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

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

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

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

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

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare { i64, i1 } @llvm.umul.with.overflow.i64(i64, i64) #1

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) #2

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

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #1

; Function Attrs: mustprogress uwtable
define dso_local noundef double @_ZN7qpOASES14SQProblemSchur12calcDetSchurEi(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1) #4 align 2 {
  %3 = alloca double, align 8
  %4 = alloca ptr, align 8
  %5 = alloca i32, align 4
  %6 = alloca double, align 8
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca double, align 8
  %10 = alloca double, align 8
  %11 = alloca double, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca i32, align 4
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store i32 %1, ptr %5, align 4, !tbaa !9
  %17 = load ptr, ptr %4, align 8
  %18 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %19 = load i32, ptr %18, align 8, !tbaa !11
  %20 = icmp sle i32 %19, 0
  br i1 %20, label %21, label %22

21:                                               ; preds = %2
  store double 1.000000e+00, ptr %3, align 8
  br label %528

22:                                               ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #7
  %23 = load i32, ptr %5, align 4, !tbaa !9
  %24 = icmp slt i32 %23, 0
  br i1 %24, label %25, label %129

25:                                               ; preds = %22
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #7
  %26 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %27 = load i32, ptr %26, align 8, !tbaa !11
  %28 = sub nsw i32 %27, 1
  %29 = sext i32 %28 to i64
  %30 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %29, i64 8)
  %31 = extractvalue { i64, i1 } %30, 1
  %32 = extractvalue { i64, i1 } %30, 0
  %33 = select i1 %31, i64 -1, i64 %32
  %34 = call noalias noundef nonnull ptr @_Znam(i64 noundef %33) #8
  store ptr %34, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #7
  %35 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %36 = load i32, ptr %35, align 8, !tbaa !11
  %37 = sub nsw i32 %36, 1
  %38 = sext i32 %37 to i64
  %39 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %38, i64 8)
  %40 = extractvalue { i64, i1 } %39, 1
  %41 = extractvalue { i64, i1 } %39, 0
  %42 = select i1 %40, i64 -1, i64 %41
  %43 = call noalias noundef nonnull ptr @_Znam(i64 noundef %42) #8
  store ptr %43, ptr %13, align 8, !tbaa !5
  store i32 0, ptr %7, align 4, !tbaa !9
  br label %44

44:                                               ; preds = %68, %25
  %45 = load i32, ptr %7, align 4, !tbaa !9
  %46 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %47 = load i32, ptr %46, align 8, !tbaa !11
  %48 = sub nsw i32 %47, 1
  %49 = icmp slt i32 %45, %48
  br i1 %49, label %50, label %71

50:                                               ; preds = %44
  %51 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 2
  %52 = load ptr, ptr %51, align 8, !tbaa !29
  %53 = load i32, ptr %7, align 4, !tbaa !9
  %54 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %55 = load i32, ptr %54, align 8, !tbaa !11
  %56 = sub nsw i32 %55, 1
  %57 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 4
  %58 = load i32, ptr %57, align 4, !tbaa !30
  %59 = mul nsw i32 %56, %58
  %60 = add nsw i32 %53, %59
  %61 = sext i32 %60 to i64
  %62 = getelementptr inbounds double, ptr %52, i64 %61
  %63 = load double, ptr %62, align 8, !tbaa !31
  %64 = load ptr, ptr %12, align 8, !tbaa !5
  %65 = load i32, ptr %7, align 4, !tbaa !9
  %66 = sext i32 %65 to i64
  %67 = getelementptr inbounds double, ptr %64, i64 %66
  store double %63, ptr %67, align 8, !tbaa !31
  br label %68

68:                                               ; preds = %50
  %69 = load i32, ptr %7, align 4, !tbaa !9
  %70 = add nsw i32 %69, 1
  store i32 %70, ptr %7, align 4, !tbaa !9
  br label %44, !llvm.loop !32

71:                                               ; preds = %44
  %72 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %73 = load i32, ptr %72, align 8, !tbaa !11
  %74 = sub nsw i32 %73, 1
  %75 = load ptr, ptr %12, align 8, !tbaa !5
  %76 = load ptr, ptr %13, align 8, !tbaa !5
  %77 = call noundef i32 @_ZN7qpOASES14SQProblemSchur16backsolveSchurQREiPKdiPd(ptr noundef nonnull align 8 dereferenceable(1256) %17, i32 noundef %74, ptr noundef %75, i32 noundef 1, ptr noundef %76)
  %78 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 2
  %79 = load ptr, ptr %78, align 8, !tbaa !29
  %80 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %81 = load i32, ptr %80, align 8, !tbaa !11
  %82 = sub nsw i32 %81, 1
  %83 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %84 = load i32, ptr %83, align 8, !tbaa !11
  %85 = sub nsw i32 %84, 1
  %86 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 4
  %87 = load i32, ptr %86, align 4, !tbaa !30
  %88 = mul nsw i32 %85, %87
  %89 = add nsw i32 %82, %88
  %90 = sext i32 %89 to i64
  %91 = getelementptr inbounds double, ptr %79, i64 %90
  %92 = load double, ptr %91, align 8, !tbaa !31
  store double %92, ptr %6, align 8, !tbaa !31
  store i32 0, ptr %7, align 4, !tbaa !9
  br label %93

93:                                               ; preds = %113, %71
  %94 = load i32, ptr %7, align 4, !tbaa !9
  %95 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %96 = load i32, ptr %95, align 8, !tbaa !11
  %97 = sub nsw i32 %96, 1
  %98 = icmp slt i32 %94, %97
  br i1 %98, label %99, label %116

99:                                               ; preds = %93
  %100 = load ptr, ptr %12, align 8, !tbaa !5
  %101 = load i32, ptr %7, align 4, !tbaa !9
  %102 = sext i32 %101 to i64
  %103 = getelementptr inbounds double, ptr %100, i64 %102
  %104 = load double, ptr %103, align 8, !tbaa !31
  %105 = load ptr, ptr %13, align 8, !tbaa !5
  %106 = load i32, ptr %7, align 4, !tbaa !9
  %107 = sext i32 %106 to i64
  %108 = getelementptr inbounds double, ptr %105, i64 %107
  %109 = load double, ptr %108, align 8, !tbaa !31
  %110 = load double, ptr %6, align 8, !tbaa !31
  %111 = fneg double %104
  %112 = call double @llvm.fmuladd.f64(double %111, double %109, double %110)
  store double %112, ptr %6, align 8, !tbaa !31
  br label %113

113:                                              ; preds = %99
  %114 = load i32, ptr %7, align 4, !tbaa !9
  %115 = add nsw i32 %114, 1
  store i32 %115, ptr %7, align 4, !tbaa !9
  br label %93, !llvm.loop !34

116:                                              ; preds = %93
  %117 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 7
  %118 = load double, ptr %117, align 8, !tbaa !35
  %119 = load double, ptr %6, align 8, !tbaa !31
  %120 = fmul double %119, %118
  store double %120, ptr %6, align 8, !tbaa !31
  %121 = load ptr, ptr %12, align 8, !tbaa !5
  %122 = icmp eq ptr %121, null
  br i1 %122, label %124, label %123

123:                                              ; preds = %116
  call void @_ZdaPv(ptr noundef %121) #9
  br label %124

124:                                              ; preds = %123, %116
  %125 = load ptr, ptr %13, align 8, !tbaa !5
  %126 = icmp eq ptr %125, null
  br i1 %126, label %128, label %127

127:                                              ; preds = %124
  call void @_ZdaPv(ptr noundef %125) #9
  br label %128

128:                                              ; preds = %127, %124
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #7
  br label %526

129:                                              ; preds = %22
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #7
  %130 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %131 = load i32, ptr %130, align 8, !tbaa !11
  %132 = add nsw i32 %131, 1
  store i32 %132, ptr %14, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #7
  %133 = load i32, ptr %14, align 4, !tbaa !9
  %134 = load i32, ptr %14, align 4, !tbaa !9
  %135 = sub nsw i32 %134, 1
  %136 = mul nsw i32 %133, %135
  %137 = sext i32 %136 to i64
  %138 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %137, i64 8)
  %139 = extractvalue { i64, i1 } %138, 1
  %140 = extractvalue { i64, i1 } %138, 0
  %141 = select i1 %139, i64 -1, i64 %140
  %142 = call noalias noundef nonnull ptr @_Znam(i64 noundef %141) #8
  store ptr %142, ptr %15, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #7
  %143 = load i32, ptr %14, align 4, !tbaa !9
  %144 = sext i32 %143 to i64
  %145 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %144, i64 8)
  %146 = extractvalue { i64, i1 } %145, 1
  %147 = extractvalue { i64, i1 } %145, 0
  %148 = select i1 %146, i64 -1, i64 %147
  %149 = call noalias noundef nonnull ptr @_Znam(i64 noundef %148) #8
  store ptr %149, ptr %16, align 8, !tbaa !5
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %150

150:                                              ; preds = %183, %129
  %151 = load i32, ptr %8, align 4, !tbaa !9
  %152 = load i32, ptr %5, align 4, !tbaa !9
  %153 = icmp slt i32 %151, %152
  br i1 %153, label %154, label %186

154:                                              ; preds = %150
  store i32 0, ptr %7, align 4, !tbaa !9
  br label %155

155:                                              ; preds = %179, %154
  %156 = load i32, ptr %7, align 4, !tbaa !9
  %157 = load i32, ptr %14, align 4, !tbaa !9
  %158 = icmp slt i32 %156, %157
  br i1 %158, label %159, label %182

159:                                              ; preds = %155
  %160 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 6
  %161 = load ptr, ptr %160, align 8, !tbaa !36
  %162 = load i32, ptr %7, align 4, !tbaa !9
  %163 = load i32, ptr %8, align 4, !tbaa !9
  %164 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 4
  %165 = load i32, ptr %164, align 4, !tbaa !30
  %166 = mul nsw i32 %163, %165
  %167 = add nsw i32 %162, %166
  %168 = sext i32 %167 to i64
  %169 = getelementptr inbounds double, ptr %161, i64 %168
  %170 = load double, ptr %169, align 8, !tbaa !31
  %171 = load ptr, ptr %15, align 8, !tbaa !5
  %172 = load i32, ptr %7, align 4, !tbaa !9
  %173 = load i32, ptr %8, align 4, !tbaa !9
  %174 = load i32, ptr %14, align 4, !tbaa !9
  %175 = mul nsw i32 %173, %174
  %176 = add nsw i32 %172, %175
  %177 = sext i32 %176 to i64
  %178 = getelementptr inbounds double, ptr %171, i64 %177
  store double %170, ptr %178, align 8, !tbaa !31
  br label %179

179:                                              ; preds = %159
  %180 = load i32, ptr %7, align 4, !tbaa !9
  %181 = add nsw i32 %180, 1
  store i32 %181, ptr %7, align 4, !tbaa !9
  br label %155, !llvm.loop !37

182:                                              ; preds = %155
  br label %183

183:                                              ; preds = %182
  %184 = load i32, ptr %8, align 4, !tbaa !9
  %185 = add nsw i32 %184, 1
  store i32 %185, ptr %8, align 4, !tbaa !9
  br label %150, !llvm.loop !38

186:                                              ; preds = %150
  %187 = load i32, ptr %5, align 4, !tbaa !9
  store i32 %187, ptr %8, align 4, !tbaa !9
  br label %188

188:                                              ; preds = %223, %186
  %189 = load i32, ptr %8, align 4, !tbaa !9
  %190 = load i32, ptr %14, align 4, !tbaa !9
  %191 = sub nsw i32 %190, 1
  %192 = icmp slt i32 %189, %191
  br i1 %192, label %193, label %226

193:                                              ; preds = %188
  store i32 0, ptr %7, align 4, !tbaa !9
  br label %194

194:                                              ; preds = %219, %193
  %195 = load i32, ptr %7, align 4, !tbaa !9
  %196 = load i32, ptr %14, align 4, !tbaa !9
  %197 = icmp slt i32 %195, %196
  br i1 %197, label %198, label %222

