; 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

; 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 uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getAbsEd(double noundef) #6

; 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 @_ZNK7qpOASES9QProblemB6getNFXEv(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 ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) #6 align 2

declare noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_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 double @llvm.fmuladd.f64(double, double, double) #2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem21addConstraint_checkLIEi(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %1) unnamed_addr #7 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca i32, align 4
  %5 = alloca i32, align 4
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca 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 ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca ptr, align 8
  %21 = alloca ptr, align 8
  %22 = alloca ptr, align 8
  %23 = alloca ptr, align 8
  %24 = alloca i32, align 4
  %25 = alloca ptr, align 8
  %26 = alloca i32, align 4
  %27 = alloca double, align 8
  %28 = alloca double, align 8
  %29 = alloca double, align 8
  %30 = alloca double, align 8
  %31 = alloca double, align 8
  %32 = alloca double, align 8
  %33 = alloca ptr, align 8
  %34 = alloca double, align 8
  %35 = alloca double, align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  store i32 %1, ptr %4, align 4, !tbaa !9
  %36 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #8
  store i32 88, ptr %5, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #8
  %37 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %36)
  store i32 %37, ptr %9, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #8
  %38 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %36)
  store i32 %38, ptr %10, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #8
  %39 = load ptr, ptr %36, align 8, !tbaa !13
  %40 = getelementptr inbounds ptr, ptr %39, i64 7
  %41 = load ptr, ptr %40, align 8
  %42 = call noundef i32 %41(ptr noundef nonnull align 8 dereferenceable(1064) %36)
  store i32 %42, ptr %11, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #8
  %43 = call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %36)
  store i32 %43, ptr %12, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #8
  %44 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %36)
  store i32 %44, ptr %13, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #8
  %45 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %36)
  store i32 %45, ptr %14, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #8
  %46 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %36, i32 0, i32 6
  %47 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %46)
  %48 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %47, ptr noundef %15)
  %49 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %36, i32 0, i32 23
  %50 = getelementptr inbounds %"class.qpOASES::Options", ptr %49, i32 0, i32 5
  %51 = load i32, ptr %50, align 4, !tbaa !15
  %52 = icmp ne i32 %51, 0
  br i1 %52, label %53, label %270

53:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #8
  %54 = load i32, ptr %9, align 4, !tbaa !9
  %55 = sext i32 %54 to i64
  %56 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %55, i64 8)
  %57 = extractvalue { i64, i1 } %56, 1
  %58 = extractvalue { i64, i1 } %56, 0
  %59 = select i1 %57, i64 -1, i64 %58
  %60 = call noalias noundef nonnull ptr @_Znam(i64 noundef %59) #9
  store ptr %60, ptr %19, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #8
  %61 = load i32, ptr %14, align 4, !tbaa !9
  %62 = sext i32 %61 to i64
  %63 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %62, i64 8)
  %64 = extractvalue { i64, i1 } %63, 1
  %65 = extractvalue { i64, i1 } %63, 0
  %66 = select i1 %64, i64 -1, i64 %65
  %67 = call noalias noundef nonnull ptr @_Znam(i64 noundef %66) #9
  store ptr %67, ptr %20, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #8
  %68 = load i32, ptr %10, align 4, !tbaa !9
  %69 = sext i32 %68 to i64
  %70 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %69, i64 8)
  %71 = extractvalue { i64, i1 } %70, 1
  %72 = extractvalue { i64, i1 } %70, 0
  %73 = select i1 %71, i64 -1, i64 %72
  %74 = call noalias noundef nonnull ptr @_Znam(i64 noundef %73) #9
  store ptr %74, ptr %21, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #8
  %75 = load i32, ptr %13, align 4, !tbaa !9
  %76 = sext i32 %75 to i64
  %77 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %76, i64 8)
  %78 = extractvalue { i64, i1 } %77, 1
  %79 = extractvalue { i64, i1 } %77, 0
  %80 = select i1 %78, i64 -1, i64 %79
  %81 = call noalias noundef nonnull ptr @_Znam(i64 noundef %80) #9
  store ptr %81, ptr %22, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #8
  %82 = load i32, ptr %14, align 4, !tbaa !9
  %83 = sext i32 %82 to i64
  %84 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %83, i64 8)
  %85 = extractvalue { i64, i1 } %84, 1
  %86 = extractvalue { i64, i1 } %84, 0
  %87 = select i1 %85, i64 -1, i64 %86
  %88 = call noalias noundef nonnull ptr @_Znam(i64 noundef %87) #9
  store ptr %88, ptr %23, align 8, !tbaa !5
  %89 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %36, i32 0, i32 6
  %90 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %89)
  %91 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %90, ptr noundef %16)
  %92 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %36, i32 0, i32 5
  %93 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %92)
  %94 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %93, ptr noundef %17)
  %95 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %36, i32 0, i32 5
  %96 = call noundef ptr @_ZN7qpOASES11Constraints11getInactiveEv(ptr noundef nonnull align 8 dereferenceable(120) %95)
  %97 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %96, ptr noundef %18)
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #8
  %98 = load i32, ptr %12, align 4, !tbaa !9
  %99 = load i32, ptr %9, align 4, !tbaa !9
  %100 = icmp sgt i32 %98, %99
  br i1 %100, label %101, label %103

101:                                              ; preds = %53
  %102 = load i32, ptr %12, align 4, !tbaa !9
  br label %105

103:                                              ; preds = %53
  %104 = load i32, ptr %9, align 4, !tbaa !9
  br label %105

105:                                              ; preds = %103, %101
  %106 = phi i32 [ %102, %101 ], [ %104, %103 ]
  store i32 %106, ptr %24, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #8
  %107 = load i32, ptr %24, align 4, !tbaa !9
  %108 = sext i32 %107 to i64
  %109 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %108, i64 8)
  %110 = extractvalue { i64, i1 } %109, 1
  %111 = extractvalue { i64, i1 } %109, 0
  %112 = select i1 %110, i64 -1, i64 %111
  %113 = call noalias noundef nonnull ptr @_Znam(i64 noundef %112) #9
  store ptr %113, ptr %25, align 8, !tbaa !5
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %114

114:                                              ; preds = %123, %105
  %115 = load i32, ptr %8, align 4, !tbaa !9
  %116 = load i32, ptr %24, align 4, !tbaa !9
  %117 = icmp slt i32 %115, %116
  br i1 %117, label %118, label %126

118:                                              ; preds = %114
  %119 = load ptr, ptr %25, align 8, !tbaa !5
  %120 = load i32, ptr %8, align 4, !tbaa !9
  %121 = sext i32 %120 to i64
  %122 = getelementptr inbounds double, ptr %119, i64 %121
  store double 0.000000e+00, ptr %122, align 8, !tbaa !30
  br label %123

123:                                              ; preds = %118
  %124 = load i32, ptr %8, align 4, !tbaa !9
  %125 = add nsw i32 %124, 1
  store i32 %125, ptr %8, align 4, !tbaa !9
  br label %114, !llvm.loop !31

