; 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
@.str.42 = external hidden unnamed_addr constant [14 x i8], align 1
@.str.43 = external hidden unnamed_addr constant [19 x i8], align 1

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #1

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

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800)) #5 align 2

declare noundef i32 @_ZN7qpOASES9QProblemB20setInfeasibilityFlagENS_11returnValueENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, i32 noundef) #1

; 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

; Function Attrs: nounwind
declare i32 @snprintf(ptr noundef, i64 noundef, ptr noundef, ...) #7

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

declare noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) #1

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES8QProblem15dropInfeasiblesEiNS_15SubjectToStatusENS_11BooleanTypeEPdS3_(ptr noundef nonnull align 8 dereferenceable(1064), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef) #8 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem17addBound_ensureLIEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %1, i32 noundef %2) unnamed_addr #8 align 2 {
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %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 i32, align 4
  %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 double, align 8
  %24 = alloca i32, align 4
  %25 = alloca i32, align 4
  %26 = alloca i32, align 4
  %27 = alloca i32, align 4
  %28 = alloca [160 x i8], align 16
  store ptr %0, ptr %5, align 8, !tbaa !5
  store i32 %1, ptr %6, align 4, !tbaa !9
  store i32 %2, ptr %7, align 4, !tbaa !11
  %29 = load ptr, ptr %5, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #9
  %30 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %29)
  store i32 %30, ptr %10, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #9
  %31 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %29)
  store i32 %31, ptr %11, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #9
  %32 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %29)
  store i32 %32, ptr %12, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #9
  %33 = load ptr, ptr %29, align 8, !tbaa !13
  %34 = getelementptr inbounds ptr, ptr %33, i64 7
  %35 = load ptr, ptr %34, align 8
  %36 = call noundef i32 %35(ptr noundef nonnull align 8 dereferenceable(1064) %29)
  store i32 %36, ptr %13, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #9
  %37 = load i32, ptr %6, align 4, !tbaa !9
  %38 = load ptr, ptr %29, align 8, !tbaa !13
  %39 = getelementptr inbounds ptr, ptr %38, i64 29
  %40 = load ptr, ptr %39, align 8
  %41 = call noundef i32 %40(ptr noundef nonnull align 8 dereferenceable(1064) %29, i32 noundef %37)
  store i32 %41, ptr %14, align 4, !tbaa !15
  %42 = load i32, ptr %14, align 4, !tbaa !15
  %43 = icmp eq i32 %42, 14
  br i1 %43, label %44, label %47

44:                                               ; preds = %3
  %45 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %46 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %45, i32 noundef 91, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3609, i32 noundef 1)
  store i32 %46, ptr %4, align 4
  store i32 1, ptr %15, align 4
  br label %430

47:                                               ; preds = %3
  %48 = load i32, ptr %14, align 4, !tbaa !15
  %49 = icmp eq i32 %48, 89
  br i1 %49, label %50, label %51

50:                                               ; preds = %47
  store i32 0, ptr %4, align 4
  store i32 1, ptr %15, align 4
  br label %430

51:                                               ; preds = %47
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #9
  %52 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 6
  %53 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %52)
  %54 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %53, ptr noundef %16)
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #9
  %55 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 6
  %56 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %55)
  %57 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %56, ptr noundef %17)
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #9
  %58 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 5
  %59 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %58)
  %60 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %59, ptr noundef %18)
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #9
  %61 = load i32, ptr %12, 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) #10
  store ptr %67, ptr %19, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #9
  %68 = load i32, ptr %12, 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) #10
  store ptr %74, ptr %20, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #9
  %75 = load i32, ptr %11, 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) #10
  store ptr %81, ptr %21, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #9
  %82 = load i32, ptr %10, 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) #10
  store ptr %88, ptr %22, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #9
  %89 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 23
  %90 = getelementptr inbounds %"class.qpOASES::Options", ptr %89, i32 0, i32 16
  %91 = load double, ptr %90, align 8, !tbaa !17
  store double %91, ptr %23, align 8, !tbaa !31
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #9
  store i32 -1, ptr %24, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #9
  store i32 -1, ptr %25, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #9
  store i32 0, ptr %26, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #9
  store i32 0, ptr %27, align 4, !tbaa !15
  %92 = load i32, ptr %12, align 4, !tbaa !9
  %93 = icmp sgt i32 %92, 0
  br i1 %93, label %94, label %160

94:                                               ; preds = %51
  %95 = load i32, ptr %7, align 4, !tbaa !11
  %96 = icmp eq i32 %95, -1
  br i1 %96, label %97, label %123

97:                                               ; preds = %94
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %98

98:                                               ; preds = %119, %97
  %99 = load i32, ptr %8, align 4, !tbaa !9
  %100 = load i32, ptr %12, align 4, !tbaa !9
  %101 = icmp slt i32 %99, %100
  br i1 %101, label %102, label %122