198:                                              ; preds = %194
  %199 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 6
  %200 = load ptr, ptr %199, align 8, !tbaa !36
  %201 = load i32, ptr %7, align 4, !tbaa !9
  %202 = load i32, ptr %8, align 4, !tbaa !9
  %203 = add nsw i32 %202, 1
  %204 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 4
  %205 = load i32, ptr %204, align 4, !tbaa !30
  %206 = mul nsw i32 %203, %205
  %207 = add nsw i32 %201, %206
  %208 = sext i32 %207 to i64
  %209 = getelementptr inbounds double, ptr %200, i64 %208
  %210 = load double, ptr %209, align 8, !tbaa !31
  %211 = load ptr, ptr %15, align 8, !tbaa !5
  %212 = load i32, ptr %7, align 4, !tbaa !9
  %213 = load i32, ptr %8, align 4, !tbaa !9
  %214 = load i32, ptr %14, align 4, !tbaa !9
  %215 = mul nsw i32 %213, %214
  %216 = add nsw i32 %212, %215
  %217 = sext i32 %216 to i64
  %218 = getelementptr inbounds double, ptr %211, i64 %217
  store double %210, ptr %218, align 8, !tbaa !31
  br label %219

219:                                              ; preds = %198
  %220 = load i32, ptr %7, align 4, !tbaa !9
  %221 = add nsw i32 %220, 1
  store i32 %221, ptr %7, align 4, !tbaa !9
  br label %194, !llvm.loop !39

222:                                              ; preds = %194
  br label %223

223:                                              ; preds = %222
  %224 = load i32, ptr %8, align 4, !tbaa !9
  %225 = add nsw i32 %224, 1
  store i32 %225, ptr %8, align 4, !tbaa !9
  br label %188, !llvm.loop !40

226:                                              ; preds = %188
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %227

227:                                              ; preds = %247, %226
  %228 = load i32, ptr %8, align 4, !tbaa !9
  %229 = load i32, ptr %14, align 4, !tbaa !9
  %230 = icmp slt i32 %228, %229
  br i1 %230, label %231, label %250

231:                                              ; preds = %227
  %232 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 5
  %233 = load ptr, ptr %232, align 8, !tbaa !41
  %234 = load i32, ptr %5, align 4, !tbaa !9
  %235 = load i32, ptr %8, align 4, !tbaa !9
  %236 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 4
  %237 = load i32, ptr %236, align 4, !tbaa !30
  %238 = mul nsw i32 %235, %237
  %239 = add nsw i32 %234, %238
  %240 = sext i32 %239 to i64
  %241 = getelementptr inbounds double, ptr %233, i64 %240
  %242 = load double, ptr %241, align 8, !tbaa !31
  %243 = load ptr, ptr %16, align 8, !tbaa !5
  %244 = load i32, ptr %8, align 4, !tbaa !9
  %245 = sext i32 %244 to i64
  %246 = getelementptr inbounds double, ptr %243, i64 %245
  store double %242, ptr %246, align 8, !tbaa !31
  br label %247

247:                                              ; preds = %231
  %248 = load i32, ptr %8, align 4, !tbaa !9
  %249 = add nsw i32 %248, 1
  store i32 %249, ptr %8, align 4, !tbaa !9
  br label %227, !llvm.loop !42

250:                                              ; preds = %227
  %251 = load i32, ptr %5, align 4, !tbaa !9
  store i32 %251, ptr %7, align 4, !tbaa !9
  br label %252

252:                                              ; preds = %372, %250
  %253 = load i32, ptr %7, align 4, !tbaa !9
  %254 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %255 = load i32, ptr %254, align 8, !tbaa !11
  %256 = icmp slt i32 %253, %255
  br i1 %256, label %257, label %375

257:                                              ; preds = %252
  %258 = load ptr, ptr %15, align 8, !tbaa !5
  %259 = load i32, ptr %7, align 4, !tbaa !9
  %260 = load i32, ptr %7, align 4, !tbaa !9
  %261 = load i32, ptr %14, align 4, !tbaa !9
  %262 = mul nsw i32 %260, %261
  %263 = add nsw i32 %259, %262
  %264 = sext i32 %263 to i64
  %265 = getelementptr inbounds double, ptr %258, i64 %264
  %266 = load double, ptr %265, align 8, !tbaa !31
  %267 = load ptr, ptr %15, align 8, !tbaa !5
  %268 = load i32, ptr %7, align 4, !tbaa !9
  %269 = add nsw i32 %268, 1
  %270 = load i32, ptr %7, align 4, !tbaa !9
  %271 = load i32, ptr %14, align 4, !tbaa !9
  %272 = mul nsw i32 %270, %271
  %273 = add nsw i32 %269, %272
  %274 = sext i32 %273 to i64
  %275 = getelementptr inbounds double, ptr %267, i64 %274
  %276 = load double, ptr %275, align 8, !tbaa !31
  %277 = load ptr, ptr %15, align 8, !tbaa !5
  %278 = load i32, ptr %7, align 4, !tbaa !9
  %279 = load i32, ptr %7, align 4, !tbaa !9
  %280 = load i32, ptr %14, align 4, !tbaa !9
  %281 = mul nsw i32 %279, %280
  %282 = add nsw i32 %278, %281
  %283 = sext i32 %282 to i64
  %284 = getelementptr inbounds double, ptr %277, i64 %283
  %285 = load ptr, ptr %15, align 8, !tbaa !5
  %286 = load i32, ptr %7, align 4, !tbaa !9
  %287 = add nsw i32 %286, 1
  %288 = load i32, ptr %7, align 4, !tbaa !9
  %289 = load i32, ptr %14, align 4, !tbaa !9
  %290 = mul nsw i32 %288, %289
  %291 = add nsw i32 %287, %290
  %292 = sext i32 %291 to i64
  %293 = getelementptr inbounds double, ptr %285, i64 %292
  call void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800) %17, double noundef %266, double noundef %276, ptr noundef nonnull align 8 dereferenceable(8) %284, ptr noundef nonnull align 8 dereferenceable(8) %293, ptr noundef nonnull align 8 dereferenceable(8) %9, ptr noundef nonnull align 8 dereferenceable(8) %10)
  %294 = load double, ptr %10, align 8, !tbaa !31
  %295 = load double, ptr %9, align 8, !tbaa !31
  %296 = fadd double 1.000000e+00, %295
  %297 = fdiv double %294, %296
  store double %297, ptr %11, align 8, !tbaa !31
  %298 = load i32, ptr %7, align 4, !tbaa !9
  %299 = add nsw i32 %298, 1
  store i32 %299, ptr %8, align 4, !tbaa !9
  br label %300

300:                                              ; preds = %345, %257
  %301 = load i32, ptr %8, align 4, !tbaa !9
  %302 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %303 = load i32, ptr %302, align 8, !tbaa !11
  %304 = icmp slt i32 %301, %303
  br i1 %304, label %305, label %348

305:                                              ; preds = %300
  %306 = load double, ptr %9, align 8, !tbaa !31
  %307 = load double, ptr %10, align 8, !tbaa !31
  %308 = load double, ptr %11, align 8, !tbaa !31
  %309 = load ptr, ptr %15, align 8, !tbaa !5
  %310 = load i32, ptr %7, align 4, !tbaa !9
  %311 = load i32, ptr %8, align 4, !tbaa !9
  %312 = load i32, ptr %14, align 4, !tbaa !9
  %313 = mul nsw i32 %311, %312
  %314 = add nsw i32 %310, %313
  %315 = sext i32 %314 to i64
  %316 = getelementptr inbounds double, ptr %309, i64 %315
  %317 = load double, ptr %316, align 8, !tbaa !31
  %318 = load ptr, ptr %15, align 8, !tbaa !5
  %319 = load i32, ptr %7, align 4, !tbaa !9
  %320 = add nsw i32 %319, 1
  %321 = load i32, ptr %8, align 4, !tbaa !9
  %322 = load i32, ptr %14, align 4, !tbaa !9
  %323 = mul nsw i32 %321, %322
  %324 = add nsw i32 %320, %323
  %325 = sext i32 %324 to i64
  %326 = getelementptr inbounds double, ptr %318, i64 %325
  %327 = load double, ptr %326, align 8, !tbaa !31
  %328 = load ptr, ptr %15, align 8, !tbaa !5
  %329 = load i32, ptr %7, align 4, !tbaa !9
  %330 = load i32, ptr %8, align 4, !tbaa !9
  %331 = load i32, ptr %14, align 4, !tbaa !9
  %332 = mul nsw i32 %330, %331
  %333 = add nsw i32 %329, %332
  %334 = sext i32 %333 to i64
  %335 = getelementptr inbounds double, ptr %328, i64 %334
  %336 = load ptr, ptr %15, align 8, !tbaa !5
  %337 = load i32, ptr %7, align 4, !tbaa !9
  %338 = add nsw i32 %337, 1
  %339 = load i32, ptr %8, align 4, !tbaa !9
  %340 = load i32, ptr %14, align 4, !tbaa !9
  %341 = mul nsw i32 %339, %340
  %342 = add nsw i32 %338, %341
  %343 = sext i32 %342 to i64
  %344 = getelementptr inbounds double, ptr %336, i64 %343
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %17, double noundef %306, double noundef %307, double noundef %308, double noundef %317, double noundef %327, ptr noundef nonnull align 8 dereferenceable(8) %335, ptr noundef nonnull align 8 dereferenceable(8) %344)
  br label %345

345:                                              ; preds = %305
  %346 = load i32, ptr %8, align 4, !tbaa !9
  %347 = add nsw i32 %346, 1
  store i32 %347, ptr %8, align 4, !tbaa !9
  br label %300, !llvm.loop !43

348:                                              ; preds = %300
  %349 = load double, ptr %9, align 8, !tbaa !31
  %350 = load double, ptr %10, align 8, !tbaa !31
  %351 = load double, ptr %11, align 8, !tbaa !31
  %352 = load ptr, ptr %16, align 8, !tbaa !5
  %353 = load i32, ptr %7, align 4, !tbaa !9
  %354 = sext i32 %353 to i64
  %355 = getelementptr inbounds double, ptr %352, i64 %354
  %356 = load double, ptr %355, align 8, !tbaa !31
  %357 = load ptr, ptr %16, align 8, !tbaa !5
  %358 = load i32, ptr %7, align 4, !tbaa !9
  %359 = add nsw i32 %358, 1
  %360 = sext i32 %359 to i64
  %361 = getelementptr inbounds double, ptr %357, i64 %360
  %362 = load double, ptr %361, align 8, !tbaa !31
  %363 = load ptr, ptr %16, align 8, !tbaa !5
  %364 = load i32, ptr %7, align 4, !tbaa !9
  %365 = sext i32 %364 to i64
  %366 = getelementptr inbounds double, ptr %363, i64 %365
  %367 = load ptr, ptr %16, align 8, !tbaa !5
  %368 = load i32, ptr %7, align 4, !tbaa !9
  %369 = add nsw i32 %368, 1
  %370 = sext i32 %369 to i64
  %371 = getelementptr inbounds double, ptr %367, i64 %370
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %17, double noundef %349, double noundef %350, double noundef %351, double noundef %356, double noundef %362, ptr noundef nonnull align 8 dereferenceable(8) %366, ptr noundef nonnull align 8 dereferenceable(8) %371)
  br label %372

372:                                              ; preds = %348
  %373 = load i32, ptr %7, align 4, !tbaa !9
  %374 = add nsw i32 %373, 1
  store i32 %374, ptr %7, align 4, !tbaa !9
  br label %252, !llvm.loop !44

375:                                              ; preds = %252
  %376 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %377 = load i32, ptr %376, align 8, !tbaa !11
  store i32 %377, ptr %7, align 4, !tbaa !9
  br label %378