126:                                              ; preds = %114
  %127 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %36, i32 0, i32 2
  %128 = load ptr, ptr %127, align 8, !tbaa !33
  %129 = load i32, ptr %4, align 4, !tbaa !9
  %130 = load ptr, ptr %19, align 8, !tbaa !5
  %131 = load ptr, ptr %128, align 8, !tbaa !13
  %132 = getelementptr inbounds ptr, ptr %131, i64 9
  %133 = load ptr, ptr %132, align 8
  %134 = call noundef i32 %133(ptr noundef nonnull align 8 dereferenceable(12) %128, i32 noundef %129, ptr noundef null, double noundef 1.000000e+00, ptr noundef %130)
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #8
  %135 = load ptr, ptr %19, align 8, !tbaa !5
  %136 = load ptr, ptr %25, align 8, !tbaa !5
  %137 = load ptr, ptr %25, align 8, !tbaa !5
  %138 = load ptr, ptr %25, align 8, !tbaa !5
  %139 = load ptr, ptr %25, align 8, !tbaa !5
  %140 = load ptr, ptr %20, align 8, !tbaa !5
  %141 = load ptr, ptr %21, align 8, !tbaa !5
  %142 = load ptr, ptr %22, align 8, !tbaa !5
  %143 = load ptr, ptr %23, align 8, !tbaa !5
  %144 = load ptr, ptr %36, align 8, !tbaa !13
  %145 = getelementptr inbounds ptr, ptr %144, i64 34
  %146 = load ptr, ptr %145, align 8
  %147 = call noundef i32 %146(ptr noundef nonnull align 8 dereferenceable(1064) %36, ptr noundef %135, ptr noundef %136, ptr noundef %137, ptr noundef %138, ptr noundef %139, i32 noundef 0, i32 noundef 0, ptr noundef %140, ptr noundef %141, ptr noundef %142, ptr noundef %143)
  store i32 %147, ptr %26, align 4, !tbaa !11
  %148 = load i32, ptr %26, align 4, !tbaa !11
  %149 = icmp ne i32 %148, 0
  br i1 %149, label %150, label %152

150:                                              ; preds = %126
  %151 = load i32, ptr %26, align 4, !tbaa !11
  store i32 %151, ptr %5, align 4, !tbaa !11
  br label %152

152:                                              ; preds = %150, %126
  %153 = load ptr, ptr %25, align 8, !tbaa !5
  %154 = icmp eq ptr %153, null
  br i1 %154, label %156, label %155

155:                                              ; preds = %152
  call void @_ZdaPv(ptr noundef %153) #10
  br label %156

156:                                              ; preds = %155, %152
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #8
  store double 0.000000e+00, ptr %27, align 8, !tbaa !30
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %157

157:                                              ; preds = %174, %156
  %158 = load i32, ptr %8, align 4, !tbaa !9
  %159 = load i32, ptr %13, align 4, !tbaa !9
  %160 = icmp slt i32 %158, %159
  br i1 %160, label %161, label %177

161:                                              ; preds = %157
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #8
  %162 = load ptr, ptr %22, align 8, !tbaa !5
  %163 = load i32, ptr %8, align 4, !tbaa !9
  %164 = sext i32 %163 to i64
  %165 = getelementptr inbounds double, ptr %162, i64 %164
  %166 = load double, ptr %165, align 8, !tbaa !30
  %167 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %166)
  store double %167, ptr %28, align 8, !tbaa !30
  %168 = load double, ptr %27, align 8, !tbaa !30
  %169 = load double, ptr %28, align 8, !tbaa !30
  %170 = fcmp olt double %168, %169
  br i1 %170, label %171, label %173

171:                                              ; preds = %161
  %172 = load double, ptr %28, align 8, !tbaa !30
  store double %172, ptr %27, align 8, !tbaa !30
  br label %173

173:                                              ; preds = %171, %161
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #8
  br label %174

174:                                              ; preds = %173
  %175 = load i32, ptr %8, align 4, !tbaa !9
  %176 = add nsw i32 %175, 1
  store i32 %176, ptr %8, align 4, !tbaa !9
  br label %157, !llvm.loop !35

177:                                              ; preds = %157
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %178

178:                                              ; preds = %195, %177
  %179 = load i32, ptr %8, align 4, !tbaa !9
  %180 = load i32, ptr %14, align 4, !tbaa !9
  %181 = icmp slt i32 %179, %180
  br i1 %181, label %182, label %198

182:                                              ; preds = %178
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #8
  %183 = load ptr, ptr %23, align 8, !tbaa !5
  %184 = load i32, ptr %8, align 4, !tbaa !9
  %185 = sext i32 %184 to i64
  %186 = getelementptr inbounds double, ptr %183, i64 %185
  %187 = load double, ptr %186, align 8, !tbaa !30
  %188 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %187)
  store double %188, ptr %29, align 8, !tbaa !30
  %189 = load double, ptr %27, align 8, !tbaa !30
  %190 = load double, ptr %29, align 8, !tbaa !30
  %191 = fcmp olt double %189, %190
  br i1 %191, label %192, label %194

192:                                              ; preds = %182
  %193 = load double, ptr %29, align 8, !tbaa !30
  store double %193, ptr %27, align 8, !tbaa !30
  br label %194

194:                                              ; preds = %192, %182
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #8
  br label %195

195:                                              ; preds = %194
  %196 = load i32, ptr %8, align 4, !tbaa !9
  %197 = add nsw i32 %196, 1
  store i32 %197, ptr %8, align 4, !tbaa !9
  br label %178, !llvm.loop !36

198:                                              ; preds = %178
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #8
  store double 0.000000e+00, ptr %30, align 8, !tbaa !30
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %199

199:                                              ; preds = %216, %198
  %200 = load i32, ptr %8, align 4, !tbaa !9
  %201 = load i32, ptr %14, align 4, !tbaa !9
  %202 = icmp slt i32 %200, %201
  br i1 %202, label %203, label %219

203:                                              ; preds = %199
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #8
  %204 = load ptr, ptr %20, align 8, !tbaa !5
  %205 = load i32, ptr %8, align 4, !tbaa !9
  %206 = sext i32 %205 to i64
  %207 = getelementptr inbounds double, ptr %204, i64 %206
  %208 = load double, ptr %207, align 8, !tbaa !30
  %209 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %208)
  store double %209, ptr %31, align 8, !tbaa !30
  %210 = load double, ptr %30, align 8, !tbaa !30
  %211 = load double, ptr %31, align 8, !tbaa !30
  %212 = fcmp olt double %210, %211
  br i1 %212, label %213, label %215

213:                                              ; preds = %203
  %214 = load double, ptr %31, align 8, !tbaa !30
  store double %214, ptr %30, align 8, !tbaa !30
  br label %215

215:                                              ; preds = %213, %203
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #8
  br label %216