102:                                              ; preds = %98
  %103 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %104 = load ptr, ptr %103, align 8, !tbaa !33
  %105 = load i32, ptr %6, align 4, !tbaa !9
  %106 = load i32, ptr %10, align 4, !tbaa !9
  %107 = load i32, ptr %13, align 4, !tbaa !9
  %108 = load i32, ptr %8, align 4, !tbaa !9
  %109 = add nsw i32 %107, %108
  %110 = mul nsw i32 %106, %109
  %111 = add nsw i32 %105, %110
  %112 = sext i32 %111 to i64
  %113 = getelementptr inbounds double, ptr %104, i64 %112
  %114 = load double, ptr %113, align 8, !tbaa !31
  %115 = load ptr, ptr %20, align 8, !tbaa !5
  %116 = load i32, ptr %8, align 4, !tbaa !9
  %117 = sext i32 %116 to i64
  %118 = getelementptr inbounds double, ptr %115, i64 %117
  store double %114, ptr %118, align 8, !tbaa !31
  br label %119

119:                                              ; preds = %102
  %120 = load i32, ptr %8, align 4, !tbaa !9
  %121 = add nsw i32 %120, 1
  store i32 %121, ptr %8, align 4, !tbaa !9
  br label %98, !llvm.loop !35

122:                                              ; preds = %98
  br label %150

123:                                              ; preds = %94
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %124

124:                                              ; preds = %146, %123
  %125 = load i32, ptr %8, align 4, !tbaa !9
  %126 = load i32, ptr %12, align 4, !tbaa !9
  %127 = icmp slt i32 %125, %126
  br i1 %127, label %128, label %149

128:                                              ; preds = %124
  %129 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 7
  %130 = load ptr, ptr %129, align 8, !tbaa !33
  %131 = load i32, ptr %6, align 4, !tbaa !9
  %132 = load i32, ptr %10, align 4, !tbaa !9
  %133 = load i32, ptr %13, align 4, !tbaa !9
  %134 = load i32, ptr %8, align 4, !tbaa !9
  %135 = add nsw i32 %133, %134
  %136 = mul nsw i32 %132, %135
  %137 = add nsw i32 %131, %136
  %138 = sext i32 %137 to i64
  %139 = getelementptr inbounds double, ptr %130, i64 %138
  %140 = load double, ptr %139, align 8, !tbaa !31
  %141 = fneg double %140
  %142 = load ptr, ptr %20, align 8, !tbaa !5
  %143 = load i32, ptr %8, align 4, !tbaa !9
  %144 = sext i32 %143 to i64
  %145 = getelementptr inbounds double, ptr %142, i64 %144
  store double %141, ptr %145, align 8, !tbaa !31
  br label %146

146:                                              ; preds = %128
  %147 = load i32, ptr %8, align 4, !tbaa !9
  %148 = add nsw i32 %147, 1
  store i32 %148, ptr %8, align 4, !tbaa !9
  br label %124, !llvm.loop !37

149:                                              ; preds = %124
  br label %150

150:                                              ; preds = %149, %122
  %151 = load ptr, ptr %20, align 8, !tbaa !5
  %152 = load ptr, ptr %19, align 8, !tbaa !5
  %153 = load ptr, ptr %29, align 8, !tbaa !13
  %154 = getelementptr inbounds ptr, ptr %153, i64 33
  %155 = load ptr, ptr %154, align 8
  %156 = call noundef i32 %155(ptr noundef nonnull align 8 dereferenceable(1064) %29, ptr noundef %151, i32 noundef 1, ptr noundef %152)
  %157 = icmp ne i32 %156, 0
  br i1 %157, label %158, label %159

158:                                              ; preds = %150
  store i32 92, ptr %27, align 4, !tbaa !15
  br label %398

159:                                              ; preds = %150
  br label %160

160:                                              ; preds = %159, %51
  %161 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 2
  %162 = load ptr, ptr %161, align 8, !tbaa !38
  %163 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 5
  %164 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %163)
  %165 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 6
  %166 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %165)
  %167 = load ptr, ptr %19, align 8, !tbaa !5
  %168 = load i32, ptr %12, align 4, !tbaa !9
  %169 = load ptr, ptr %21, align 8, !tbaa !5
  %170 = load i32, ptr %11, align 4, !tbaa !9
  %171 = load ptr, ptr %162, align 8, !tbaa !13
  %172 = getelementptr inbounds ptr, ptr %171, i64 18
  %173 = load ptr, ptr %172, align 8
  %174 = call noundef i32 %173(ptr noundef nonnull align 8 dereferenceable(12) %162, ptr noundef %164, ptr noundef %166, i32 noundef 1, double noundef -1.000000e+00, ptr noundef %167, i32 noundef %168, double noundef 0.000000e+00, ptr noundef %169, i32 noundef %170)
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %175

175:                                              ; preds = %197, %160
  %176 = load i32, ptr %8, align 4, !tbaa !9
  %177 = load i32, ptr %12, align 4, !tbaa !9
  %178 = icmp slt i32 %176, %177
  br i1 %178, label %179, label %200