378:                                              ; preds = %453, %375
  %379 = load i32, ptr %7, align 4, !tbaa !9
  %380 = icmp sgt i32 %379, 0
  br i1 %380, label %381, label %456

381:                                              ; preds = %378
  %382 = load ptr, ptr %16, align 8, !tbaa !5
  %383 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %384 = load i32, ptr %383, align 8, !tbaa !11
  %385 = sext i32 %384 to i64
  %386 = getelementptr inbounds double, ptr %382, i64 %385
  %387 = load double, ptr %386, align 8, !tbaa !31
  %388 = load ptr, ptr %16, align 8, !tbaa !5
  %389 = load i32, ptr %7, align 4, !tbaa !9
  %390 = sub nsw i32 %389, 1
  %391 = sext i32 %390 to i64
  %392 = getelementptr inbounds double, ptr %388, i64 %391
  %393 = load double, ptr %392, align 8, !tbaa !31
  %394 = load ptr, ptr %16, align 8, !tbaa !5
  %395 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %396 = load i32, ptr %395, align 8, !tbaa !11
  %397 = sext i32 %396 to i64
  %398 = getelementptr inbounds double, ptr %394, i64 %397
  %399 = load ptr, ptr %16, align 8, !tbaa !5
  %400 = load i32, ptr %7, align 4, !tbaa !9
  %401 = sub nsw i32 %400, 1
  %402 = sext i32 %401 to i64
  %403 = getelementptr inbounds double, ptr %399, i64 %402
  call void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800) %17, double noundef %387, double noundef %393, ptr noundef nonnull align 8 dereferenceable(8) %398, ptr noundef nonnull align 8 dereferenceable(8) %403, ptr noundef nonnull align 8 dereferenceable(8) %9, ptr noundef nonnull align 8 dereferenceable(8) %10)
  %404 = load double, ptr %10, align 8, !tbaa !31
  %405 = load double, ptr %9, align 8, !tbaa !31
  %406 = fadd double 1.000000e+00, %405
  %407 = fdiv double %404, %406
  store double %407, ptr %11, align 8, !tbaa !31
  %408 = load double, ptr %9, align 8, !tbaa !31
  %409 = load double, ptr %10, align 8, !tbaa !31
  %410 = load double, ptr %11, align 8, !tbaa !31
  %411 = load ptr, ptr %15, align 8, !tbaa !5
  %412 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %413 = load i32, ptr %412, align 8, !tbaa !11
  %414 = load i32, ptr %7, align 4, !tbaa !9
  %415 = sub nsw i32 %414, 1
  %416 = load i32, ptr %14, align 4, !tbaa !9
  %417 = mul nsw i32 %415, %416
  %418 = add nsw i32 %413, %417
  %419 = sext i32 %418 to i64
  %420 = getelementptr inbounds double, ptr %411, i64 %419
  %421 = load double, ptr %420, align 8, !tbaa !31
  %422 = load ptr, ptr %15, align 8, !tbaa !5
  %423 = load i32, ptr %7, align 4, !tbaa !9
  %424 = sub nsw i32 %423, 1
  %425 = load i32, ptr %7, align 4, !tbaa !9
  %426 = sub nsw i32 %425, 1
  %427 = load i32, ptr %14, align 4, !tbaa !9
  %428 = mul nsw i32 %426, %427
  %429 = add nsw i32 %424, %428
  %430 = sext i32 %429 to i64
  %431 = getelementptr inbounds double, ptr %422, i64 %430
  %432 = load double, ptr %431, align 8, !tbaa !31
  %433 = load ptr, ptr %15, align 8, !tbaa !5
  %434 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %435 = load i32, ptr %434, align 8, !tbaa !11
  %436 = load i32, ptr %7, align 4, !tbaa !9
  %437 = sub nsw i32 %436, 1
  %438 = load i32, ptr %14, align 4, !tbaa !9
  %439 = mul nsw i32 %437, %438
  %440 = add nsw i32 %435, %439
  %441 = sext i32 %440 to i64
  %442 = getelementptr inbounds double, ptr %433, i64 %441
  %443 = load ptr, ptr %15, align 8, !tbaa !5
  %444 = load i32, ptr %7, align 4, !tbaa !9
  %445 = sub nsw i32 %444, 1
  %446 = load i32, ptr %7, align 4, !tbaa !9
  %447 = sub nsw i32 %446, 1
  %448 = load i32, ptr %14, align 4, !tbaa !9
  %449 = mul nsw i32 %447, %448
  %450 = add nsw i32 %445, %449
  %451 = sext i32 %450 to i64
  %452 = getelementptr inbounds double, ptr %443, i64 %451
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %17, double noundef %408, double noundef %409, double noundef %410, double noundef %421, double noundef %432, ptr noundef nonnull align 8 dereferenceable(8) %442, ptr noundef nonnull align 8 dereferenceable(8) %452)
  br label %453

453:                                              ; preds = %381
  %454 = load i32, ptr %7, align 4, !tbaa !9
  %455 = add nsw i32 %454, -1
  store i32 %455, ptr %7, align 4, !tbaa !9
  br label %378, !llvm.loop !45

456:                                              ; preds = %378
  %457 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %458 = load i32, ptr %457, align 8, !tbaa !11
  %459 = load i32, ptr %5, align 4, !tbaa !9
  %460 = sub nsw i32 %458, %459
  %461 = srem i32 %460, 2
  %462 = icmp eq i32 %461, 1
  br i1 %462, label %463, label %471

463:                                              ; preds = %456
  %464 = load ptr, ptr %16, align 8, !tbaa !5
  %465 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %466 = load i32, ptr %465, align 8, !tbaa !11
  %467 = sext i32 %466 to i64
  %468 = getelementptr inbounds double, ptr %464, i64 %467
  %469 = load double, ptr %468, align 8, !tbaa !31
  %470 = fcmp ogt double %469, 0.000000e+00
  br i1 %470, label %486, label %471

471:                                              ; preds = %463, %456
  %472 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %473 = load i32, ptr %472, align 8, !tbaa !11
  %474 = load i32, ptr %5, align 4, !tbaa !9
  %475 = sub nsw i32 %473, %474
  %476 = srem i32 %475, 2
  %477 = icmp eq i32 %476, 0
  br i1 %477, label %478, label %493

478:                                              ; preds = %471
  %479 = load ptr, ptr %16, align 8, !tbaa !5
  %480 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %481 = load i32, ptr %480, align 8, !tbaa !11
  %482 = sext i32 %481 to i64
  %483 = getelementptr inbounds double, ptr %479, i64 %482
  %484 = load double, ptr %483, align 8, !tbaa !31
  %485 = fcmp olt double %484, 0.000000e+00
  br i1 %485, label %486, label %493

486:                                              ; preds = %478, %463
  %487 = load ptr, ptr %15, align 8, !tbaa !5
  %488 = getelementptr inbounds double, ptr %487, i64 0
  %489 = load double, ptr %488, align 8, !tbaa !31
  %490 = fneg double %489
  %491 = load ptr, ptr %15, align 8, !tbaa !5
  %492 = getelementptr inbounds double, ptr %491, i64 0
  store double %490, ptr %492, align 8, !tbaa !31
  br label %493

493:                                              ; preds = %486, %478, %471
  store double 1.000000e+00, ptr %6, align 8, !tbaa !31
  store i32 0, ptr %7, align 4, !tbaa !9
  br label %494

494:                                              ; preds = %514, %493
  %495 = load i32, ptr %7, align 4, !tbaa !9
  %496 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %17, i32 0, i32 3
  %497 = load i32, ptr %496, align 8, !tbaa !11
  %498 = icmp slt i32 %495, %497
  br i1 %498, label %499, label %517

499:                                              ; preds = %494
  %500 = load ptr, ptr %15, align 8, !tbaa !5
  %501 = load i32, ptr %7, align 4, !tbaa !9
  %502 = load i32, ptr %7, align 4, !tbaa !9
  %503 = load i32, ptr %14, align 4, !tbaa !9
  %504 = mul nsw i32 %502, %503
  %505 = add nsw i32 %501, %504
  %506 = sext i32 %505 to i64
  %507 = getelementptr inbounds double, ptr %500, i64 %506
  %508 = load double, ptr %507, align 8, !tbaa !31
  %509 = fcmp olt double %508, 0.000000e+00
  br i1 %509, label %510, label %513

510:                                              ; preds = %499
  %511 = load double, ptr %6, align 8, !tbaa !31
  %512 = fneg double %511
  store double %512, ptr %6, align 8, !tbaa !31
  br label %513

513:                                              ; preds = %510, %499
  br label %514

514:                                              ; preds = %513
  %515 = load i32, ptr %7, align 4, !tbaa !9
  %516 = add nsw i32 %515, 1
  store i32 %516, ptr %7, align 4, !tbaa !9
  br label %494, !llvm.loop !46

517:                                              ; preds = %494
  %518 = load ptr, ptr %15, align 8, !tbaa !5
  %519 = icmp eq ptr %518, null
  br i1 %519, label %521, label %520

520:                                              ; preds = %517
  call void @_ZdaPv(ptr noundef %518) #9
  br label %521

521:                                              ; preds = %520, %517
  %522 = load ptr, ptr %16, align 8, !tbaa !5
  %523 = icmp eq ptr %522, null
  br i1 %523, label %525, label %524

524:                                              ; preds = %521
  call void @_ZdaPv(ptr noundef %522) #9
  br label %525

525:                                              ; preds = %524, %521
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #7
  br label %526

526:                                              ; preds = %525, %128
  %527 = load double, ptr %6, align 8, !tbaa !31
  store double %527, ptr %3, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #7
  br label %528

528:                                              ; preds = %526, %21
  %529 = load double, ptr %3, align 8
  ret double %529
}

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur16backsolveSchurQREiPKdiPd(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, ptr noundef, i32 noundef, ptr noundef) #4 align 2

; 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

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
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 = { 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 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 = { nounwind }
attributes #8 = { builtin allocsize(0) }
attributes #9 = { 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, !10, i64 1080}
!12 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !13, i64 0, !6, i64 1064, !6, i64 1072, !10, i64 1080, !10, i64 1084, !6, i64 1088, !6, i64 1096, !20, i64 1104, !20, i64 1112, !10, i64 1120, !6, i64 1128, !6, i64 1136, !10, i64 1144, !6, i64 1152, !6, i64 1160, !6, i64 1168, !19, i64 1176, !19, i64 1216}
!13 = !{!"_ZTSN7qpOASES9SQProblemE", !14, i64 0}
!14 = !{!"_ZTSN7qpOASES8QProblemE", !15, i64 0, !16, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !27, 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}
!15 = !{!"_ZTSN7qpOASES9QProblemBE", !16, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !17, i64 48, !6, i64 168, !16, i64 176, !6, i64 184, !6, i64 192, !20, i64 200, !21, i64 208, !16, i64 212, !16, i64 216, !22, i64 220, !20, i64 224, !10, i64 232, !6, i64 240, !20, i64 248, !20, i64 256, !10, i64 264, !23, i64 272, !26, i64 496, !28, i64 768}
!16 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!17 = !{!"_ZTSN7qpOASES6BoundsE", !18, i64 0, !19, i64 40, !19, i64 80}
!18 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !16, i64 32, !16, i64 36}
!19 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!20 = !{!"double", !7, i64 0}
!21 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!22 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES7OptionsE", !24, i64 0, !16, i64 4, !16, i64 8, !16, i64 12, !16, i64 16, !16, i64 20, !16, i64 24, !10, i64 28, !10, i64 32, !16, i64 36, !20, i64 40, !20, i64 48, !20, i64 56, !20, i64 64, !20, i64 72, !20, i64 80, !20, i64 88, !20, i64 96, !20, i64 104, !20, i64 112, !20, i64 120, !25, i64 128, !20, i64 136, !10, i64 144, !20, i64 152, !10, i64 160, !20, i64 168, !20, i64 176, !20, i64 184, !20, i64 192, !16, i64 200, !16, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!24 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!25 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !17, i64 8, !27, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!27 = !{!"_ZTSN7qpOASES11ConstraintsE", !18, i64 0, !19, i64 40, !19, i64 80}
!28 = !{!"_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}
!29 = !{!12, !6, i64 1072}
!30 = !{!12, !10, i64 1084}
!31 = !{!20, !20, i64 0}
!32 = distinct !{!32, !33}
!33 = !{!"llvm.loop.mustprogress"}
!34 = distinct !{!34, !33}
!35 = !{!12, !20, i64 1104}
!36 = !{!12, !6, i64 1096}
!37 = distinct !{!37, !33}
!38 = distinct !{!38, !33}
!39 = distinct !{!39, !33}
!40 = distinct !{!40, !33}
!41 = !{!12, !6, i64 1088}
!42 = distinct !{!42, !33}
!43 = distinct !{!43, !33}
!44 = distinct !{!44, !33}
!45 = distinct !{!45, !33}
!46 = distinct !{!46, !33}