216:                                              ; preds = %215
  %217 = load i32, ptr %8, align 4, !tbaa !9
  %218 = add nsw i32 %217, 1
  store i32 %218, ptr %8, align 4, !tbaa !9
  br label %199, !llvm.loop !37

219:                                              ; preds = %199
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %220

220:                                              ; preds = %237, %219
  %221 = load i32, ptr %8, align 4, !tbaa !9
  %222 = load i32, ptr %10, align 4, !tbaa !9
  %223 = icmp slt i32 %221, %222
  br i1 %223, label %224, label %240

224:                                              ; preds = %220
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #8
  %225 = load ptr, ptr %21, align 8, !tbaa !5
  %226 = load i32, ptr %8, align 4, !tbaa !9
  %227 = sext i32 %226 to i64
  %228 = getelementptr inbounds double, ptr %225, i64 %227
  %229 = load double, ptr %228, align 8, !tbaa !30
  %230 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %229)
  store double %230, ptr %32, align 8, !tbaa !30
  %231 = load double, ptr %30, align 8, !tbaa !30
  %232 = load double, ptr %32, align 8, !tbaa !30
  %233 = fcmp olt double %231, %232
  br i1 %233, label %234, label %236

234:                                              ; preds = %224
  %235 = load double, ptr %32, align 8, !tbaa !30
  store double %235, ptr %30, align 8, !tbaa !30
  br label %236

236:                                              ; preds = %234, %224
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #8
  br label %237

237:                                              ; preds = %236
  %238 = load i32, ptr %8, align 4, !tbaa !9
  %239 = add nsw i32 %238, 1
  store i32 %239, ptr %8, align 4, !tbaa !9
  br label %220, !llvm.loop !38

240:                                              ; preds = %220
  %241 = load double, ptr %30, align 8, !tbaa !30
  %242 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %36, i32 0, i32 23
  %243 = getelementptr inbounds %"class.qpOASES::Options", ptr %242, i32 0, i32 30
  %244 = load double, ptr %243, align 8, !tbaa !39
  %245 = load double, ptr %27, align 8, !tbaa !30
  %246 = fmul double %244, %245
  %247 = fcmp ogt double %241, %246
  br i1 %247, label %248, label %249

248:                                              ; preds = %240
  store i32 89, ptr %5, align 4, !tbaa !11
  br label %249

249:                                              ; preds = %248, %240
  %250 = load ptr, ptr %23, align 8, !tbaa !5
  %251 = icmp eq ptr %250, null
  br i1 %251, label %253, label %252

252:                                              ; preds = %249
  call void @_ZdaPv(ptr noundef %250) #10
  br label %253

253:                                              ; preds = %252, %249
  %254 = load ptr, ptr %22, align 8, !tbaa !5
  %255 = icmp eq ptr %254, null
  br i1 %255, label %257, label %256

256:                                              ; preds = %253
  call void @_ZdaPv(ptr noundef %254) #10
  br label %257

257:                                              ; preds = %256, %253
  %258 = load ptr, ptr %21, align 8, !tbaa !5
  %259 = icmp eq ptr %258, null
  br i1 %259, label %261, label %260

260:                                              ; preds = %257
  call void @_ZdaPv(ptr noundef %258) #10
  br label %261

261:                                              ; preds = %260, %257
  %262 = load ptr, ptr %20, align 8, !tbaa !5
  %263 = icmp eq ptr %262, null
  br i1 %263, label %265, label %264

264:                                              ; preds = %261
  call void @_ZdaPv(ptr noundef %262) #10
  br label %265

265:                                              ; preds = %264, %261
  %266 = load ptr, ptr %19, align 8, !tbaa !5
  %267 = icmp eq ptr %266, null
  br i1 %267, label %269, label %268

268:                                              ; preds = %265
  call void @_ZdaPv(ptr noundef %266) #10
  br label %269

269:                                              ; preds = %268, %265
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #8
  br label %363

270:                                              ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #8
  %271 = load i32, ptr %10, align 4, !tbaa !9
  %272 = sext i32 %271 to i64
  %273 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %272, i64 8)
  %274 = extractvalue { i64, i1 } %273, 1
  %275 = extractvalue { i64, i1 } %273, 0
  %276 = select i1 %274, i64 -1, i64 %275
  %277 = call noalias noundef nonnull ptr @_Znam(i64 noundef %276) #9
  store ptr %277, ptr %33, align 8, !tbaa !5
  %278 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %36, i32 0, i32 2
  %279 = load ptr, ptr %278, align 8, !tbaa !33
  %280 = load i32, ptr %4, align 4, !tbaa !9
  %281 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %36, i32 0, i32 6
  %282 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %281)
  %283 = load ptr, ptr %33, align 8, !tbaa !5
  %284 = load ptr, ptr %279, align 8, !tbaa !13
  %285 = getelementptr inbounds ptr, ptr %284, i64 9
  %286 = load ptr, ptr %285, align 8
  %287 = call noundef i32 %286(ptr noundef nonnull align 8 dereferenceable(12) %279, i32 noundef %280, ptr noundef %282, double noundef 1.000000e+00, ptr noundef %283)
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #8
  store double 0.000000e+00, ptr %35, align 8, !tbaa !30
  store i32 0, ptr %6, align 4, !tbaa !9
  br label %288

288:                                              ; preds = %305, %270
  %289 = load i32, ptr %6, align 4, !tbaa !9
  %290 = load i32, ptr %10, align 4, !tbaa !9
  %291 = icmp slt i32 %289, %290
  br i1 %291, label %292, label %308

292:                                              ; preds = %288
  %293 = load ptr, ptr %33, align 8, !tbaa !5
  %294 = load i32, ptr %6, align 4, !tbaa !9
  %295 = sext i32 %294 to i64
  %296 = getelementptr inbounds double, ptr %293, i64 %295
  %297 = load double, ptr %296, align 8, !tbaa !30
  %298 = load ptr, ptr %33, align 8, !tbaa !5
  %299 = load i32, ptr %6, align 4, !tbaa !9
  %300 = sext i32 %299 to i64
  %301 = getelementptr inbounds double, ptr %298, i64 %300
  %302 = load double, ptr %301, align 8, !tbaa !30
  %303 = load double, ptr %35, align 8, !tbaa !30
  %304 = call double @llvm.fmuladd.f64(double %297, double %302, double %303)
  store double %304, ptr %35, align 8, !tbaa !30
  br label %305

305:                                              ; preds = %292
  %306 = load i32, ptr %6, align 4, !tbaa !9
  %307 = add nsw i32 %306, 1
  store i32 %307, ptr %6, align 4, !tbaa !9
  br label %288, !llvm.loop !40

308:                                              ; preds = %288
  store i32 0, ptr %7, align 4, !tbaa !9
  br label %309

309:                                              ; preds = %355, %308
  %310 = load i32, ptr %7, align 4, !tbaa !9
  %311 = load i32, ptr %11, align 4, !tbaa !9
  %312 = icmp slt i32 %310, %311
  br i1 %312, label %313, label %358