179:                                              ; preds = %175
  %180 = load ptr, ptr %18, align 8, !tbaa !5
  %181 = load i32, ptr %8, align 4, !tbaa !9
  %182 = sext i32 %181 to i64
  %183 = getelementptr inbounds i32, ptr %180, i64 %182
  %184 = load i32, ptr %183, align 4, !tbaa !9
  store i32 %184, ptr %9, align 4, !tbaa !9
  %185 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 10
  %186 = load ptr, ptr %185, align 8, !tbaa !39
  %187 = load i32, ptr %10, align 4, !tbaa !9
  %188 = load i32, ptr %9, align 4, !tbaa !9
  %189 = add nsw i32 %187, %188
  %190 = sext i32 %189 to i64
  %191 = getelementptr inbounds double, ptr %186, i64 %190
  %192 = load double, ptr %191, align 8, !tbaa !31
  %193 = load ptr, ptr %22, align 8, !tbaa !5
  %194 = load i32, ptr %8, align 4, !tbaa !9
  %195 = sext i32 %194 to i64
  %196 = getelementptr inbounds double, ptr %193, i64 %195
  store double %192, ptr %196, align 8, !tbaa !31
  br label %197

197:                                              ; preds = %179
  %198 = load i32, ptr %8, align 4, !tbaa !9
  %199 = add nsw i32 %198, 1
  store i32 %199, ptr %8, align 4, !tbaa !9
  br label %175, !llvm.loop !40

200:                                              ; preds = %175
  %201 = load i32, ptr %12, align 4, !tbaa !9
  %202 = load ptr, ptr %18, align 8, !tbaa !5
  %203 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %29, i32 0, i32 5
  %204 = load ptr, ptr %22, align 8, !tbaa !5
  %205 = load ptr, ptr %19, align 8, !tbaa !5
  %206 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 23
  %207 = getelementptr inbounds %"class.qpOASES::Options", ptr %206, i32 0, i32 13
  %208 = load double, ptr %207, align 8, !tbaa !41
  %209 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 23
  %210 = getelementptr inbounds %"class.qpOASES::Options", ptr %209, i32 0, i32 14
  %211 = load double, ptr %210, align 8, !tbaa !42
  %212 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %29, i32 noundef %201, ptr noundef %202, ptr noundef %203, ptr noundef %204, ptr noundef %205, double noundef %208, double noundef %211, ptr noundef nonnull align 8 dereferenceable(8) %23, ptr noundef nonnull align 4 dereferenceable(4) %24)
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %213

213:                                              ; preds = %233, %200
  %214 = load i32, ptr %8, align 4, !tbaa !9
  %215 = load i32, ptr %11, align 4, !tbaa !9
  %216 = icmp slt i32 %214, %215
  br i1 %216, label %217, label %236

217:                                              ; preds = %213
  %218 = load ptr, ptr %17, align 8, !tbaa !5
  %219 = load i32, ptr %8, align 4, !tbaa !9
  %220 = sext i32 %219 to i64
  %221 = getelementptr inbounds i32, ptr %218, i64 %220
  %222 = load i32, ptr %221, align 4, !tbaa !9
  store i32 %222, ptr %9, align 4, !tbaa !9
  %223 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 10
  %224 = load ptr, ptr %223, align 8, !tbaa !39
  %225 = load i32, ptr %9, align 4, !tbaa !9
  %226 = sext i32 %225 to i64
  %227 = getelementptr inbounds double, ptr %224, i64 %226
  %228 = load double, ptr %227, align 8, !tbaa !31
  %229 = load ptr, ptr %22, align 8, !tbaa !5
  %230 = load i32, ptr %8, align 4, !tbaa !9
  %231 = sext i32 %230 to i64
  %232 = getelementptr inbounds double, ptr %229, i64 %231
  store double %228, ptr %232, align 8, !tbaa !31
  br label %233

233:                                              ; preds = %217
  %234 = load i32, ptr %8, align 4, !tbaa !9
  %235 = add nsw i32 %234, 1
  store i32 %235, ptr %8, align 4, !tbaa !9
  br label %213, !llvm.loop !43

236:                                              ; preds = %213
  %237 = load i32, ptr %11, align 4, !tbaa !9
  %238 = load ptr, ptr %17, align 8, !tbaa !5
  %239 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 6
  %240 = load ptr, ptr %22, align 8, !tbaa !5
  %241 = load ptr, ptr %21, align 8, !tbaa !5
  %242 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 23
  %243 = getelementptr inbounds %"class.qpOASES::Options", ptr %242, i32 0, i32 13
  %244 = load double, ptr %243, align 8, !tbaa !41
  %245 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 23
  %246 = getelementptr inbounds %"class.qpOASES::Options", ptr %245, i32 0, i32 14
  %247 = load double, ptr %246, align 8, !tbaa !42
  %248 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %29, i32 noundef %237, ptr noundef %238, ptr noundef %239, ptr noundef %240, ptr noundef %241, double noundef %244, double noundef %247, ptr noundef nonnull align 8 dereferenceable(8) %23, ptr noundef nonnull align 4 dereferenceable(4) %25)
  %249 = load i32, ptr %25, align 4, !tbaa !9
  %250 = icmp sge i32 %249, 0
  br i1 %250, label %251, label %253

251:                                              ; preds = %236
  %252 = load i32, ptr %25, align 4, !tbaa !9
  store i32 %252, ptr %24, align 4, !tbaa !9
  store i32 1, ptr %26, align 4, !tbaa !32
  br label %253

253:                                              ; preds = %251, %236
  %254 = load i32, ptr %24, align 4, !tbaa !9
  %255 = icmp sge i32 %254, 0
  br i1 %255, label %256, label %382

256:                                              ; preds = %253
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %257