; 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"

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

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

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) local_unnamed_addr #1

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) local_unnamed_addr #2

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #3

; Function Attrs: mustprogress uwtable
define dso_local noundef double @_ZN7qpOASES14SQProblemSchur12calcDetSchurEi(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1) local_unnamed_addr #4 align 2 {
  %3 = alloca double, align 8
  %4 = alloca double, align 8
  %5 = getelementptr inbounds i8, ptr %0, i64 1080
  %6 = load i32, ptr %5, align 8, !tbaa !5
  %7 = icmp slt i32 %6, 1
  br i1 %7, label %317, label %8

8:                                                ; preds = %2
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #7
  %9 = icmp slt i32 %1, 0
  br i1 %9, label %10, label %92

10:                                               ; preds = %8
  %11 = add nsw i32 %6, -1
  %12 = zext nneg i32 %11 to i64
  %13 = shl nuw nsw i64 %12, 3
  %14 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %13) #8
  %15 = ptrtoint ptr %14 to i64
  %16 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %13) #8
  %.not = icmp eq i32 %6, 1
  br i1 %.not, label %._crit_edge191, label %.lr.ph190

.lr.ph190:                                        ; preds = %10
  %17 = getelementptr inbounds i8, ptr %0, i64 1072
  %18 = load ptr, ptr %17, align 8, !tbaa !27
  %19 = getelementptr inbounds i8, ptr %0, i64 1084
  %20 = load i32, ptr %19, align 4, !tbaa !28
  %21 = mul nsw i32 %20, %11
  %22 = sext i32 %21 to i64
  %invariant.gep265 = getelementptr double, ptr %18, i64 %22
  %min.iters.check311 = icmp ult i32 %6, 11
  br i1 %min.iters.check311, label %scalar.ph310.preheader, label %vector.memcheck307

vector.memcheck307:                               ; preds = %.lr.ph190
  %23 = ptrtoint ptr %18 to i64
  %24 = shl nsw i64 %22, 3
  %25 = add i64 %24, %23
  %26 = sub i64 %15, %25
  %diff.check308 = icmp ult i64 %26, 32
  br i1 %diff.check308, label %scalar.ph310.preheader, label %vector.ph312

vector.ph312:                                     ; preds = %vector.memcheck307
  %n.vec314 = and i64 %12, 2147483644
  br label %vector.body316

vector.body316:                                   ; preds = %vector.body316, %vector.ph312
  %index317 = phi i64 [ 0, %vector.ph312 ], [ %index.next320, %vector.body316 ]
  %27 = getelementptr double, ptr %invariant.gep265, i64 %index317
  %28 = getelementptr i8, ptr %27, i64 16
  %wide.load318 = load <2 x double>, ptr %27, align 8, !tbaa !29
  %wide.load319 = load <2 x double>, ptr %28, align 8, !tbaa !29
  %29 = getelementptr inbounds double, ptr %14, i64 %index317
  %30 = getelementptr inbounds i8, ptr %29, i64 16
  store <2 x double> %wide.load318, ptr %29, align 8, !tbaa !29
  store <2 x double> %wide.load319, ptr %30, align 8, !tbaa !29
  %index.next320 = add nuw i64 %index317, 4
  %31 = icmp eq i64 %index.next320, %n.vec314
  br i1 %31, label %middle.block309, label %vector.body316, !llvm.loop !30

middle.block309:                                  ; preds = %vector.body316
  %cmp.n321 = icmp eq i64 %n.vec314, %12
  br i1 %cmp.n321, label %._crit_edge191, label %scalar.ph310.preheader

scalar.ph310.preheader:                           ; preds = %middle.block309, %vector.memcheck307, %.lr.ph190
  %indvars.iv243.ph = phi i64 [ 0, %vector.memcheck307 ], [ 0, %.lr.ph190 ], [ %n.vec314, %middle.block309 ]
  %xtraiter333 = and i64 %12, 3
  %lcmp.mod334.not = icmp eq i64 %xtraiter333, 0
  br i1 %lcmp.mod334.not, label %scalar.ph310.prol.loopexit, label %scalar.ph310.prol

scalar.ph310.prol:                                ; preds = %scalar.ph310.preheader, %scalar.ph310.prol
  %indvars.iv243.prol = phi i64 [ %indvars.iv.next244.prol, %scalar.ph310.prol ], [ %indvars.iv243.ph, %scalar.ph310.preheader ]
  %prol.iter335 = phi i64 [ %prol.iter335.next, %scalar.ph310.prol ], [ 0, %scalar.ph310.preheader ]
  %gep266.prol = getelementptr double, ptr %invariant.gep265, i64 %indvars.iv243.prol
  %32 = load double, ptr %gep266.prol, align 8, !tbaa !29
  %33 = getelementptr inbounds double, ptr %14, i64 %indvars.iv243.prol
  store double %32, ptr %33, align 8, !tbaa !29
  %indvars.iv.next244.prol = add nuw nsw i64 %indvars.iv243.prol, 1
  %prol.iter335.next = add i64 %prol.iter335, 1
  %prol.iter335.cmp.not = icmp eq i64 %prol.iter335.next, %xtraiter333
  br i1 %prol.iter335.cmp.not, label %scalar.ph310.prol.loopexit, label %scalar.ph310.prol, !llvm.loop !34

scalar.ph310.prol.loopexit:                       ; preds = %scalar.ph310.prol, %scalar.ph310.preheader
  %indvars.iv243.unr = phi i64 [ %indvars.iv243.ph, %scalar.ph310.preheader ], [ %indvars.iv.next244.prol, %scalar.ph310.prol ]
  %34 = sub nsw i64 %indvars.iv243.ph, %12
  %35 = icmp ugt i64 %34, -4
  br i1 %35, label %._crit_edge191, label %scalar.ph310

scalar.ph310:                                     ; preds = %scalar.ph310.prol.loopexit, %scalar.ph310
  %indvars.iv243 = phi i64 [ %indvars.iv.next244.3, %scalar.ph310 ], [ %indvars.iv243.unr, %scalar.ph310.prol.loopexit ]
  %gep266 = getelementptr double, ptr %invariant.gep265, i64 %indvars.iv243
  %36 = load double, ptr %gep266, align 8, !tbaa !29
  %37 = getelementptr inbounds double, ptr %14, i64 %indvars.iv243
  store double %36, ptr %37, align 8, !tbaa !29
  %indvars.iv.next244 = add nuw nsw i64 %indvars.iv243, 1
  %gep266.1 = getelementptr double, ptr %invariant.gep265, i64 %indvars.iv.next244
  %38 = load double, ptr %gep266.1, align 8, !tbaa !29
  %39 = getelementptr inbounds double, ptr %14, i64 %indvars.iv.next244
  store double %38, ptr %39, align 8, !tbaa !29
  %indvars.iv.next244.1 = add nuw nsw i64 %indvars.iv243, 2
  %gep266.2 = getelementptr double, ptr %invariant.gep265, i64 %indvars.iv.next244.1
  %40 = load double, ptr %gep266.2, align 8, !tbaa !29
  %41 = getelementptr inbounds double, ptr %14, i64 %indvars.iv.next244.1
  store double %40, ptr %41, align 8, !tbaa !29
  %indvars.iv.next244.2 = add nuw nsw i64 %indvars.iv243, 3
  %gep266.3 = getelementptr double, ptr %invariant.gep265, i64 %indvars.iv.next244.2
  %42 = load double, ptr %gep266.3, align 8, !tbaa !29
  %43 = getelementptr inbounds double, ptr %14, i64 %indvars.iv.next244.2
  store double %42, ptr %43, align 8, !tbaa !29
  %indvars.iv.next244.3 = add nuw nsw i64 %indvars.iv243, 4
  %exitcond247.not.3 = icmp eq i64 %indvars.iv.next244.3, %12
  br i1 %exitcond247.not.3, label %._crit_edge191, label %scalar.ph310, !llvm.loop !36

._crit_edge191:                                   ; preds = %scalar.ph310.prol.loopexit, %scalar.ph310, %middle.block309, %10
  %44 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur16backsolveSchurQREiPKdiPd(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %11, ptr noundef nonnull %14, i32 noundef 1, ptr noundef nonnull %16)
  %45 = getelementptr inbounds i8, ptr %0, i64 1072
  %46 = load ptr, ptr %45, align 8, !tbaa !27
  %47 = load i32, ptr %5, align 8, !tbaa !5
  %48 = add nsw i32 %47, -1
  %49 = getelementptr inbounds i8, ptr %0, i64 1084
  %50 = load i32, ptr %49, align 4, !tbaa !28
  %51 = add i32 %50, 1
  %52 = mul i32 %51, %48
  %53 = sext i32 %52 to i64
  %54 = getelementptr inbounds double, ptr %46, i64 %53
  %55 = load double, ptr %54, align 8, !tbaa !29
  %56 = icmp sgt i32 %47, 1
  br i1 %56, label %.lr.ph195.preheader, label %._crit_edge196

.lr.ph195.preheader:                              ; preds = %._crit_edge191
  %wide.trip.count251 = zext nneg i32 %48 to i64
  %57 = add nsw i64 %wide.trip.count251, -1
  %xtraiter336 = and i64 %wide.trip.count251, 3
  %58 = icmp ult i64 %57, 3
  br i1 %58, label %._crit_edge196.loopexit.unr-lcssa, label %.lr.ph195.preheader.new

.lr.ph195.preheader.new:                          ; preds = %.lr.ph195.preheader
  %unroll_iter339 = and i64 %wide.trip.count251, 2147483644
  br label %.lr.ph195