313:                                              ; preds = %309
  store double 0.000000e+00, ptr %34, align 8, !tbaa !30
  store i32 0, ptr %6, align 4, !tbaa !9
  br label %314

314:                                              ; preds = %341, %313
  %315 = load i32, ptr %6, align 4, !tbaa !9
  %316 = load i32, ptr %10, align 4, !tbaa !9
  %317 = icmp slt i32 %315, %316
  br i1 %317, label %318, label %344

318:                                              ; preds = %314
  %319 = load ptr, ptr %15, align 8, !tbaa !5
  %320 = load i32, ptr %6, align 4, !tbaa !9
  %321 = sext i32 %320 to i64
  %322 = getelementptr inbounds i32, ptr %319, i64 %321
  %323 = load i32, ptr %322, align 4, !tbaa !9
  store i32 %323, ptr %8, align 4, !tbaa !9
  %324 = load ptr, ptr %33, align 8, !tbaa !5
  %325 = load i32, ptr %6, align 4, !tbaa !9
  %326 = sext i32 %325 to i64
  %327 = getelementptr inbounds double, ptr %324, i64 %326
  %328 = load double, ptr %327, align 8, !tbaa !30
  %329 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %36, i32 0, i32 7
  %330 = load ptr, ptr %329, align 8, !tbaa !41
  %331 = load i32, ptr %8, align 4, !tbaa !9
  %332 = load i32, ptr %9, align 4, !tbaa !9
  %333 = load i32, ptr %7, align 4, !tbaa !9
  %334 = mul nsw i32 %332, %333
  %335 = add nsw i32 %331, %334
  %336 = sext i32 %335 to i64
  %337 = getelementptr inbounds double, ptr %330, i64 %336
  %338 = load double, ptr %337, align 8, !tbaa !30
  %339 = load double, ptr %34, align 8, !tbaa !30
  %340 = call double @llvm.fmuladd.f64(double %328, double %338, double %339)
  store double %340, ptr %34, align 8, !tbaa !30
  br label %341

341:                                              ; preds = %318
  %342 = load i32, ptr %6, align 4, !tbaa !9
  %343 = add nsw i32 %342, 1
  store i32 %343, ptr %6, align 4, !tbaa !9
  br label %314, !llvm.loop !42

344:                                              ; preds = %314
  %345 = load double, ptr %34, align 8, !tbaa !30
  %346 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %345)
  %347 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %36, i32 0, i32 23
  %348 = getelementptr inbounds %"class.qpOASES::Options", ptr %347, i32 0, i32 30
  %349 = load double, ptr %348, align 8, !tbaa !39
  %350 = load double, ptr %35, align 8, !tbaa !30
  %351 = fmul double %349, %350
  %352 = fcmp ogt double %346, %351
  br i1 %352, label %353, label %354

353:                                              ; preds = %344
  store i32 89, ptr %5, align 4, !tbaa !11
  br label %358

354:                                              ; preds = %344
  br label %355

355:                                              ; preds = %354
  %356 = load i32, ptr %7, align 4, !tbaa !9
  %357 = add nsw i32 %356, 1
  store i32 %357, ptr %7, align 4, !tbaa !9
  br label %309, !llvm.loop !43

358:                                              ; preds = %353, %309
  %359 = load ptr, ptr %33, align 8, !tbaa !5
  %360 = icmp eq ptr %359, null
  br i1 %360, label %362, label %361

361:                                              ; preds = %358
  call void @_ZdaPv(ptr noundef %359) #10
  br label %362

362:                                              ; preds = %361, %358
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #8
  br label %363

363:                                              ; preds = %362, %269
  %364 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %365 = load i32, ptr %5, align 4, !tbaa !11
  %366 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %364, i32 noundef %365, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3110, i32 noundef 1)
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #8
  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
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #8
  ret i32 %366
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints11getInactiveEv(ptr noundef nonnull align 8 dereferenceable(120)) #6 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { 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 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"vtable pointer", !8, i64 0}
!15 = !{!16, !17, i64 292}
!16 = !{!"_ZTSN7qpOASES9QProblemBE", !17, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !18, i64 48, !6, i64 168, !17, i64 176, !6, i64 184, !6, i64 192, !21, i64 200, !22, i64 208, !17, i64 212, !17, i64 216, !23, i64 220, !21, i64 224, !10, i64 232, !6, i64 240, !21, i64 248, !21, i64 256, !10, i64 264, !24, i64 272, !27, i64 496, !29, i64 768}
!17 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!18 = !{!"_ZTSN7qpOASES6BoundsE", !19, i64 0, !20, i64 40, !20, i64 80}
!19 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !17, i64 32, !17, i64 36}
!20 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!21 = !{!"double", !7, i64 0}
!22 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!24 = !{!"_ZTSN7qpOASES7OptionsE", !25, i64 0, !17, i64 4, !17, i64 8, !17, i64 12, !17, i64 16, !17, i64 20, !17, i64 24, !10, i64 28, !10, i64 32, !17, i64 36, !21, i64 40, !21, i64 48, !21, i64 56, !21, i64 64, !21, i64 72, !21, i64 80, !21, i64 88, !21, i64 96, !21, i64 104, !21, i64 112, !21, i64 120, !26, i64 128, !21, i64 136, !10, i64 144, !21, i64 152, !10, i64 160, !21, i64 168, !21, i64 176, !21, i64 184, !21, i64 192, !17, i64 200, !17, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!25 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!27 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !18, i64 8, !28, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!28 = !{!"_ZTSN7qpOASES11ConstraintsE", !19, i64 0, !20, i64 40, !20, i64 80}
!29 = !{!"_ZTSN7qpOASES13TabularOutputE", !10, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28}
!30 = !{!21, !21, i64 0}
!31 = distinct !{!31, !32}
!32 = !{!"llvm.loop.mustprogress"}
!33 = !{!34, !6, i64 808}
!34 = !{!"_ZTSN7qpOASES8QProblemE", !16, i64 0, !17, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !28, i64 832, !6, i64 952, !6, i64 960, !10, i64 968, !6, i64 976, !6, i64 984, !6, i64 992, !6, i64 1000, !6, i64 1008, !6, i64 1016, !6, i64 1024, !6, i64 1032, !6, i64 1040, !6, i64 1048, !6, i64 1056}
!35 = distinct !{!35, !32}
!36 = distinct !{!36, !32}
!37 = distinct !{!37, !32}
!38 = distinct !{!38, !32}
!39 = !{!16, !21, i64 448}
!40 = distinct !{!40, !32}
!41 = !{!34, !6, i64 960}
!42 = distinct !{!42, !32}
!43 = distinct !{!43, !32}


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

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

; 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

; 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 uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getAbsEd(double noundef) local_unnamed_addr #5

; 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 @_ZNK7qpOASES9QProblemB6getNFXEv(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 ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #5 align 2

declare noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_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: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #6