257:                                              ; preds = %283, %256
  %258 = load i32, ptr %8, align 4, !tbaa !9
  %259 = load i32, ptr %12, align 4, !tbaa !9
  %260 = icmp slt i32 %258, %259
  br i1 %260, label %261, label %286

261:                                              ; preds = %257
  %262 = load ptr, ptr %18, align 8, !tbaa !5
  %263 = load i32, ptr %8, align 4, !tbaa !9
  %264 = sext i32 %263 to i64
  %265 = getelementptr inbounds i32, ptr %262, i64 %264
  %266 = load i32, ptr %265, align 4, !tbaa !9
  store i32 %266, ptr %9, align 4, !tbaa !9
  %267 = load double, ptr %23, align 8, !tbaa !31
  %268 = load ptr, ptr %19, align 8, !tbaa !5
  %269 = load i32, ptr %8, align 4, !tbaa !9
  %270 = sext i32 %269 to i64
  %271 = getelementptr inbounds double, ptr %268, i64 %270
  %272 = load double, ptr %271, align 8, !tbaa !31
  %273 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 10
  %274 = load ptr, ptr %273, align 8, !tbaa !39
  %275 = load i32, ptr %10, align 4, !tbaa !9
  %276 = load i32, ptr %9, align 4, !tbaa !9
  %277 = add nsw i32 %275, %276
  %278 = sext i32 %277 to i64
  %279 = getelementptr inbounds double, ptr %274, i64 %278
  %280 = load double, ptr %279, align 8, !tbaa !31
  %281 = fneg double %267
  %282 = call double @llvm.fmuladd.f64(double %281, double %272, double %280)
  store double %282, ptr %279, align 8, !tbaa !31
  br label %283

283:                                              ; preds = %261
  %284 = load i32, ptr %8, align 4, !tbaa !9
  %285 = add nsw i32 %284, 1
  store i32 %285, ptr %8, align 4, !tbaa !9
  br label %257, !llvm.loop !44

286:                                              ; preds = %257
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %287

287:                                              ; preds = %311, %286
  %288 = load i32, ptr %8, align 4, !tbaa !9
  %289 = load i32, ptr %11, align 4, !tbaa !9
  %290 = icmp slt i32 %288, %289
  br i1 %290, label %291, label %314

291:                                              ; preds = %287
  %292 = load ptr, ptr %17, align 8, !tbaa !5
  %293 = load i32, ptr %8, align 4, !tbaa !9
  %294 = sext i32 %293 to i64
  %295 = getelementptr inbounds i32, ptr %292, i64 %294
  %296 = load i32, ptr %295, align 4, !tbaa !9
  store i32 %296, ptr %9, align 4, !tbaa !9
  %297 = load double, ptr %23, align 8, !tbaa !31
  %298 = load ptr, ptr %21, align 8, !tbaa !5
  %299 = load i32, ptr %8, 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 !31
  %303 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 10
  %304 = load ptr, ptr %303, align 8, !tbaa !39
  %305 = load i32, ptr %9, align 4, !tbaa !9
  %306 = sext i32 %305 to i64
  %307 = getelementptr inbounds double, ptr %304, i64 %306
  %308 = load double, ptr %307, align 8, !tbaa !31
  %309 = fneg double %297
  %310 = call double @llvm.fmuladd.f64(double %309, double %302, double %308)
  store double %310, ptr %307, align 8, !tbaa !31
  br label %311

311:                                              ; preds = %291
  %312 = load i32, ptr %8, align 4, !tbaa !9
  %313 = add nsw i32 %312, 1
  store i32 %313, ptr %8, align 4, !tbaa !9
  br label %287, !llvm.loop !45

314:                                              ; preds = %287
  %315 = load i32, ptr %7, align 4, !tbaa !11
  %316 = icmp eq i32 %315, -1
  br i1 %316, label %317, label %324

317:                                              ; preds = %314
  %318 = load double, ptr %23, align 8, !tbaa !31
  %319 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 10
  %320 = load ptr, ptr %319, align 8, !tbaa !39
  %321 = load i32, ptr %6, align 4, !tbaa !9
  %322 = sext i32 %321 to i64
  %323 = getelementptr inbounds double, ptr %320, i64 %322
  store double %318, ptr %323, align 8, !tbaa !31
  br label %332

324:                                              ; preds = %314
  %325 = load double, ptr %23, align 8, !tbaa !31
  %326 = fneg double %325
  %327 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 10
  %328 = load ptr, ptr %327, align 8, !tbaa !39
  %329 = load i32, ptr %6, align 4, !tbaa !9
  %330 = sext i32 %329 to i64
  %331 = getelementptr inbounds double, ptr %328, i64 %330
  store double %326, ptr %331, align 8, !tbaa !31
  br label %332

332:                                              ; preds = %324, %317
  %333 = load i32, ptr %26, align 4, !tbaa !32
  %334 = icmp eq i32 %333, 1
  br i1 %334, label %335, label %357