.lr.ph195:                                        ; preds = %.lr.ph195, %.lr.ph195.preheader.new
  %indvars.iv248 = phi i64 [ 0, %.lr.ph195.preheader.new ], [ %indvars.iv.next249.3, %.lr.ph195 ]
  %.0141193 = phi double [ %55, %.lr.ph195.preheader.new ], [ %82, %.lr.ph195 ]
  %niter340 = phi i64 [ 0, %.lr.ph195.preheader.new ], [ %niter340.next.3, %.lr.ph195 ]
  %59 = getelementptr inbounds double, ptr %14, i64 %indvars.iv248
  %60 = load double, ptr %59, align 8, !tbaa !29
  %61 = getelementptr inbounds double, ptr %16, i64 %indvars.iv248
  %62 = load double, ptr %61, align 8, !tbaa !29
  %63 = fneg double %60
  %64 = tail call double @llvm.fmuladd.f64(double %63, double %62, double %.0141193)
  %indvars.iv.next249 = or disjoint i64 %indvars.iv248, 1
  %65 = getelementptr inbounds double, ptr %14, i64 %indvars.iv.next249
  %66 = load double, ptr %65, align 8, !tbaa !29
  %67 = getelementptr inbounds double, ptr %16, i64 %indvars.iv.next249
  %68 = load double, ptr %67, align 8, !tbaa !29
  %69 = fneg double %66
  %70 = tail call double @llvm.fmuladd.f64(double %69, double %68, double %64)
  %indvars.iv.next249.1 = or disjoint i64 %indvars.iv248, 2
  %71 = getelementptr inbounds double, ptr %14, i64 %indvars.iv.next249.1
  %72 = load double, ptr %71, align 8, !tbaa !29
  %73 = getelementptr inbounds double, ptr %16, i64 %indvars.iv.next249.1
  %74 = load double, ptr %73, align 8, !tbaa !29
  %75 = fneg double %72
  %76 = tail call double @llvm.fmuladd.f64(double %75, double %74, double %70)
  %indvars.iv.next249.2 = or disjoint i64 %indvars.iv248, 3
  %77 = getelementptr inbounds double, ptr %14, i64 %indvars.iv.next249.2
  %78 = load double, ptr %77, align 8, !tbaa !29
  %79 = getelementptr inbounds double, ptr %16, i64 %indvars.iv.next249.2
  %80 = load double, ptr %79, align 8, !tbaa !29
  %81 = fneg double %78
  %82 = tail call double @llvm.fmuladd.f64(double %81, double %80, double %76)
  %indvars.iv.next249.3 = add nuw nsw i64 %indvars.iv248, 4
  %niter340.next.3 = add i64 %niter340, 4
  %niter340.ncmp.3 = icmp eq i64 %niter340.next.3, %unroll_iter339
  br i1 %niter340.ncmp.3, label %._crit_edge196.loopexit.unr-lcssa, label %.lr.ph195, !llvm.loop !37

._crit_edge196.loopexit.unr-lcssa:                ; preds = %.lr.ph195, %.lr.ph195.preheader
  %.lcssa322.ph = phi double [ poison, %.lr.ph195.preheader ], [ %82, %.lr.ph195 ]
  %indvars.iv248.unr = phi i64 [ 0, %.lr.ph195.preheader ], [ %indvars.iv.next249.3, %.lr.ph195 ]
  %.0141193.unr = phi double [ %55, %.lr.ph195.preheader ], [ %82, %.lr.ph195 ]
  %lcmp.mod337.not = icmp eq i64 %xtraiter336, 0
  br i1 %lcmp.mod337.not, label %._crit_edge196, label %.lr.ph195.epil

.lr.ph195.epil:                                   ; preds = %._crit_edge196.loopexit.unr-lcssa, %.lr.ph195.epil
  %indvars.iv248.epil = phi i64 [ %indvars.iv.next249.epil, %.lr.ph195.epil ], [ %indvars.iv248.unr, %._crit_edge196.loopexit.unr-lcssa ]
  %.0141193.epil = phi double [ %88, %.lr.ph195.epil ], [ %.0141193.unr, %._crit_edge196.loopexit.unr-lcssa ]
  %epil.iter = phi i64 [ %epil.iter.next, %.lr.ph195.epil ], [ 0, %._crit_edge196.loopexit.unr-lcssa ]
  %83 = getelementptr inbounds double, ptr %14, i64 %indvars.iv248.epil
  %84 = load double, ptr %83, align 8, !tbaa !29
  %85 = getelementptr inbounds double, ptr %16, i64 %indvars.iv248.epil
  %86 = load double, ptr %85, align 8, !tbaa !29
  %87 = fneg double %84
  %88 = tail call double @llvm.fmuladd.f64(double %87, double %86, double %.0141193.epil)
  %indvars.iv.next249.epil = add nuw nsw i64 %indvars.iv248.epil, 1
  %epil.iter.next = add i64 %epil.iter, 1
  %epil.iter.cmp.not = icmp eq i64 %epil.iter.next, %xtraiter336
  br i1 %epil.iter.cmp.not, label %._crit_edge196, label %.lr.ph195.epil, !llvm.loop !38

._crit_edge196:                                   ; preds = %._crit_edge196.loopexit.unr-lcssa, %.lr.ph195.epil, %._crit_edge191
  %.0141.lcssa = phi double [ %55, %._crit_edge191 ], [ %.lcssa322.ph, %._crit_edge196.loopexit.unr-lcssa ], [ %88, %.lr.ph195.epil ]
  %89 = getelementptr inbounds i8, ptr %0, i64 1104
  %90 = load double, ptr %89, align 8, !tbaa !39
  %91 = fmul double %.0141.lcssa, %90
  tail call void @_ZdaPv(ptr noundef nonnull %14) #9
  tail call void @_ZdaPv(ptr noundef nonnull %16) #9
  br label %316

92:                                               ; preds = %8
  %93 = add nuw nsw i32 %6, 1
  %94 = mul nuw nsw i32 %93, %6
  %95 = zext nneg i32 %94 to i64
  %96 = shl nuw nsw i64 %95, 3
  %97 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %96) #8
  %98 = zext nneg i32 %93 to i64
  %99 = shl nuw nsw i64 %98, 3
  %100 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %99) #8
  %101 = ptrtoint ptr %100 to i64
  %.not198 = icmp eq i32 %1, 0
  br i1 %.not198, label %.preheader162, label %.preheader163.preheader

.preheader163.preheader:                          ; preds = %92
  %102 = getelementptr inbounds i8, ptr %0, i64 1096
  %103 = load ptr, ptr %102, align 8
  %104 = getelementptr inbounds i8, ptr %0, i64 1084
  %105 = load i32, ptr %104, align 4
  %106 = sext i32 %105 to i64
  %107 = zext nneg i32 %93 to i64
  %wide.trip.count208 = zext nneg i32 %1 to i64
  %108 = mul nuw nsw i64 %wide.trip.count208, %98
  %109 = shl i64 %108, 3
  %scevgep = getelementptr i8, ptr %97, i64 %109
  %110 = add nuw nsw i64 %wide.trip.count208, 2305843009213693951
  %111 = mul i64 %110, %106
  %112 = add i64 %111, %98
  %113 = shl i64 %112, 3
  %scevgep269 = getelementptr i8, ptr %103, i64 %113
  %114 = zext nneg i32 %6 to i64
  %min.iters.check = icmp ult i32 %6, 5
  %bound0 = icmp ult ptr %97, %scevgep269
  %bound1 = icmp ult ptr %103, %scevgep
  %found.conflict = and i1 %bound0, %bound1
  %stride.check = icmp slt i32 %105, 0
  %115 = or i1 %found.conflict, %stride.check
  %n.vec = and i64 %98, 2147483644
  %cmp.n = icmp eq i64 %n.vec, %98
  %xtraiter = and i64 %98, 3
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br label %.preheader163

.preheader163:                                    ; preds = %.preheader163.preheader, %._crit_edge
  %indvars.iv205 = phi i64 [ 0, %.preheader163.preheader ], [ %indvars.iv.next206, %._crit_edge ]
  %116 = mul nsw i64 %indvars.iv205, %106
  %117 = mul nuw nsw i64 %indvars.iv205, %107
  %118 = getelementptr double, ptr %103, i64 %116
  %invariant.gep = getelementptr inbounds double, ptr %97, i64 %117
  %brmerge = select i1 %min.iters.check, i1 true, i1 %115
  br i1 %brmerge, label %scalar.ph.preheader, label %vector.body

scalar.ph.preheader:                              ; preds = %.preheader163, %middle.block
  %indvars.iv.ph = phi i64 [ 0, %.preheader163 ], [ %n.vec, %middle.block ]
  %119 = sub nsw i64 %114, %indvars.iv.ph
  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 ]
  %120 = getelementptr double, ptr %118, i64 %indvars.iv.prol
  %121 = load double, ptr %120, align 8, !tbaa !29
  %gep.prol = getelementptr inbounds double, ptr %invariant.gep, i64 %indvars.iv.prol
  store double %121, ptr %gep.prol, align 8, !tbaa !29
  %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 !40

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 ]
  %122 = icmp ult i64 %119, 3
  br i1 %122, label %._crit_edge, label %scalar.ph

vector.body:                                      ; preds = %.preheader163, %vector.body
  %index = phi i64 [ %index.next, %vector.body ], [ 0, %.preheader163 ]
  %123 = getelementptr double, ptr %118, i64 %index
  %124 = getelementptr i8, ptr %123, i64 16
  %wide.load = load <2 x double>, ptr %123, align 8, !tbaa !29, !alias.scope !41
  %wide.load270 = load <2 x double>, ptr %124, align 8, !tbaa !29, !alias.scope !41
  %125 = getelementptr inbounds double, ptr %invariant.gep, i64 %index
  %126 = getelementptr inbounds i8, ptr %125, i64 16
  store <2 x double> %wide.load, ptr %125, align 8, !tbaa !29, !alias.scope !44, !noalias !41
  store <2 x double> %wide.load270, ptr %126, align 8, !tbaa !29, !alias.scope !44, !noalias !41
  %index.next = add nuw i64 %index, 4
  %127 = icmp eq i64 %index.next, %n.vec
  br i1 %127, label %middle.block, label %vector.body, !llvm.loop !46

middle.block:                                     ; preds = %vector.body
  br i1 %cmp.n, label %._crit_edge, label %scalar.ph.preheader

.preheader162:                                    ; preds = %._crit_edge, %92
  %128 = icmp sgt i32 %6, %1
  br i1 %128, label %.preheader161.preheader, label %.lr.ph

.preheader161.preheader:                          ; preds = %.preheader162
  %129 = getelementptr inbounds i8, ptr %0, i64 1096
  %130 = load ptr, ptr %129, align 8
  %131 = getelementptr inbounds i8, ptr %0, i64 1084
  %132 = load i32, ptr %131, align 4
  %133 = add nuw i32 %6, 1
  %134 = zext nneg i32 %1 to i64
  %135 = sext i32 %132 to i64
  %136 = zext nneg i32 %93 to i64
  %wide.trip.count219 = zext nneg i32 %6 to i64
  %wide.trip.count214 = zext i32 %133 to i64
  %137 = mul nuw nsw i64 %134, %98
  %138 = shl i64 %137, 3
  %scevgep272 = getelementptr i8, ptr %97, i64 %138
  %139 = mul nuw nsw i64 %wide.trip.count219, %98
  %140 = shl i64 %139, 3
  %scevgep273 = getelementptr i8, ptr %97, i64 %140
  %141 = add nuw nsw i64 %134, 1
  %142 = mul nsw i64 %141, %135
  %143 = shl i64 %142, 3
  %scevgep274 = getelementptr i8, ptr %130, i64 %143
  %144 = mul nsw i64 %135, %wide.trip.count219
  %145 = add i64 %144, %98
  %146 = shl i64 %145, 3
  %scevgep275 = getelementptr i8, ptr %130, i64 %146
  %147 = zext nneg i32 %6 to i64
  %min.iters.check282 = icmp ult i32 %6, 5
  %bound0276 = icmp ult ptr %scevgep272, %scevgep275
  %bound1277 = icmp ult ptr %scevgep274, %scevgep273
  %found.conflict278 = and i1 %bound0276, %bound1277
  %stride.check279 = icmp slt i32 %132, 0
  %148 = or i1 %found.conflict278, %stride.check279
  %n.vec285 = and i64 %98, 2147483644
  %cmp.n292 = icmp eq i64 %n.vec285, %98
  %xtraiter324 = and i64 %98, 3
  %lcmp.mod325.not = icmp eq i64 %xtraiter324, 0
  br label %.preheader161