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem21addConstraint_checkLIEi(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %1) unnamed_addr #7 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %8 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %9 = load ptr, ptr %0, align 8, !tbaa !5
  %10 = getelementptr inbounds i8, ptr %9, i64 56
  %11 = load ptr, ptr %10, align 8
  %12 = tail call noundef i32 %11(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %13 = tail call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %14 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %15 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #10
  %16 = getelementptr inbounds i8, ptr %0, i64 48
  %17 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %16)
  %18 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %17, ptr noundef nonnull %3)
  %19 = getelementptr inbounds i8, ptr %0, i64 292
  %20 = load i32, ptr %19, align 4, !tbaa !8
  %.not = icmp eq i32 %20, 0
  br i1 %.not, label %90, label %21

21:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #10
  %22 = zext nneg i32 %7 to i64
  %23 = icmp slt i32 %7, 0
  %24 = shl nuw nsw i64 %22, 3
  %25 = select i1 %23, i64 -1, i64 %24
  %26 = call noalias noundef nonnull ptr @_Znam(i64 noundef %25) #11
  %27 = zext i32 %15 to i64
  %28 = icmp slt i32 %15, 0
  %29 = shl nuw nsw i64 %27, 3
  %30 = select i1 %28, i64 -1, i64 %29
  %31 = call noalias noundef nonnull ptr @_Znam(i64 noundef %30) #11
  %32 = zext i32 %8 to i64
  %33 = icmp slt i32 %8, 0
  %34 = shl nuw nsw i64 %32, 3
  %35 = select i1 %33, i64 -1, i64 %34
  %36 = call noalias noundef nonnull ptr @_Znam(i64 noundef %35) #11
  %37 = zext i32 %14 to i64
  %38 = icmp slt i32 %14, 0
  %39 = shl nuw nsw i64 %37, 3
  %40 = select i1 %38, i64 -1, i64 %39
  %41 = call noalias noundef nonnull ptr @_Znam(i64 noundef %40) #11
  %42 = call noalias noundef nonnull ptr @_Znam(i64 noundef %30) #11
  %43 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %16)
  %44 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %43, ptr noundef nonnull %4)
  %45 = getelementptr inbounds i8, ptr %0, i64 832
  %46 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %45)
  %47 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %46, ptr noundef nonnull %5)
  %48 = call noundef ptr @_ZN7qpOASES11Constraints11getInactiveEv(ptr noundef nonnull align 8 dereferenceable(120) %45)
  %49 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %48, ptr noundef nonnull %6)
  %50 = call i32 @llvm.smax.i32(i32 %13, i32 %7)
  %51 = zext i32 %50 to i64
  %52 = icmp slt i32 %50, 0
  %53 = shl nuw nsw i64 %51, 3
  %54 = select i1 %52, i64 -1, i64 %53
  %55 = call noalias noundef nonnull ptr @_Znam(i64 noundef %54) #11
  %56 = icmp sgt i32 %50, 0
  br i1 %56, label %.lr.ph.preheader, label %._crit_edge

.lr.ph.preheader:                                 ; preds = %21
  call void @llvm.memset.p0.i64(ptr nonnull align 8 %55, i8 0, i64 %53, i1 false), !tbaa !26
  br label %._crit_edge

._crit_edge:                                      ; preds = %.lr.ph.preheader, %21
  %57 = getelementptr inbounds i8, ptr %0, i64 808
  %58 = load ptr, ptr %57, align 8, !tbaa !27
  %59 = load ptr, ptr %58, align 8, !tbaa !5
  %60 = getelementptr inbounds i8, ptr %59, i64 72
  %61 = load ptr, ptr %60, align 8
  %62 = call noundef i32 %61(ptr noundef nonnull align 8 dereferenceable(12) %58, i32 noundef %1, ptr noundef null, double noundef 1.000000e+00, ptr noundef nonnull %26)
  %63 = load ptr, ptr %0, align 8, !tbaa !5
  %64 = getelementptr inbounds i8, ptr %63, i64 272
  %65 = load ptr, ptr %64, align 8
  %66 = call noundef i32 %65(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef nonnull %26, ptr noundef nonnull %55, ptr noundef nonnull %55, ptr noundef nonnull %55, ptr noundef nonnull %55, i32 noundef 0, i32 noundef 0, ptr noundef nonnull %31, ptr noundef nonnull %36, ptr noundef nonnull %41, ptr noundef nonnull %42)
  %.not120 = icmp eq i32 %66, 0
  %spec.select = select i1 %.not120, i32 88, i32 %66
  call void @_ZdaPv(ptr noundef nonnull %55) #12
  %67 = icmp sgt i32 %14, 0
  br i1 %67, label %.lr.ph129, label %.preheader124

.preheader124:                                    ; preds = %.lr.ph129, %._crit_edge
  %.0109.lcssa = phi double [ 0.000000e+00, %._crit_edge ], [ %.1110, %.lr.ph129 ]
  %68 = icmp sgt i32 %15, 0
  br i1 %68, label %.lr.ph132, label %.preheader122

.lr.ph129:                                        ; preds = %._crit_edge, %.lr.ph129
  %indvars.iv = phi i64 [ %indvars.iv.next, %.lr.ph129 ], [ 0, %._crit_edge ]
  %.0109126 = phi double [ %.1110, %.lr.ph129 ], [ 0.000000e+00, %._crit_edge ]
  %69 = getelementptr inbounds double, ptr %41, i64 %indvars.iv
  %70 = load double, ptr %69, align 8, !tbaa !26
  %71 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %70)
  %72 = fcmp olt double %.0109126, %71
  %.1110 = select i1 %72, double %71, double %.0109126
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %37
  br i1 %exitcond.not, label %.preheader124, label %.lr.ph129, !llvm.loop !29

.preheader123:                                    ; preds = %.lr.ph132
  br i1 %68, label %.lr.ph136, label %.preheader122

.lr.ph132:                                        ; preds = %.preheader124, %.lr.ph132
  %indvars.iv164 = phi i64 [ %indvars.iv.next165, %.lr.ph132 ], [ 0, %.preheader124 ]
  %.2111130 = phi double [ %.3112, %.lr.ph132 ], [ %.0109.lcssa, %.preheader124 ]
  %73 = getelementptr inbounds double, ptr %42, i64 %indvars.iv164
  %74 = load double, ptr %73, align 8, !tbaa !26
  %75 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %74)
  %76 = fcmp olt double %.2111130, %75
  %.3112 = select i1 %76, double %75, double %.2111130
  %indvars.iv.next165 = add nuw nsw i64 %indvars.iv164, 1
  %exitcond168.not = icmp eq i64 %indvars.iv.next165, %27
  br i1 %exitcond168.not, label %.preheader123, label %.lr.ph132, !llvm.loop !31

.preheader122:                                    ; preds = %.lr.ph136, %.preheader124, %.preheader123
  %.2111.lcssa192 = phi double [ %.3112, %.preheader123 ], [ %.0109.lcssa, %.preheader124 ], [ %.3112, %.lr.ph136 ]
  %.0101.lcssa = phi double [ 0.000000e+00, %.preheader123 ], [ 0.000000e+00, %.preheader124 ], [ %.1102, %.lr.ph136 ]
  %77 = icmp sgt i32 %8, 0
  br i1 %77, label %.lr.ph140, label %._crit_edge141