335:                                              ; preds = %332
  %336 = getelementptr inbounds [160 x i8], ptr %28, i64 0, i64 0
  %337 = load i32, ptr %24, align 4, !tbaa !9
  %338 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %336, i64 noundef 160, ptr noundef @.str.42, i32 noundef %337) #9
  %339 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %340 = getelementptr inbounds [160 x i8], ptr %28, i64 0, i64 0
  %341 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %339, i32 noundef 82, ptr noundef %340, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3723, i32 noundef 1)
  %342 = load i32, ptr %24, align 4, !tbaa !9
  %343 = load ptr, ptr %29, align 8, !tbaa !13
  %344 = getelementptr inbounds ptr, ptr %343, i64 32
  %345 = load ptr, ptr %344, align 8
  %346 = call noundef i32 %345(ptr noundef nonnull align 8 dereferenceable(1064) %29, i32 noundef %342, i32 noundef 1, i32 noundef 0, i32 noundef 0)
  %347 = icmp ne i32 %346, 0
  br i1 %347, label %348, label %349

348:                                              ; preds = %335
  store i32 84, ptr %27, align 4, !tbaa !15
  br label %398

349:                                              ; preds = %335
  %350 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 25
  %351 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %350, i32 0, i32 5
  store i32 1, ptr %351, align 4, !tbaa !46
  %352 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 10
  %353 = load ptr, ptr %352, align 8, !tbaa !39
  %354 = load i32, ptr %24, align 4, !tbaa !9
  %355 = sext i32 %354 to i64
  %356 = getelementptr inbounds double, ptr %353, i64 %355
  store double 0.000000e+00, ptr %356, align 8, !tbaa !31
  br label %381

357:                                              ; preds = %332
  %358 = getelementptr inbounds [160 x i8], ptr %28, i64 0, i64 0
  %359 = load i32, ptr %24, align 4, !tbaa !9
  %360 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %358, i64 noundef 160, ptr noundef @.str.43, i32 noundef %359) #9
  %361 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %362 = getelementptr inbounds [160 x i8], ptr %28, i64 0, i64 0
  %363 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %361, i32 noundef 82, ptr noundef %362, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3739, i32 noundef 1)
  %364 = load i32, ptr %24, align 4, !tbaa !9
  %365 = load ptr, ptr %29, align 8, !tbaa !13
  %366 = getelementptr inbounds ptr, ptr %365, i64 31
  %367 = load ptr, ptr %366, align 8
  %368 = call noundef i32 %367(ptr noundef nonnull align 8 dereferenceable(1064) %29, i32 noundef %364, i32 noundef 1, i32 noundef 0, i32 noundef 0)
  %369 = icmp ne i32 %368, 0
  br i1 %369, label %370, label %371

370:                                              ; preds = %357
  store i32 84, ptr %27, align 4, !tbaa !15
  br label %398

371:                                              ; preds = %357
  %372 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 25
  %373 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %372, i32 0, i32 7
  store i32 1, ptr %373, align 4, !tbaa !47
  %374 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 10
  %375 = load ptr, ptr %374, align 8, !tbaa !39
  %376 = load i32, ptr %10, align 4, !tbaa !9
  %377 = load i32, ptr %24, align 4, !tbaa !9
  %378 = add nsw i32 %376, %377
  %379 = sext i32 %378 to i64
  %380 = getelementptr inbounds double, ptr %375, i64 %379
  store double 0.000000e+00, ptr %380, align 8, !tbaa !31
  br label %381

381:                                              ; preds = %371, %349
  br label %397

382:                                              ; preds = %253
  %383 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %29, i32 0, i32 23
  %384 = getelementptr inbounds %"class.qpOASES::Options", ptr %383, i32 0, i32 34
  %385 = load i32, ptr %384, align 4, !tbaa !48
  %386 = icmp eq i32 %385, 1
  br i1 %386, label %387, label %393

387:                                              ; preds = %382
  %388 = load i32, ptr %6, align 4, !tbaa !9
  %389 = load i32, ptr %7, align 4, !tbaa !11
  %390 = load ptr, ptr %21, align 8, !tbaa !5
  %391 = load ptr, ptr %19, align 8, !tbaa !5
  %392 = call noundef i32 @_ZN7qpOASES8QProblem15dropInfeasiblesEiNS_15SubjectToStatusENS_11BooleanTypeEPdS3_(ptr noundef nonnull align 8 dereferenceable(1064) %29, i32 noundef %388, i32 noundef %389, i32 noundef 1, ptr noundef %390, ptr noundef %391)
  store i32 %392, ptr %27, align 4, !tbaa !15
  br label %396

393:                                              ; preds = %382
  store i32 93, ptr %27, align 4, !tbaa !15
  %394 = load i32, ptr %27, align 4, !tbaa !15
  %395 = call noundef i32 @_ZN7qpOASES9QProblemB20setInfeasibilityFlagENS_11returnValueENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %29, i32 noundef %394, i32 noundef 0)
  br label %396

396:                                              ; preds = %393, %387
  br label %397

397:                                              ; preds = %396, %381
  br label %398

398:                                              ; preds = %397, %370, %348, %158
  %399 = load ptr, ptr %22, align 8, !tbaa !5
  %400 = icmp eq ptr %399, null
  br i1 %400, label %402, label %401

401:                                              ; preds = %398
  call void @_ZdaPv(ptr noundef %399) #11
  br label %402

402:                                              ; preds = %401, %398
  %403 = load ptr, ptr %21, align 8, !tbaa !5
  %404 = icmp eq ptr %403, null
  br i1 %404, label %406, label %405