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 ]
  %149 = getelementptr double, ptr %118, i64 %indvars.iv
  %150 = load double, ptr %149, align 8, !tbaa !29
  %gep = getelementptr inbounds double, ptr %invariant.gep, i64 %indvars.iv
  store double %150, ptr %gep, align 8, !tbaa !29
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %151 = getelementptr double, ptr %118, i64 %indvars.iv.next
  %152 = load double, ptr %151, align 8, !tbaa !29
  %gep.1 = getelementptr inbounds double, ptr %invariant.gep, i64 %indvars.iv.next
  store double %152, ptr %gep.1, align 8, !tbaa !29
  %indvars.iv.next.1 = add nuw nsw i64 %indvars.iv, 2
  %153 = getelementptr double, ptr %118, i64 %indvars.iv.next.1
  %154 = load double, ptr %153, align 8, !tbaa !29
  %gep.2 = getelementptr inbounds double, ptr %invariant.gep, i64 %indvars.iv.next.1
  store double %154, ptr %gep.2, align 8, !tbaa !29
  %indvars.iv.next.2 = add nuw nsw i64 %indvars.iv, 3
  %155 = getelementptr double, ptr %118, i64 %indvars.iv.next.2
  %156 = load double, ptr %155, align 8, !tbaa !29
  %gep.3 = getelementptr inbounds double, ptr %invariant.gep, i64 %indvars.iv.next.2
  store double %156, ptr %gep.3, align 8, !tbaa !29
  %indvars.iv.next.3 = add nuw nsw i64 %indvars.iv, 4
  %exitcond.not.3 = icmp eq i64 %indvars.iv.next.3, %98
  br i1 %exitcond.not.3, label %._crit_edge, label %scalar.ph, !llvm.loop !47

._crit_edge:                                      ; preds = %scalar.ph.prol.loopexit, %scalar.ph, %middle.block
  %indvars.iv.next206 = add nuw nsw i64 %indvars.iv205, 1
  %exitcond209.not = icmp eq i64 %indvars.iv.next206, %wide.trip.count208
  br i1 %exitcond209.not, label %.preheader162, label %.preheader163, !llvm.loop !48

.preheader161:                                    ; preds = %.preheader161.preheader, %._crit_edge169
  %indvars.iv216 = phi i64 [ %134, %.preheader161.preheader ], [ %indvars.iv.next217, %._crit_edge169 ]
  %indvars.iv.next217 = add nuw nsw i64 %indvars.iv216, 1
  %157 = mul nsw i64 %indvars.iv.next217, %135
  %158 = mul nuw nsw i64 %indvars.iv216, %136
  %159 = getelementptr double, ptr %130, i64 %157
  %invariant.gep257 = getelementptr inbounds double, ptr %97, i64 %158
  %brmerge344 = select i1 %min.iters.check282, i1 true, i1 %148
  br i1 %brmerge344, label %scalar.ph281.preheader, label %vector.body287

scalar.ph281.preheader:                           ; preds = %.preheader161, %middle.block280
  %indvars.iv211.ph = phi i64 [ 0, %.preheader161 ], [ %n.vec285, %middle.block280 ]
  %160 = sub nsw i64 %147, %indvars.iv211.ph
  br i1 %lcmp.mod325.not, label %scalar.ph281.prol.loopexit, label %scalar.ph281.prol

scalar.ph281.prol:                                ; preds = %scalar.ph281.preheader, %scalar.ph281.prol
  %indvars.iv211.prol = phi i64 [ %indvars.iv.next212.prol, %scalar.ph281.prol ], [ %indvars.iv211.ph, %scalar.ph281.preheader ]
  %prol.iter326 = phi i64 [ %prol.iter326.next, %scalar.ph281.prol ], [ 0, %scalar.ph281.preheader ]
  %161 = getelementptr double, ptr %159, i64 %indvars.iv211.prol
  %162 = load double, ptr %161, align 8, !tbaa !29
  %gep258.prol = getelementptr inbounds double, ptr %invariant.gep257, i64 %indvars.iv211.prol
  store double %162, ptr %gep258.prol, align 8, !tbaa !29
  %indvars.iv.next212.prol = add nuw nsw i64 %indvars.iv211.prol, 1
  %prol.iter326.next = add i64 %prol.iter326, 1
  %prol.iter326.cmp.not = icmp eq i64 %prol.iter326.next, %xtraiter324
  br i1 %prol.iter326.cmp.not, label %scalar.ph281.prol.loopexit, label %scalar.ph281.prol, !llvm.loop !49

scalar.ph281.prol.loopexit:                       ; preds = %scalar.ph281.prol, %scalar.ph281.preheader
  %indvars.iv211.unr = phi i64 [ %indvars.iv211.ph, %scalar.ph281.preheader ], [ %indvars.iv.next212.prol, %scalar.ph281.prol ]
  %163 = icmp ult i64 %160, 3
  br i1 %163, label %._crit_edge169, label %scalar.ph281

vector.body287:                                   ; preds = %.preheader161, %vector.body287
  %index288 = phi i64 [ %index.next291, %vector.body287 ], [ 0, %.preheader161 ]
  %164 = getelementptr double, ptr %159, i64 %index288
  %165 = getelementptr i8, ptr %164, i64 16
  %wide.load289 = load <2 x double>, ptr %164, align 8, !tbaa !29, !alias.scope !50
  %wide.load290 = load <2 x double>, ptr %165, align 8, !tbaa !29, !alias.scope !50
  %166 = getelementptr inbounds double, ptr %invariant.gep257, i64 %index288
  %167 = getelementptr inbounds i8, ptr %166, i64 16
  store <2 x double> %wide.load289, ptr %166, align 8, !tbaa !29, !alias.scope !53, !noalias !50
  store <2 x double> %wide.load290, ptr %167, align 8, !tbaa !29, !alias.scope !53, !noalias !50
  %index.next291 = add nuw i64 %index288, 4
  %168 = icmp eq i64 %index.next291, %n.vec285
  br i1 %168, label %middle.block280, label %vector.body287, !llvm.loop !55

middle.block280:                                  ; preds = %vector.body287
  br i1 %cmp.n292, label %._crit_edge169, label %scalar.ph281.preheader

.lr.ph:                                           ; preds = %._crit_edge169, %.preheader162
  %169 = getelementptr inbounds i8, ptr %0, i64 1088
  %170 = load ptr, ptr %169, align 8, !tbaa !56
  %171 = getelementptr inbounds i8, ptr %0, i64 1084
  %172 = load i32, ptr %171, align 4, !tbaa !28
  %173 = sext i32 %172 to i64
  %174 = zext nneg i32 %1 to i64
  %175 = add nuw i32 %6, 1
  %wide.trip.count225 = zext i32 %175 to i64
  %invariant.gep259 = getelementptr double, ptr %170, i64 %174
  %min.iters.check296 = icmp ugt i32 %6, 12
  %ident.check.not = icmp eq i32 %172, 1
  %or.cond = select i1 %min.iters.check296, i1 %ident.check.not, i1 false
  br i1 %or.cond, label %vector.memcheck293, label %scalar.ph295.preheader

scalar.ph295.preheader:                           ; preds = %middle.block294, %vector.memcheck293, %.lr.ph
  %indvars.iv221.ph = phi i64 [ 0, %vector.memcheck293 ], [ 0, %.lr.ph ], [ %n.vec299, %middle.block294 ]
  %176 = zext nneg i32 %6 to i64
  %177 = sub nsw i64 %176, %indvars.iv221.ph
  %xtraiter327 = and i64 %98, 3
  %lcmp.mod328.not = icmp eq i64 %xtraiter327, 0
  br i1 %lcmp.mod328.not, label %scalar.ph295.prol.loopexit, label %scalar.ph295.prol

scalar.ph295.prol:                                ; preds = %scalar.ph295.preheader, %scalar.ph295.prol
  %indvars.iv221.prol = phi i64 [ %indvars.iv.next222.prol, %scalar.ph295.prol ], [ %indvars.iv221.ph, %scalar.ph295.preheader ]
  %prol.iter329 = phi i64 [ %prol.iter329.next, %scalar.ph295.prol ], [ 0, %scalar.ph295.preheader ]
  %178 = mul nsw i64 %indvars.iv221.prol, %173
  %gep260.prol = getelementptr double, ptr %invariant.gep259, i64 %178
  %179 = load double, ptr %gep260.prol, align 8, !tbaa !29
  %180 = getelementptr inbounds double, ptr %100, i64 %indvars.iv221.prol
  store double %179, ptr %180, align 8, !tbaa !29
  %indvars.iv.next222.prol = add nuw nsw i64 %indvars.iv221.prol, 1
  %prol.iter329.next = add i64 %prol.iter329, 1
  %prol.iter329.cmp.not = icmp eq i64 %prol.iter329.next, %xtraiter327
  br i1 %prol.iter329.cmp.not, label %scalar.ph295.prol.loopexit, label %scalar.ph295.prol, !llvm.loop !57

scalar.ph295.prol.loopexit:                       ; preds = %scalar.ph295.prol, %scalar.ph295.preheader
  %indvars.iv221.unr = phi i64 [ %indvars.iv221.ph, %scalar.ph295.preheader ], [ %indvars.iv.next222.prol, %scalar.ph295.prol ]
  %181 = icmp ult i64 %177, 3
  br i1 %181, label %.preheader159, label %scalar.ph295

vector.memcheck293:                               ; preds = %.lr.ph
  %182 = ptrtoint ptr %170 to i64
  %183 = shl nuw nsw i64 %174, 3
  %184 = add i64 %183, %182
  %185 = sub i64 %101, %184
  %diff.check = icmp ult i64 %185, 32
  br i1 %diff.check, label %scalar.ph295.preheader, label %vector.ph297

vector.ph297:                                     ; preds = %vector.memcheck293
  %n.vec299 = and i64 %98, 2147483644
  br label %vector.body301

vector.body301:                                   ; preds = %vector.body301, %vector.ph297
  %index302 = phi i64 [ 0, %vector.ph297 ], [ %index.next305, %vector.body301 ]
  %186 = getelementptr double, ptr %invariant.gep259, i64 %index302
  %187 = getelementptr i8, ptr %186, i64 16
  %wide.load303 = load <2 x double>, ptr %186, align 8, !tbaa !29
  %wide.load304 = load <2 x double>, ptr %187, align 8, !tbaa !29
  %188 = getelementptr inbounds double, ptr %100, i64 %index302
  %189 = getelementptr inbounds i8, ptr %188, i64 16
  store <2 x double> %wide.load303, ptr %188, align 8, !tbaa !29
  store <2 x double> %wide.load304, ptr %189, align 8, !tbaa !29
  %index.next305 = add nuw i64 %index302, 4
  %190 = icmp eq i64 %index.next305, %n.vec299
  br i1 %190, label %middle.block294, label %vector.body301, !llvm.loop !58

middle.block294:                                  ; preds = %vector.body301
  %cmp.n306 = icmp eq i64 %n.vec299, %98
  br i1 %cmp.n306, label %.preheader159, label %scalar.ph295.preheader

scalar.ph281:                                     ; preds = %scalar.ph281.prol.loopexit, %scalar.ph281
  %indvars.iv211 = phi i64 [ %indvars.iv.next212.3, %scalar.ph281 ], [ %indvars.iv211.unr, %scalar.ph281.prol.loopexit ]
  %191 = getelementptr double, ptr %159, i64 %indvars.iv211
  %192 = load double, ptr %191, align 8, !tbaa !29
  %gep258 = getelementptr inbounds double, ptr %invariant.gep257, i64 %indvars.iv211
  store double %192, ptr %gep258, align 8, !tbaa !29
  %indvars.iv.next212 = add nuw nsw i64 %indvars.iv211, 1
  %193 = getelementptr double, ptr %159, i64 %indvars.iv.next212
  %194 = load double, ptr %193, align 8, !tbaa !29
  %gep258.1 = getelementptr inbounds double, ptr %invariant.gep257, i64 %indvars.iv.next212
  store double %194, ptr %gep258.1, align 8, !tbaa !29
  %indvars.iv.next212.1 = add nuw nsw i64 %indvars.iv211, 2
  %195 = getelementptr double, ptr %159, i64 %indvars.iv.next212.1
  %196 = load double, ptr %195, align 8, !tbaa !29
  %gep258.2 = getelementptr inbounds double, ptr %invariant.gep257, i64 %indvars.iv.next212.1
  store double %196, ptr %gep258.2, align 8, !tbaa !29
  %indvars.iv.next212.2 = add nuw nsw i64 %indvars.iv211, 3
  %197 = getelementptr double, ptr %159, i64 %indvars.iv.next212.2
  %198 = load double, ptr %197, align 8, !tbaa !29
  %gep258.3 = getelementptr inbounds double, ptr %invariant.gep257, i64 %indvars.iv.next212.2
  store double %198, ptr %gep258.3, align 8, !tbaa !29
  %indvars.iv.next212.3 = add nuw nsw i64 %indvars.iv211, 4
  %exitcond215.not.3 = icmp eq i64 %indvars.iv.next212.3, %wide.trip.count214
  br i1 %exitcond215.not.3, label %._crit_edge169, label %scalar.ph281, !llvm.loop !59