.lr.ph136:                                        ; preds = %.preheader123, %.lr.ph136
  %indvars.iv169 = phi i64 [ %indvars.iv.next170, %.lr.ph136 ], [ 0, %.preheader123 ]
  %.0101135 = phi double [ %.1102, %.lr.ph136 ], [ 0.000000e+00, %.preheader123 ]
  %78 = getelementptr inbounds double, ptr %31, i64 %indvars.iv169
  %79 = load double, ptr %78, align 8, !tbaa !26
  %80 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %79)
  %81 = fcmp olt double %.0101135, %80
  %.1102 = select i1 %81, double %80, double %.0101135
  %indvars.iv.next170 = add nuw nsw i64 %indvars.iv169, 1
  %exitcond173.not = icmp eq i64 %indvars.iv.next170, %27
  br i1 %exitcond173.not, label %.preheader122, label %.lr.ph136, !llvm.loop !32

.lr.ph140:                                        ; preds = %.preheader122, %.lr.ph140
  %indvars.iv174 = phi i64 [ %indvars.iv.next175, %.lr.ph140 ], [ 0, %.preheader122 ]
  %.2103139 = phi double [ %.3104, %.lr.ph140 ], [ %.0101.lcssa, %.preheader122 ]
  %82 = getelementptr inbounds double, ptr %36, i64 %indvars.iv174
  %83 = load double, ptr %82, align 8, !tbaa !26
  %84 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %83)
  %85 = fcmp olt double %.2103139, %84
  %.3104 = select i1 %85, double %84, double %.2103139
  %indvars.iv.next175 = add nuw nsw i64 %indvars.iv174, 1
  %exitcond178.not = icmp eq i64 %indvars.iv.next175, %32
  br i1 %exitcond178.not, label %._crit_edge141, label %.lr.ph140, !llvm.loop !33

._crit_edge141:                                   ; preds = %.lr.ph140, %.preheader122
  %.2103.lcssa = phi double [ %.0101.lcssa, %.preheader122 ], [ %.3104, %.lr.ph140 ]
  %86 = getelementptr inbounds i8, ptr %0, i64 448
  %87 = load double, ptr %86, align 8, !tbaa !34
  %88 = fmul double %.2111.lcssa192, %87
  %89 = fcmp ogt double %.2103.lcssa, %88
  %.1 = select i1 %89, i32 89, i32 %spec.select
  call void @_ZdaPv(ptr noundef nonnull %42) #12
  call void @_ZdaPv(ptr noundef nonnull %41) #12
  call void @_ZdaPv(ptr noundef nonnull %36) #12
  call void @_ZdaPv(ptr noundef nonnull %31) #12
  call void @_ZdaPv(ptr noundef nonnull %26) #12
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #10
  br label %169

90:                                               ; preds = %2
  %91 = zext i32 %8 to i64
  %92 = icmp slt i32 %8, 0
  %93 = shl nuw nsw i64 %91, 3
  %94 = select i1 %92, i64 -1, i64 %93
  %95 = call noalias noundef nonnull ptr @_Znam(i64 noundef %94) #11
  %96 = getelementptr inbounds i8, ptr %0, i64 808
  %97 = load ptr, ptr %96, align 8, !tbaa !27
  %98 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %16)
  %99 = load ptr, ptr %97, align 8, !tbaa !5
  %100 = getelementptr inbounds i8, ptr %99, i64 72
  %101 = load ptr, ptr %100, align 8
  %102 = call noundef i32 %101(ptr noundef nonnull align 8 dereferenceable(12) %97, i32 noundef %1, ptr noundef %98, double noundef 1.000000e+00, ptr noundef nonnull %95)
  %103 = icmp sgt i32 %8, 0
  br i1 %103, label %.lr.ph146.preheader, label %.preheader121.thread

.lr.ph146.preheader:                              ; preds = %90
  %xtraiter = and i64 %91, 3
  %104 = icmp ult i32 %8, 4
  br i1 %104, label %.preheader121.unr-lcssa, label %.lr.ph146.preheader.new

.lr.ph146.preheader.new:                          ; preds = %.lr.ph146.preheader
  %unroll_iter = and i64 %91, 2147483644
  br label %.lr.ph146

.preheader121.unr-lcssa:                          ; preds = %.lr.ph146, %.lr.ph146.preheader
  %.lcssa205.ph = phi double [ poison, %.lr.ph146.preheader ], [ %162, %.lr.ph146 ]
  %indvars.iv179.unr = phi i64 [ 0, %.lr.ph146.preheader ], [ %indvars.iv.next180.3, %.lr.ph146 ]
  %.0144.unr = phi double [ 0.000000e+00, %.lr.ph146.preheader ], [ %162, %.lr.ph146 ]
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %.preheader121, label %.lr.ph146.epil

.lr.ph146.epil:                                   ; preds = %.preheader121.unr-lcssa, %.lr.ph146.epil
  %indvars.iv179.epil = phi i64 [ %indvars.iv.next180.epil, %.lr.ph146.epil ], [ %indvars.iv179.unr, %.preheader121.unr-lcssa ]
  %.0144.epil = phi double [ %107, %.lr.ph146.epil ], [ %.0144.unr, %.preheader121.unr-lcssa ]
  %epil.iter = phi i64 [ %epil.iter.next, %.lr.ph146.epil ], [ 0, %.preheader121.unr-lcssa ]
  %105 = getelementptr inbounds double, ptr %95, i64 %indvars.iv179.epil
  %106 = load double, ptr %105, align 8, !tbaa !26
  %107 = call double @llvm.fmuladd.f64(double %106, double %106, double %.0144.epil)
  %indvars.iv.next180.epil = add nuw nsw i64 %indvars.iv179.epil, 1
  %epil.iter.next = add i64 %epil.iter, 1
  %epil.iter.cmp.not = icmp eq i64 %epil.iter.next, %xtraiter
  br i1 %epil.iter.cmp.not, label %.preheader121, label %.lr.ph146.epil, !llvm.loop !35

.preheader121:                                    ; preds = %.lr.ph146.epil, %.preheader121.unr-lcssa
  %.lcssa205 = phi double [ %.lcssa205.ph, %.preheader121.unr-lcssa ], [ %107, %.lr.ph146.epil ]
  %108 = icmp sgt i32 %12, 0
  br i1 %108, label %.preheader.lr.ph, label %._crit_edge154

.preheader121.thread:                             ; preds = %90
  %109 = icmp sgt i32 %12, 0
  br i1 %109, label %.preheader.lr.ph.thread, label %._crit_edge154

.preheader.lr.ph.thread:                          ; preds = %.preheader121.thread
  %110 = getelementptr inbounds i8, ptr %0, i64 448
  br label %.preheader.preheader