405:                                              ; preds = %402
  call void @_ZdaPv(ptr noundef %403) #11
  br label %406

406:                                              ; preds = %405, %402
  %407 = load ptr, ptr %20, align 8, !tbaa !5
  %408 = icmp eq ptr %407, null
  br i1 %408, label %410, label %409

409:                                              ; preds = %406
  call void @_ZdaPv(ptr noundef %407) #11
  br label %410

410:                                              ; preds = %409, %406
  %411 = load ptr, ptr %19, align 8, !tbaa !5
  %412 = icmp eq ptr %411, null
  br i1 %412, label %414, label %413

413:                                              ; preds = %410
  call void @_ZdaPv(ptr noundef %411) #11
  br label %414

414:                                              ; preds = %413, %410
  %415 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %416 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %415, i32 noundef 90, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3772, i32 noundef 1)
  %417 = load i32, ptr %27, align 4, !tbaa !15
  %418 = icmp ne i32 %417, 0
  br i1 %418, label %419, label %426

419:                                              ; preds = %414
  %420 = load i32, ptr %27, align 4, !tbaa !15
  %421 = icmp ne i32 %420, 93
  br i1 %421, label %422, label %426

422:                                              ; preds = %419
  %423 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %424 = load i32, ptr %27, align 4, !tbaa !15
  %425 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %423, i32 noundef %424, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3774, i32 noundef 1)
  br label %428

426:                                              ; preds = %419, %414
  %427 = load i32, ptr %27, align 4, !tbaa !15
  br label %428

428:                                              ; preds = %426, %422
  %429 = phi i32 [ %425, %422 ], [ %427, %426 ]
  store i32 %429, ptr %4, align 4
  store i32 1, ptr %15, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #9
  br label %430

430:                                              ; preds = %428, %50, %44
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #9
  %431 = load i32, ptr %4, align 4
  ret i32 %431
}

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 = { 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 #8 = { 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 #9 = { nounwind }
attributes #10 = { builtin allocsize(0) }
attributes #11 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"vtable pointer", !8, i64 0}
!15 = !{!16, !16, i64 0}
!16 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!17 = !{!18, !23, i64 360}
!18 = !{!"_ZTSN7qpOASES9QProblemBE", !19, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !20, i64 48, !6, i64 168, !19, i64 176, !6, i64 184, !6, i64 192, !23, i64 200, !24, i64 208, !19, i64 212, !19, i64 216, !25, i64 220, !23, i64 224, !10, i64 232, !6, i64 240, !23, i64 248, !23, i64 256, !10, i64 264, !26, i64 272, !28, i64 496, !30, i64 768}
!19 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!20 = !{!"_ZTSN7qpOASES6BoundsE", !21, i64 0, !22, i64 40, !22, i64 80}
!21 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !19, i64 32, !19, i64 36}
!22 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!23 = !{!"double", !7, i64 0}
!24 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!25 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES7OptionsE", !27, i64 0, !19, i64 4, !19, i64 8, !19, i64 12, !19, i64 16, !19, i64 20, !19, i64 24, !10, i64 28, !10, i64 32, !19, i64 36, !23, i64 40, !23, i64 48, !23, i64 56, !23, i64 64, !23, i64 72, !23, i64 80, !23, i64 88, !23, i64 96, !23, i64 104, !23, i64 112, !23, i64 120, !12, i64 128, !23, i64 136, !10, i64 144, !23, i64 152, !10, i64 160, !23, i64 168, !23, i64 176, !23, i64 184, !23, i64 192, !19, i64 200, !19, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!27 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!28 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !20, i64 8, !29, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!29 = !{!"_ZTSN7qpOASES11ConstraintsE", !21, i64 0, !22, i64 40, !22, i64 80}
!30 = !{!"_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}
!31 = !{!23, !23, i64 0}
!32 = !{!19, !19, i64 0}
!33 = !{!34, !6, i64 960}
!34 = !{!"_ZTSN7qpOASES8QProblemE", !18, i64 0, !19, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !29, 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, !36}
!36 = !{!"llvm.loop.mustprogress"}
!37 = distinct !{!37, !36}
!38 = !{!34, !6, i64 808}
!39 = !{!18, !6, i64 192}
!40 = distinct !{!40, !36}
!41 = !{!18, !23, i64 336}
!42 = !{!18, !23, i64 344}
!43 = distinct !{!43, !36}
!44 = distinct !{!44, !36}
!45 = distinct !{!45, !36}
!46 = !{!18, !10, i64 788}
!47 = !{!18, !10, i64 796}
!48 = !{!18, !19, i64 476}


; 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
@.str.42 = external hidden unnamed_addr constant [14 x i8], align 1
@.str.43 = external hidden unnamed_addr constant [19 x i8], align 1

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #1

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #4 align 2

declare noundef i32 @_ZN7qpOASES9QProblemB20setInfeasibilityFlagENS_11returnValueENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, i32 noundef) local_unnamed_addr #1

; 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

; Function Attrs: nofree nounwind
declare noundef i32 @snprintf(ptr noalias nocapture noundef writeonly, i64 noundef, ptr nocapture noundef readonly, ...) local_unnamed_addr #6

