8 dereferenceable(8) %290)
  %indvars.iv.next320 = add nuw nsw i64 %indvars.iv319, 1
  %exitcond323.not = icmp eq i64 %indvars.iv.next320, %wide.trip.count327
  br i1 %exitcond323.not, label %.loopexit234, label %.lr.ph267, !llvm.loop !48

.loopexit:                                        ; preds = %.lr.ph271, %.preheader, %252
  %292 = getelementptr inbounds i8, ptr %0, i64 768
  store i32 %1, ptr %292, align 8, !tbaa !49
  %293 = call noundef i32 @_ZN7qpOASES6Bounds15moveFreeToFixedEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(120) %9, i32 noundef %1, i32 noundef %2)
  %.not221 = icmp eq i32 %293, 0
  br i1 %.not221, label %297, label %294

294:                                              ; preds = %.loopexit
  %295 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %296 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %295, i32 noundef 78, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3478, i32 noundef 1)
  br label %297

297:                                              ; preds = %.loopexit, %294
  %.1 = phi i32 [ %296, %294 ], [ 0, %.loopexit ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #8
  br label %.thread

.thread:                                          ; preds = %39, %39, %44, %45, %297, %33, %18, %11
  %.2 = phi i32 [ %13, %11 ], [ %20, %18 ], [ %35, %33 ], [ %.1, %297 ], [ 79, %39 ], [ 79, %39 ], [ 0, %44 ], [ %47, %45 ]
  ret i32 %.2
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES6Bounds6getNUVEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9Indexlist13getLastNumberEv(ptr noundef nonnull align 8 dereferenceable(36)) local_unnamed_addr #5 align 2

declare noundef i32 @_ZN7qpOASES6Bounds8swapFreeEii(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef, i32 noundef) local_unnamed_addr #1

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #7

attributes #0 = { mustprogress 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 = { nobuiltin allocsize(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 = { nobuiltin nounwind "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 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 = { 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 #7 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #8 = { nounwind }
attributes #9 = { builtin allocsize(0) }
attributes #10 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = !{!9, !16, i64 968}
!9 = !{!"_ZTSN7qpOASES8QProblemE", !10, i64 0, !11, 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}
!10 = !{!"_ZTSN7qpOASES9QProblemBE", !11, i64 8, !13, i64 16, !13, i64 24, !13, i64 32, !13, i64 40, !14, i64 48, !13, i64 168, !11, i64 176, !13, i64 184, !13, i64 192, !18, i64 200, !19, i64 208, !11, i64 212, !11, 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}
!11 = !{!"_ZTSN7qpOASES11BooleanTypeE", !12, i64 0}
!12 = !{!"omnipotent char", !7, i64 0}
!13 = !{!"any pointer", !12, i64 0}
!14 = !{!"_ZTSN7qpOASES6BoundsE", !15, i64 0, !17, i64 40, !17, i64 80}
!15 = !{!"_ZTSN7qpOASES9SubjectToE", !16, i64 8, !13, i64 16, !13, i64 24, !11, i64 32, !11, i64 36}
!16 = !{!"int", !12, 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", !12, i64 0}
!19 = !{!"_ZTSN7qpOASES14QProblemStatusE", !12, i64 0}
!20 = !{!"_ZTSN7qpOASES11HessianTypeE", !12, i64 0}
!21 = !{!"_ZTSN7qpOASES7OptionsE", !22, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !11, i64 24, !16, i64 28, !16, i64 32, !11, 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, !11, i64 200, !11, i64 204, !16, i64 208, !16, i64 212, !16, i64 216}
!22 = !{!"_ZTSN7qpOASES10PrintLevelE", !12, i64 0}
!23 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !12, 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 = !{!9, !13, i64 960}
!28 = !{!13, !13, i64 0}
!29 = !{!16, !16, i64 0}
!30 = !{!18, !18, i64 0}
!31 = distinct !{!31, !32, !33, !34}
!32 = !{!"llvm.loop.mustprogress"}
!33 = !{!"llvm.loop.isvectorized", i32 1}
!34 = !{!"llvm.loop.unroll.runtime.disable"}
!35 = distinct !{!35, !36}
!36 = !{!"llvm.loop.unroll.disable"}
!37 = distinct !{!37, !32, !33}
!38 = distinct !{!38, !32}
!39 = !{!10, !13, i64 168}
!40 = distinct !{!40, !32}
!41 = distinct !{!41, !32}
!42 = distinct !{!42, !32}
!43 = !{!9, !13, i64 952}
!44 = distinct !{!44, !32}
!45 = distinct !{!45, !32}
!46 = distinct !{!46, !32}
!47 = distinct !{!47, !32}
!48 = distinct !{!48, !32}
!49 = !{!10, !16, i64 768}


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