.preheader.lr.ph:                                 ; preds = %.preheader121
  %111 = getelementptr inbounds i8, ptr %0, i64 960
  %112 = getelementptr inbounds i8, ptr %0, i64 448
  br i1 %103, label %.preheader.us.preheader, label %.preheader.preheader

.preheader.us.preheader:                          ; preds = %.preheader.lr.ph
  %xtraiter207 = and i64 %91, 1
  %113 = icmp eq i32 %8, 1
  %unroll_iter211 = and i64 %91, 2147483646
  %lcmp.mod209.not = icmp eq i64 %xtraiter207, 0
  br label %.preheader.us

.preheader.preheader:                             ; preds = %.preheader.lr.ph.thread, %.preheader.lr.ph
  %114 = phi ptr [ %110, %.preheader.lr.ph.thread ], [ %112, %.preheader.lr.ph ]
  %.0.lcssa194196 = phi double [ 0.000000e+00, %.preheader.lr.ph.thread ], [ %.lcssa205, %.preheader.lr.ph ]
  br label %.preheader

.preheader.us:                                    ; preds = %.preheader.us.preheader, %136
  %.0100153.us = phi i32 [ %137, %136 ], [ 0, %.preheader.us.preheader ]
  %115 = load ptr, ptr %3, align 8, !tbaa !37
  %116 = load ptr, ptr %111, align 8, !tbaa !38
  %117 = mul nsw i32 %.0100153.us, %7
  br i1 %113, label %._crit_edge151.us.unr-lcssa, label %.preheader.us.new

.preheader.us.new:                                ; preds = %.preheader.us, %.preheader.us.new
  %indvars.iv185 = phi i64 [ %indvars.iv.next186.1, %.preheader.us.new ], [ 0, %.preheader.us ]
  %.096149.us = phi double [ %135, %.preheader.us.new ], [ 0.000000e+00, %.preheader.us ]
  %niter212 = phi i64 [ %niter212.next.1, %.preheader.us.new ], [ 0, %.preheader.us ]
  %118 = getelementptr inbounds i32, ptr %115, i64 %indvars.iv185
  %119 = load i32, ptr %118, align 4, !tbaa !39
  %120 = getelementptr inbounds double, ptr %95, i64 %indvars.iv185
  %121 = load double, ptr %120, align 8, !tbaa !26
  %122 = add nsw i32 %119, %117
  %123 = sext i32 %122 to i64
  %124 = getelementptr inbounds double, ptr %116, i64 %123
  %125 = load double, ptr %124, align 8, !tbaa !26
  %126 = call double @llvm.fmuladd.f64(double %121, double %125, double %.096149.us)
  %indvars.iv.next186 = or disjoint i64 %indvars.iv185, 1
  %127 = getelementptr inbounds i32, ptr %115, i64 %indvars.iv.next186
  %128 = load i32, ptr %127, align 4, !tbaa !39
  %129 = getelementptr inbounds double, ptr %95, i64 %indvars.iv.next186
  %130 = load double, ptr %129, align 8, !tbaa !26
  %131 = add nsw i32 %128, %117
  %132 = sext i32 %131 to i64
  %133 = getelementptr inbounds double, ptr %116, i64 %132
  %134 = load double, ptr %133, align 8, !tbaa !26
  %135 = call double @llvm.fmuladd.f64(double %130, double %134, double %126)
  %indvars.iv.next186.1 = add nuw nsw i64 %indvars.iv185, 2
  %niter212.next.1 = add i64 %niter212, 2
  %niter212.ncmp.1 = icmp eq i64 %niter212.next.1, %unroll_iter211
  br i1 %niter212.ncmp.1, label %._crit_edge151.us.unr-lcssa, label %.preheader.us.new, !llvm.loop !40

136:                                              ; preds = %._crit_edge151.us
  %137 = add nuw nsw i32 %.0100153.us, 1
  %exitcond190.not = icmp eq i32 %137, %12
  br i1 %exitcond190.not, label %._crit_edge154, label %.preheader.us, !llvm.loop !41

._crit_edge151.us.unr-lcssa:                      ; preds = %.preheader.us.new, %.preheader.us
  %.lcssa.ph = phi double [ poison, %.preheader.us ], [ %135, %.preheader.us.new ]
  %indvars.iv185.unr = phi i64 [ 0, %.preheader.us ], [ %indvars.iv.next186.1, %.preheader.us.new ]
  %.096149.us.unr = phi double [ 0.000000e+00, %.preheader.us ], [ %135, %.preheader.us.new ]
  br i1 %lcmp.mod209.not, label %._crit_edge151.us, label %._crit_edge151.us.epilog-lcssa

._crit_edge151.us.epilog-lcssa:                   ; preds = %._crit_edge151.us.unr-lcssa
  %138 = getelementptr inbounds i32, ptr %115, i64 %indvars.iv185.unr
  %139 = load i32, ptr %138, align 4, !tbaa !39
  %140 = getelementptr inbounds double, ptr %95, i64 %indvars.iv185.unr
  %141 = load double, ptr %140, align 8, !tbaa !26
  %142 = add nsw i32 %139, %117
  %143 = sext i32 %142 to i64
  %144 = getelementptr inbounds double, ptr %116, i64 %143
  %145 = load double, ptr %144, align 8, !tbaa !26
  %146 = call double @llvm.fmuladd.f64(double %141, double %145, double %.096149.us.unr)
  br label %._crit_edge151.us

._crit_edge151.us:                                ; preds = %._crit_edge151.us.unr-lcssa, %._crit_edge151.us.epilog-lcssa
  %.lcssa = phi double [ %.lcssa.ph, %._crit_edge151.us.unr-lcssa ], [ %146, %._crit_edge151.us.epilog-lcssa ]
  %147 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %.lcssa)
  %148 = load double, ptr %112, align 8, !tbaa !34
  %149 = fmul double %.lcssa205, %148
  %150 = fcmp ogt double %147, %149
  br i1 %150, label %._crit_edge154, label %136