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) #7

declare noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES8QProblem15dropInfeasiblesEiNS_15SubjectToStatusENS_11BooleanTypeEPdS3_(ptr noundef nonnull align 8 dereferenceable(1064), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef) local_unnamed_addr #8 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem17addBound_ensureLIEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %1, i32 noundef %2) unnamed_addr #8 align 2 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca double, align 8
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca [160 x i8], align 16
  %11 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %12 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %13 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %14 = load ptr, ptr %0, align 8, !tbaa !5
  %15 = getelementptr inbounds i8, ptr %14, i64 56
  %16 = load ptr, ptr %15, align 8
  %17 = tail call noundef i32 %16(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %18 = load ptr, ptr %0, align 8, !tbaa !5
  %19 = getelementptr inbounds i8, ptr %18, i64 232
  %20 = load ptr, ptr %19, align 8
  %21 = tail call noundef i32 %20(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %1)
  switch i32 %21, label %25 [
    i32 14, label %22
    i32 89, label %334
  ]

22:                                               ; preds = %3
  %23 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %24 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %23, i32 noundef 91, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3609, i32 noundef 1)
  br label %334

25:                                               ; preds = %3
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #9
  %26 = getelementptr inbounds i8, ptr %0, i64 48
  %27 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %26)
  %28 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %27, ptr noundef nonnull %4)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #9
  %29 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %26)
  %30 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %29, ptr noundef nonnull %5)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #9
  %31 = getelementptr inbounds i8, ptr %0, i64 832
  %32 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %31)
  %33 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %32, ptr noundef nonnull %6)
  %34 = zext i32 %13 to i64
  %35 = icmp slt i32 %13, 0
  %36 = shl nuw nsw i64 %34, 3
  %37 = select i1 %35, i64 -1, i64 %36
  %38 = call noalias noundef nonnull ptr @_Znam(i64 noundef %37) #10
  %39 = call noalias noundef nonnull ptr @_Znam(i64 noundef %37) #10
  %40 = ptrtoint ptr %39 to i64
  %41 = zext i32 %12 to i64
  %42 = icmp slt i32 %12, 0
  %43 = shl nuw nsw i64 %41, 3
  %44 = select i1 %42, i64 -1, i64 %43
  %45 = call noalias noundef nonnull ptr @_Znam(i64 noundef %44) #10
  %46 = zext nneg i32 %11 to i64
  %47 = icmp slt i32 %11, 0
  %48 = shl nuw nsw i64 %46, 3
  %49 = select i1 %47, i64 -1, i64 %48
  %50 = call noalias noundef nonnull ptr @_Znam(i64 noundef %49) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #9
  %51 = getelementptr inbounds i8, ptr %0, i64 360
  %52 = load double, ptr %51, align 8, !tbaa !8
  store double %52, ptr %7, align 8, !tbaa !26
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %8) #9
  store i32 -1, ptr %8, align 4, !tbaa !27
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %9) #9
  store i32 -1, ptr %9, align 4, !tbaa !27
  %53 = icmp sgt i32 %13, 0
  br i1 %53, label %54, label %123

54:                                               ; preds = %25
  %55 = icmp eq i32 %2, -1
  %56 = getelementptr inbounds i8, ptr %0, i64 960
  %57 = load ptr, ptr %56, align 8, !tbaa !28
  %58 = ptrtoint ptr %57 to i64
  %59 = sext i32 %17 to i64
  %60 = sext i32 %11 to i64
  %61 = sext i32 %1 to i64
  %invariant.gep146 = getelementptr double, ptr %57, i64 %61
  %ident.check155.not = icmp eq i32 %11, 1
  br i1 %55, label %.lr.ph105.preheader, label %.lr.ph.preheader

.lr.ph.preheader:                                 ; preds = %54
  %min.iters.check = icmp ugt i32 %13, 11
  %or.cond = and i1 %min.iters.check, %ident.check155.not
  br i1 %or.cond, label %vector.memcheck, label %.lr.ph.preheader173

.lr.ph.preheader173:                              ; preds = %middle.block, %vector.memcheck, %.lr.ph.preheader
  %indvars.iv.ph = phi i64 [ 0, %vector.memcheck ], [ 0, %.lr.ph.preheader ], [ %n.vec, %middle.block ]
  %xtraiter = and i64 %34, 1
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %.lr.ph.prol.loopexit, label %.lr.ph.prol

.lr.ph.prol:                                      ; preds = %.lr.ph.preheader173
  %62 = add nsw i64 %indvars.iv.ph, %59
  %63 = mul nsw i64 %62, %60
  %gep.prol = getelementptr double, ptr %invariant.gep146, i64 %63
  %64 = load double, ptr %gep.prol, align 8, !tbaa !26
  %65 = fneg double %64
  %66 = getelementptr inbounds double, ptr %39, i64 %indvars.iv.ph
  store double %65, ptr %66, align 8, !tbaa !26
  %indvars.iv.next.prol = or disjoint i64 %indvars.iv.ph, 1
  br label %.lr.ph.prol.loopexit