._crit_edge169:                                   ; preds = %scalar.ph281.prol.loopexit, %scalar.ph281, %middle.block280
  %exitcond220.not = icmp eq i64 %indvars.iv.next217, %wide.trip.count219
  br i1 %exitcond220.not, label %.lr.ph, label %.preheader161, !llvm.loop !60

.preheader159:                                    ; preds = %scalar.ph295.prol.loopexit, %scalar.ph295, %middle.block294
  br i1 %128, label %.lr.ph178.preheader, label %.preheader

.lr.ph178.preheader:                              ; preds = %.preheader159
  %199 = add nuw nsw i32 %1, 1
  %200 = zext nneg i32 %199 to i64
  %201 = zext nneg i32 %1 to i64
  br label %.lr.ph178

scalar.ph295:                                     ; preds = %scalar.ph295.prol.loopexit, %scalar.ph295
  %indvars.iv221 = phi i64 [ %indvars.iv.next222.3, %scalar.ph295 ], [ %indvars.iv221.unr, %scalar.ph295.prol.loopexit ]
  %202 = mul nsw i64 %indvars.iv221, %173
  %gep260 = getelementptr double, ptr %invariant.gep259, i64 %202
  %203 = load double, ptr %gep260, align 8, !tbaa !29
  %204 = getelementptr inbounds double, ptr %100, i64 %indvars.iv221
  store double %203, ptr %204, align 8, !tbaa !29
  %indvars.iv.next222 = add nuw nsw i64 %indvars.iv221, 1
  %205 = mul nsw i64 %indvars.iv.next222, %173
  %gep260.1 = getelementptr double, ptr %invariant.gep259, i64 %205
  %206 = load double, ptr %gep260.1, align 8, !tbaa !29
  %207 = getelementptr inbounds double, ptr %100, i64 %indvars.iv.next222
  store double %206, ptr %207, align 8, !tbaa !29
  %indvars.iv.next222.1 = add nuw nsw i64 %indvars.iv221, 2
  %208 = mul nsw i64 %indvars.iv.next222.1, %173
  %gep260.2 = getelementptr double, ptr %invariant.gep259, i64 %208
  %209 = load double, ptr %gep260.2, align 8, !tbaa !29
  %210 = getelementptr inbounds double, ptr %100, i64 %indvars.iv.next222.1
  store double %209, ptr %210, align 8, !tbaa !29
  %indvars.iv.next222.2 = add nuw nsw i64 %indvars.iv221, 3
  %211 = mul nsw i64 %indvars.iv.next222.2, %173
  %gep260.3 = getelementptr double, ptr %invariant.gep259, i64 %211
  %212 = load double, ptr %gep260.3, align 8, !tbaa !29
  %213 = getelementptr inbounds double, ptr %100, i64 %indvars.iv.next222.2
  store double %212, ptr %213, align 8, !tbaa !29
  %indvars.iv.next222.3 = add nuw nsw i64 %indvars.iv221, 4
  %exitcond226.not.3 = icmp eq i64 %indvars.iv.next222.3, %wide.trip.count225
  br i1 %exitcond226.not.3, label %.preheader159, label %scalar.ph295, !llvm.loop !61

.preheader:                                       ; preds = %._crit_edge176, %.preheader159
  %.lcssa = phi i32 [ %6, %.preheader159 ], [ %247, %._crit_edge176 ]
  %214 = icmp sgt i32 %.lcssa, 0
  br i1 %214, label %.lr.ph180.preheader, label %._crit_edge181

.lr.ph180.preheader:                              ; preds = %.preheader
  %215 = zext nneg i32 %.lcssa to i64
  %216 = zext nneg i32 %93 to i64
  br label %.lr.ph180

.lr.ph178:                                        ; preds = %.lr.ph178.preheader, %._crit_edge176
  %indvars.iv232 = phi i64 [ %201, %.lr.ph178.preheader ], [ %indvars.iv.next233, %._crit_edge176 ]
  %indvars.iv227 = phi i64 [ %200, %.lr.ph178.preheader ], [ %indvars.iv.next228, %._crit_edge176 ]
  %indvars234 = trunc i64 %indvars.iv232 to i32
  %217 = mul nuw nsw i64 %indvars.iv232, %98
  %218 = mul nuw nsw i32 %93, %indvars234
  %219 = zext i32 %218 to i64
  %220 = getelementptr inbounds double, ptr %97, i64 %indvars.iv232
  %221 = getelementptr inbounds double, ptr %220, i64 %219
  %222 = load double, ptr %221, align 8, !tbaa !29
  %indvars.iv.next233 = add nuw nsw i64 %indvars.iv232, 1
  %223 = getelementptr inbounds double, ptr %97, i64 %indvars.iv.next233
  %224 = getelementptr inbounds double, ptr %223, i64 %217
  %225 = load double, ptr %224, align 8, !tbaa !29
  call void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %222, double noundef %225, ptr noundef nonnull align 8 dereferenceable(8) %221, ptr noundef nonnull align 8 dereferenceable(8) %224, ptr noundef nonnull align 8 dereferenceable(8) %3, ptr noundef nonnull align 8 dereferenceable(8) %4)
  %226 = load double, ptr %4, align 8, !tbaa !29
  %227 = load double, ptr %3, align 8, !tbaa !29
  %228 = fadd double %227, 1.000000e+00
  %229 = fdiv double %226, %228
  %230 = load i32, ptr %5, align 8, !tbaa !5
  %231 = trunc nuw i64 %indvars.iv.next233 to i32
  %232 = icmp sgt i32 %230, %231
  br i1 %232, label %.lr.ph175.preheader, label %._crit_edge176

.lr.ph175.preheader:                              ; preds = %.lr.ph178
  %invariant.gep261 = getelementptr inbounds double, ptr %97, i64 %indvars.iv232
  %invariant.gep263 = getelementptr inbounds double, ptr %97, i64 %indvars.iv.next233
  br label %.lr.ph175

.lr.ph175:                                        ; preds = %.lr.ph175.preheader, %.lr.ph175
  %indvars.iv229 = phi i64 [ %indvars.iv227, %.lr.ph175.preheader ], [ %indvars.iv.next230, %.lr.ph175 ]
  %233 = load double, ptr %3, align 8, !tbaa !29
  %234 = load double, ptr %4, align 8, !tbaa !29
  %235 = mul nuw nsw i64 %indvars.iv229, %98
  %gep262 = getelementptr inbounds double, ptr %invariant.gep261, i64 %235
  %236 = load double, ptr %gep262, align 8, !tbaa !29
  %gep264 = getelementptr inbounds double, ptr %invariant.gep263, i64 %235
  %237 = load double, ptr %gep264, align 8, !tbaa !29
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %233, double noundef %234, double noundef %229, double noundef %236, double noundef %237, ptr noundef nonnull align 8 dereferenceable(8) %gep262, ptr noundef nonnull align 8 dereferenceable(8) %gep264)
  %indvars.iv.next230 = add nuw nsw i64 %indvars.iv229, 1
  %238 = load i32, ptr %5, align 8, !tbaa !5
  %239 = trunc nuw i64 %indvars.iv.next230 to i32
  %240 = icmp sgt i32 %238, %239
  br i1 %240, label %.lr.ph175, label %._crit_edge176.loopexit, !llvm.loop !62

._crit_edge176.loopexit:                          ; preds = %.lr.ph175
  %.pre = load double, ptr %3, align 8, !tbaa !29
  %.pre253 = load double, ptr %4, align 8, !tbaa !29
  br label %._crit_edge176

._crit_edge176:                                   ; preds = %._crit_edge176.loopexit, %.lr.ph178
  %241 = phi double [ %.pre253, %._crit_edge176.loopexit ], [ %226, %.lr.ph178 ]
  %242 = phi double [ %.pre, %._crit_edge176.loopexit ], [ %227, %.lr.ph178 ]
  %243 = getelementptr inbounds double, ptr %100, i64 %indvars.iv232
  %244 = load double, ptr %243, align 8, !tbaa !29
  %245 = getelementptr inbounds double, ptr %100, i64 %indvars.iv.next233
  %246 = load double, ptr %245, align 8, !tbaa !29
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %242, double noundef %241, double noundef %229, double noundef %244, double noundef %246, ptr noundef nonnull align 8 dereferenceable(8) %243, ptr noundef nonnull align 8 dereferenceable(8) %245)
  %247 = load i32, ptr %5, align 8, !tbaa !5
  %248 = icmp sgt i32 %247, %231
  %indvars.iv.next228 = add nuw nsw i64 %indvars.iv227, 1
  br i1 %248, label %.lr.ph178, label %.preheader, !llvm.loop !63

.lr.ph180:                                        ; preds = %.lr.ph180.preheader, %.lr.ph180
  %indvars.iv235 = phi i64 [ %215, %.lr.ph180.preheader ], [ %indvars.iv.next236, %.lr.ph180 ]
  %249 = load i32, ptr %5, align 8, !tbaa !5
  %250 = sext i32 %249 to i64
  %251 = getelementptr inbounds double, ptr %100, i64 %250
  %252 = load double, ptr %251, align 8, !tbaa !29
  %indvars.iv.next236 = add nsw i64 %indvars.iv235, -1
  %253 = getelementptr inbounds double, ptr %100, i64 %indvars.iv.next236
  %254 = load double, ptr %253, align 8, !tbaa !29
  call void @_ZNK7qpOASES9QProblemB13computeGivensEddRdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %252, double noundef %254, ptr noundef nonnull align 8 dereferenceable(8) %251, ptr noundef nonnull align 8 dereferenceable(8) %253, ptr noundef nonnull align 8 dereferenceable(8) %3, ptr noundef nonnull align 8 dereferenceable(8) %4)
  %255 = load double, ptr %4, align 8, !tbaa !29
  %256 = load double, ptr %3, align 8, !tbaa !29
  %257 = fadd double %256, 1.000000e+00
  %258 = fdiv double %255, %257
  %259 = load i32, ptr %5, align 8, !tbaa !5
  %260 = mul nsw i64 %indvars.iv.next236, %216
  %261 = sext i32 %259 to i64
  %262 = getelementptr double, ptr %97, i64 %260
  %263 = getelementptr double, ptr %262, i64 %261
  %264 = load double, ptr %263, align 8, !tbaa !29
  %265 = getelementptr double, ptr %97, i64 %260
  %266 = getelementptr double, ptr %265, i64 %indvars.iv.next236
  %267 = load double, ptr %266, align 8, !tbaa !29
  call void @_ZNK7qpOASES9QProblemB11applyGivensEdddddRdS1_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %256, double noundef %255, double noundef %258, double noundef %264, double noundef %267, ptr noundef nonnull align 8 dereferenceable(8) %263, ptr noundef nonnull align 8 dereferenceable(8) %266)
  %268 = icmp ugt i64 %indvars.iv235, 1
  br i1 %268, label %.lr.ph180, label %._crit_edge181.loopexit, !llvm.loop !64

._crit_edge181.loopexit:                          ; preds = %.lr.ph180
  %.pre254 = load i32, ptr %5, align 8, !tbaa !5
  br label %._crit_edge181

._crit_edge181:                                   ; preds = %._crit_edge181.loopexit, %.preheader
  %269 = phi i32 [ %.pre254, %._crit_edge181.loopexit ], [ %.lcssa, %.preheader ]
  %270 = sub nsw i32 %269, %1
  %271 = and i32 %270, -2147483647
  %272 = icmp eq i32 %271, 1
  br i1 %272, label %273, label %278