.lr.ph146:                                        ; preds = %.lr.ph146, %.lr.ph146.preheader.new
  %indvars.iv179 = phi i64 [ 0, %.lr.ph146.preheader.new ], [ %indvars.iv.next180.3, %.lr.ph146 ]
  %.0144 = phi double [ 0.000000e+00, %.lr.ph146.preheader.new ], [ %162, %.lr.ph146 ]
  %niter = phi i64 [ 0, %.lr.ph146.preheader.new ], [ %niter.next.3, %.lr.ph146 ]
  %151 = getelementptr inbounds double, ptr %95, i64 %indvars.iv179
  %152 = load double, ptr %151, align 8, !tbaa !26
  %153 = call double @llvm.fmuladd.f64(double %152, double %152, double %.0144)
  %indvars.iv.next180 = or disjoint i64 %indvars.iv179, 1
  %154 = getelementptr inbounds double, ptr %95, i64 %indvars.iv.next180
  %155 = load double, ptr %154, align 8, !tbaa !26
  %156 = call double @llvm.fmuladd.f64(double %155, double %155, double %153)
  %indvars.iv.next180.1 = or disjoint i64 %indvars.iv179, 2
  %157 = getelementptr inbounds double, ptr %95, i64 %indvars.iv.next180.1
  %158 = load double, ptr %157, align 8, !tbaa !26
  %159 = call double @llvm.fmuladd.f64(double %158, double %158, double %156)
  %indvars.iv.next180.2 = or disjoint i64 %indvars.iv179, 3
  %160 = getelementptr inbounds double, ptr %95, i64 %indvars.iv.next180.2
  %161 = load double, ptr %160, align 8, !tbaa !26
  %162 = call double @llvm.fmuladd.f64(double %161, double %161, double %159)
  %indvars.iv.next180.3 = add nuw nsw i64 %indvars.iv179, 4
  %niter.next.3 = add i64 %niter, 4
  %niter.ncmp.3 = icmp eq i64 %niter.next.3, %unroll_iter
  br i1 %niter.ncmp.3, label %.preheader121.unr-lcssa, label %.lr.ph146, !llvm.loop !42

163:                                              ; preds = %.preheader
  %164 = add nuw nsw i32 %.0100153, 1
  %exitcond184.not = icmp eq i32 %164, %12
  br i1 %exitcond184.not, label %._crit_edge154, label %.preheader, !llvm.loop !41

.preheader:                                       ; preds = %.preheader.preheader, %163
  %.0100153 = phi i32 [ %164, %163 ], [ 0, %.preheader.preheader ]
  %165 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef 0.000000e+00)
  %166 = load double, ptr %114, align 8, !tbaa !34
  %167 = fmul double %.0.lcssa194196, %166
  %168 = fcmp ogt double %165, %167
  br i1 %168, label %._crit_edge154, label %163

._crit_edge154:                                   ; preds = %.preheader, %163, %._crit_edge151.us, %136, %.preheader121.thread, %.preheader121
  %.2 = phi i32 [ 88, %.preheader121 ], [ 88, %.preheader121.thread ], [ 88, %136 ], [ 89, %._crit_edge151.us ], [ 88, %163 ], [ 89, %.preheader ]
  call void @_ZdaPv(ptr noundef nonnull %95) #12
  br label %169

169:                                              ; preds = %._crit_edge154, %._crit_edge141
  %.3 = phi i32 [ %.1, %._crit_edge141 ], [ %.2, %._crit_edge154 ]
  %170 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %171 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %170, i32 noundef %.3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3110, i32 noundef 1)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #10
  ret i32 %171
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints11getInactiveEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #5 align 2

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare i32 @llvm.smax.i32(i32, i32) #8

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #9

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 nocallback nofree nosync nounwind speculatable willreturn memory(none) }
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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #9 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #10 = { nounwind }
attributes #11 = { builtin allocsize(0) }
attributes #12 = { 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, !10, i64 292}
!9 = !{!"_ZTSN7qpOASES9QProblemBE", !10, i64 8, !12, i64 16, !12, i64 24, !12, i64 32, !12, i64 40, !13, i64 48, !12, i64 168, !10, i64 176, !12, i64 184, !12, i64 192, !17, i64 200, !18, i64 208, !10, i64 212, !10, i64 216, !19, i64 220, !17, i64 224, !15, i64 232, !12, i64 240, !17, i64 248, !17, i64 256, !15, i64 264, !20, i64 272, !23, i64 496, !25, i64 768}
!10 = !{!"_ZTSN7qpOASES11BooleanTypeE", !11, i64 0}
!11 = !{!"omnipotent char", !7, i64 0}
!12 = !{!"any pointer", !11, i64 0}
!13 = !{!"_ZTSN7qpOASES6BoundsE", !14, i64 0, !16, i64 40, !16, i64 80}
!14 = !{!"_ZTSN7qpOASES9SubjectToE", !15, i64 8, !12, i64 16, !12, i64 24, !10, i64 32, !10, i64 36}
!15 = !{!"int", !11, i64 0}
!16 = !{!"_ZTSN7qpOASES9IndexlistE", !12, i64 0, !12, i64 8, !15, i64 16, !15, i64 20, !15, i64 24, !15, i64 28, !15, i64 32}
!17 = !{!"double", !11, i64 0}
!18 = !{!"_ZTSN7qpOASES14QProblemStatusE", !11, i64 0}
!19 = !{!"_ZTSN7qpOASES11HessianTypeE", !11, i64 0}
!20 = !{!"_ZTSN7qpOASES7OptionsE", !21, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !15, i64 28, !15, i64 32, !10, i64 36, !17, i64 40, !17, i64 48, !17, i64 56, !17, i64 64, !17, i64 72, !17, i64 80, !17, i64 88, !17, i64 96, !17, i64 104, !17, i64 112, !17, i64 120, !22, i64 128, !17, i64 136, !15, i64 144, !17, i64 152, !15, i64 160, !17, i64 168, !17, i64 176, !17, i64 184, !17, i64 192, !10, i64 200, !10, i64 204, !15, i64 208, !15, i64 212, !15, i64 216}
!21 = !{!"_ZTSN7qpOASES10PrintLevelE", !11, i64 0}
!22 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !11, i64 0}
!23 = !{!"_ZTSN7qpOASES7FlipperE", !15, i64 0, !15, i64 4, !13, i64 8, !24, i64 128, !12, i64 248, !12, i64 256, !12, i64 264}
!24 = !{!"_ZTSN7qpOASES11ConstraintsE", !14, i64 0, !16, i64 40, !16, i64 80}
!25 = !{!"_ZTSN7qpOASES13TabularOutputE", !15, i64 0, !15, i64 4, !15, i64 8, !15, i64 12, !15, i64 16, !15, i64 20, !15, i64 24, !15, i64 28}
!26 = !{!17, !17, i64 0}
!27 = !{!28, !12, i64 808}
!28 = !{!"_ZTSN7qpOASES8QProblemE", !9, i64 0, !10, i64 800, !12, i64 808, !12, i64 816, !12, i64 824, !24, i64 832, !12, i64 952, !12, i64 960, !15, i64 968, !12, i64 976, !12, i64 984, !12, i64 992, !12, i64 1000, !12, i64 1008, !12, i64 1016, !12, i64 1024, !12, i64 1032, !12, i64 1040, !12, i64 1048, !12, i64 1056}
!29 = distinct !{!29, !30}
!30 = !{!"llvm.loop.mustprogress"}
!31 = distinct !{!31, !30}
!32 = distinct !{!32, !30}
!33 = distinct !{!33, !30}
!34 = !{!9, !17, i64 448}
!35 = distinct !{!35, !36}
!36 = !{!"llvm.loop.unroll.disable"}
!37 = !{!12, !12, i64 0}
!38 = !{!28, !12, i64 960}
!39 = !{!15, !15, i64 0}
!40 = distinct !{!40, !30}
!41 = distinct !{!41, !30}
!42 = distinct !{!42, !30}


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