273:                                              ; preds = %._crit_edge181
  %274 = sext i32 %269 to i64
  %275 = getelementptr inbounds double, ptr %100, i64 %274
  %276 = load double, ptr %275, align 8, !tbaa !29
  %277 = fcmp ogt double %276, 0.000000e+00
  br i1 %277, label %286, label %278

278:                                              ; preds = %273, %._crit_edge181
  %279 = and i32 %270, 1
  %280 = icmp eq i32 %279, 0
  br i1 %280, label %281, label %289

281:                                              ; preds = %278
  %282 = sext i32 %269 to i64
  %283 = getelementptr inbounds double, ptr %100, i64 %282
  %284 = load double, ptr %283, align 8, !tbaa !29
  %285 = fcmp olt double %284, 0.000000e+00
  br i1 %285, label %286, label %289

286:                                              ; preds = %281, %273
  %287 = load double, ptr %97, align 8, !tbaa !29
  %288 = fneg double %287
  store double %288, ptr %97, align 8, !tbaa !29
  br label %289

289:                                              ; preds = %286, %281, %278
  %290 = icmp sgt i32 %269, 0
  br i1 %290, label %.lr.ph185, label %._crit_edge186

.lr.ph185:                                        ; preds = %289
  %291 = add nuw i32 %6, 2
  %wide.trip.count241 = zext nneg i32 %269 to i64
  %xtraiter330 = and i64 %wide.trip.count241, 1
  %292 = icmp eq i32 %269, 1
  br i1 %292, label %._crit_edge186.loopexit.unr-lcssa, label %.lr.ph185.new

.lr.ph185.new:                                    ; preds = %.lr.ph185
  %unroll_iter = and i64 %wide.trip.count241, 2147483646
  br label %293

293:                                              ; preds = %293, %.lr.ph185.new
  %indvars.iv238 = phi i64 [ 0, %.lr.ph185.new ], [ %indvars.iv.next239.1, %293 ]
  %.1183 = phi double [ 1.000000e+00, %.lr.ph185.new ], [ %.2.1, %293 ]
  %niter = phi i64 [ 0, %.lr.ph185.new ], [ %niter.next.1, %293 ]
  %294 = trunc nuw nsw i64 %indvars.iv238 to i32
  %295 = mul i32 %291, %294
  %296 = sext i32 %295 to i64
  %297 = getelementptr inbounds double, ptr %97, i64 %296
  %298 = load double, ptr %297, align 8, !tbaa !29
  %299 = fcmp olt double %298, 0.000000e+00
  %300 = fneg double %.1183
  %.2 = select i1 %299, double %300, double %.1183
  %301 = trunc i64 %indvars.iv238 to i32
  %302 = or disjoint i32 %301, 1
  %303 = mul i32 %291, %302
  %304 = sext i32 %303 to i64
  %305 = getelementptr inbounds double, ptr %97, i64 %304
  %306 = load double, ptr %305, align 8, !tbaa !29
  %307 = fcmp olt double %306, 0.000000e+00
  %308 = fneg double %.2
  %.2.1 = select i1 %307, double %308, double %.2
  %indvars.iv.next239.1 = add nuw nsw i64 %indvars.iv238, 2
  %niter.next.1 = add i64 %niter, 2
  %niter.ncmp.1 = icmp eq i64 %niter.next.1, %unroll_iter
  br i1 %niter.ncmp.1, label %._crit_edge186.loopexit.unr-lcssa.loopexit, label %293, !llvm.loop !65

._crit_edge186.loopexit.unr-lcssa.loopexit:       ; preds = %293
  %309 = trunc nuw nsw i64 %indvars.iv.next239.1 to i32
  br label %._crit_edge186.loopexit.unr-lcssa

._crit_edge186.loopexit.unr-lcssa:                ; preds = %._crit_edge186.loopexit.unr-lcssa.loopexit, %.lr.ph185
  %.2.lcssa.ph = phi double [ poison, %.lr.ph185 ], [ %.2.1, %._crit_edge186.loopexit.unr-lcssa.loopexit ]
  %indvars.iv238.unr = phi i32 [ 0, %.lr.ph185 ], [ %309, %._crit_edge186.loopexit.unr-lcssa.loopexit ]
  %.1183.unr = phi double [ 1.000000e+00, %.lr.ph185 ], [ %.2.1, %._crit_edge186.loopexit.unr-lcssa.loopexit ]
  %lcmp.mod331.not = icmp eq i64 %xtraiter330, 0
  br i1 %lcmp.mod331.not, label %._crit_edge186, label %._crit_edge186.loopexit.epilog-lcssa

._crit_edge186.loopexit.epilog-lcssa:             ; preds = %._crit_edge186.loopexit.unr-lcssa
  %310 = mul i32 %291, %indvars.iv238.unr
  %311 = sext i32 %310 to i64
  %312 = getelementptr inbounds double, ptr %97, i64 %311
  %313 = load double, ptr %312, align 8, !tbaa !29
  %314 = fcmp olt double %313, 0.000000e+00
  %315 = fneg double %.1183.unr
  %.2.epil = select i1 %314, double %315, double %.1183.unr
  br label %._crit_edge186

._crit_edge186:                                   ; preds = %._crit_edge186.loopexit.epilog-lcssa, %._crit_edge186.loopexit.unr-lcssa, %289
  %.1.lcssa = phi double [ 1.000000e+00, %289 ], [ %.2.lcssa.ph, %._crit_edge186.loopexit.unr-lcssa ], [ %.2.epil, %._crit_edge186.loopexit.epilog-lcssa ]
  call void @_ZdaPv(ptr noundef nonnull %97) #9
  call void @_ZdaPv(ptr noundef nonnull %100) #9
  br label %316

316:                                              ; preds = %._crit_edge186, %._crit_edge196
  %.3 = phi double [ %91, %._crit_edge196 ], [ %.1.lcssa, %._crit_edge186 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #7
  br label %317

317:                                              ; preds = %2, %316
  %.0 = phi double [ %.3, %316 ], [ 1.000000e+00, %2 ]
  ret double %.0
}

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur16backsolveSchurQREiPKdiPd(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #4 align 2

; 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 #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)) local_unnamed_addr #6 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { 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 #3 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress 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 = { nounwind }
attributes #8 = { builtin allocsize(0) }
attributes #9 = { 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, !16, i64 1080}
!6 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !7, i64 0, !13, i64 1064, !13, i64 1072, !16, i64 1080, !16, i64 1084, !13, i64 1088, !13, i64 1096, !18, i64 1104, !18, i64 1112, !16, i64 1120, !13, i64 1128, !13, i64 1136, !16, i64 1144, !13, i64 1152, !13, i64 1160, !13, i64 1168, !17, i64 1176, !17, i64 1216}
!7 = !{!"_ZTSN7qpOASES9SQProblemE", !8, i64 0}
!8 = !{!"_ZTSN7qpOASES8QProblemE", !9, i64 0, !10, i64 800, !13, i64 808, !13, i64 816, !13, i64 824, !25, i64 832, !13, i64 952, !13, i64 960, !16, i64 968, !13, i64 976, !13, i64 984, !13, i64 992, !13, i64 1000, !13, i64 1008, !13, i64 1016, !13, i64 1024, !13, i64 1032, !13, i64 1040, !13, i64 1048, !13, i64 1056}
!9 = !{!"_ZTSN7qpOASES9QProblemBE", !10, i64 8, !13, i64 16, !13, i64 24, !13, i64 32, !13, i64 40, !14, i64 48, !13, i64 168, !10, i64 176, !13, i64 184, !13, i64 192, !18, i64 200, !19, i64 208, !10, i64 212, !10, i64 216, !20, i64 220, !18, i64 224, !16, i64 232, !13, i64 240, !18, i64 248, !18, i64 256, !16, i64 264, !21, i64 272, !24, i64 496, !26, i64 768}
!10 = !{!"_ZTSN7qpOASES11BooleanTypeE", !11, i64 0}
!11 = !{!"omnipotent char", !12, i64 0}
!12 = !{!"Simple C++ TBAA"}
!13 = !{!"any pointer", !11, i64 0}
!14 = !{!"_ZTSN7qpOASES6BoundsE", !15, i64 0, !17, i64 40, !17, i64 80}
!15 = !{!"_ZTSN7qpOASES9SubjectToE", !16, i64 8, !13, i64 16, !13, i64 24, !10, i64 32, !10, i64 36}
!16 = !{!"int", !11, i64 0}
!17 = !{!"_ZTSN7qpOASES9IndexlistE", !13, i64 0, !13, i64 8, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28, !16, i64 32}
!18 = !{!"double", !11, i64 0}
!19 = !{!"_ZTSN7qpOASES14QProblemStatusE", !11, i64 0}
!20 = !{!"_ZTSN7qpOASES11HessianTypeE", !11, i64 0}
!21 = !{!"_ZTSN7qpOASES7OptionsE", !22, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !16, i64 28, !16, i64 32, !10, i64 36, !18, i64 40, !18, i64 48, !18, i64 56, !18, i64 64, !18, i64 72, !18, i64 80, !18, i64 88, !18, i64 96, !18, i64 104, !18, i64 112, !18, i64 120, !23, i64 128, !18, i64 136, !16, i64 144, !18, i64 152, !16, i64 160, !18, i64 168, !18, i64 176, !18, i64 184, !18, i64 192, !10, i64 200, !10, i64 204, !16, i64 208, !16, i64 212, !16, i64 216}
!22 = !{!"_ZTSN7qpOASES10PrintLevelE", !11, i64 0}
!23 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !11, i64 0}
!24 = !{!"_ZTSN7qpOASES7FlipperE", !16, i64 0, !16, i64 4, !14, i64 8, !25, i64 128, !13, i64 248, !13, i64 256, !13, i64 264}
!25 = !{!"_ZTSN7qpOASES11ConstraintsE", !15, i64 0, !17, i64 40, !17, i64 80}
!26 = !{!"_ZTSN7qpOASES13TabularOutputE", !16, i64 0, !16, i64 4, !16, i64 8, !16, i64 12, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28}
!27 = !{!6, !13, i64 1072}
!28 = !{!6, !16, i64 1084}
!29 = !{!18, !18, i64 0}
!30 = distinct !{!30, !31, !32, !33}
!31 = !{!"llvm.loop.mustprogress"}
!32 = !{!"llvm.loop.isvectorized", i32 1}
!33 = !{!"llvm.loop.unroll.runtime.disable"}
!34 = distinct !{!34, !35}
!35 = !{!"llvm.loop.unroll.disable"}
!36 = distinct !{!36, !31, !32}
!37 = distinct !{!37, !31}
!38 = distinct !{!38, !35}
!39 = !{!6, !18, i64 1104}
!40 = distinct !{!40, !35}
!41 = !{!42}
!42 = distinct !{!42, !43}
!43 = distinct !{!43, !"LVerDomain"}
!44 = !{!45}
!45 = distinct !{!45, !43}
!46 = distinct !{!46, !31, !32, !33}
!47 = distinct !{!47, !31, !32}
!48 = distinct !{!48, !31}
!49 = distinct !{!49, !35}
!50 = !{!51}
!51 = distinct !{!51, !52}
!52 = distinct !{!52, !"LVerDomain"}
!53 = !{!54}
!54 = distinct !{!54, !52}
!55 = distinct !{!55, !31, !32, !33}
!56 = !{!6, !13, i64 1088}
!57 = distinct !{!57, !35}
!58 = distinct !{!58, !31, !32, !33}
!59 = distinct !{!59, !31, !32}
!60 = distinct !{!60, !31}
!61 = distinct !{!61, !31, !32}
!62 = distinct !{!62, !31}
!63 = distinct !{!63, !31}
!64 = distinct !{!64, !31}
!65 = distinct !{!65, !31}


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