.lr.ph.prol.loopexit:                             ; preds = %.lr.ph.prol, %.lr.ph.preheader173
  %indvars.iv.unr = phi i64 [ %indvars.iv.ph, %.lr.ph.preheader173 ], [ %indvars.iv.next.prol, %.lr.ph.prol ]
  %67 = add nsw i64 %34, -1
  %68 = icmp eq i64 %indvars.iv.ph, %67
  br i1 %68, label %.loopexit, label %.lr.ph

vector.memcheck:                                  ; preds = %.lr.ph.preheader
  %69 = add nsw i64 %59, %61
  %70 = shl nsw i64 %69, 3
  %71 = add i64 %70, %58
  %72 = sub i64 %40, %71
  %diff.check = icmp ult i64 %72, 32
  br i1 %diff.check, label %.lr.ph.preheader173, label %vector.ph

vector.ph:                                        ; preds = %vector.memcheck
  %n.vec = and i64 %34, 2147483644
  %invariant.gep = getelementptr double, ptr %invariant.gep146, i64 %59
  br label %vector.body

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %gep196 = getelementptr double, ptr %invariant.gep, i64 %index
  %73 = getelementptr i8, ptr %gep196, i64 16
  %wide.load = load <2 x double>, ptr %gep196, align 8, !tbaa !26
  %wide.load153 = load <2 x double>, ptr %73, align 8, !tbaa !26
  %74 = fneg <2 x double> %wide.load
  %75 = fneg <2 x double> %wide.load153
  %76 = getelementptr inbounds double, ptr %39, i64 %index
  %77 = getelementptr inbounds i8, ptr %76, i64 16
  store <2 x double> %74, ptr %76, align 8, !tbaa !26
  store <2 x double> %75, ptr %77, align 8, !tbaa !26
  %index.next = add nuw i64 %index, 4
  %78 = icmp eq i64 %index.next, %n.vec
  br i1 %78, label %middle.block, label %vector.body, !llvm.loop !30

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %34
  br i1 %cmp.n, label %.loopexit, label %.lr.ph.preheader173

.lr.ph105.preheader:                              ; preds = %54
  %min.iters.check160 = icmp ugt i32 %13, 13
  %or.cond171 = and i1 %min.iters.check160, %ident.check155.not
  br i1 %or.cond171, label %vector.memcheck156, label %.lr.ph105.preheader172

vector.memcheck156:                               ; preds = %.lr.ph105.preheader
  %79 = add nsw i64 %59, %61
  %80 = shl nsw i64 %79, 3
  %81 = add i64 %80, %58
  %82 = sub i64 %40, %81
  %diff.check157 = icmp ult i64 %82, 32
  br i1 %diff.check157, label %.lr.ph105.preheader172, label %vector.ph161

vector.ph161:                                     ; preds = %vector.memcheck156
  %n.vec163 = and i64 %34, 2147483644
  %invariant.gep197 = getelementptr double, ptr %invariant.gep146, i64 %59
  br label %vector.body165

vector.body165:                                   ; preds = %vector.body165, %vector.ph161
  %index166 = phi i64 [ 0, %vector.ph161 ], [ %index.next169, %vector.body165 ]
  %gep198 = getelementptr double, ptr %invariant.gep197, i64 %index166
  %83 = getelementptr i8, ptr %gep198, i64 16
  %wide.load167 = load <2 x double>, ptr %gep198, align 8, !tbaa !26
  %wide.load168 = load <2 x double>, ptr %83, align 8, !tbaa !26
  %84 = getelementptr inbounds double, ptr %39, i64 %index166
  %85 = getelementptr inbounds i8, ptr %84, i64 16
  store <2 x double> %wide.load167, ptr %84, align 8, !tbaa !26
  store <2 x double> %wide.load168, ptr %85, align 8, !tbaa !26
  %index.next169 = add nuw i64 %index166, 4
  %86 = icmp eq i64 %index.next169, %n.vec163
  br i1 %86, label %middle.block158, label %vector.body165, !llvm.loop !34

middle.block158:                                  ; preds = %vector.body165
  %cmp.n170 = icmp eq i64 %n.vec163, %34
  br i1 %cmp.n170, label %.loopexit, label %.lr.ph105.preheader172

.lr.ph105.preheader172:                           ; preds = %middle.block158, %vector.memcheck156, %.lr.ph105.preheader
  %indvars.iv119.ph = phi i64 [ 0, %vector.memcheck156 ], [ 0, %.lr.ph105.preheader ], [ %n.vec163, %middle.block158 ]
  %xtraiter175 = and i64 %34, 3
  %lcmp.mod176.not = icmp eq i64 %xtraiter175, 0
  br i1 %lcmp.mod176.not, label %.lr.ph105.prol.loopexit, label %.lr.ph105.prol

.lr.ph105.prol:                                   ; preds = %.lr.ph105.preheader172, %.lr.ph105.prol
  %indvars.iv119.prol = phi i64 [ %indvars.iv.next120.prol, %.lr.ph105.prol ], [ %indvars.iv119.ph, %.lr.ph105.preheader172 ]
  %prol.iter = phi i64 [ %prol.iter.next, %.lr.ph105.prol ], [ 0, %.lr.ph105.preheader172 ]
  %87 = add nsw i64 %indvars.iv119.prol, %59
  %88 = mul nsw i64 %87, %60
  %gep147.prol = getelementptr double, ptr %invariant.gep146, i64 %88
  %89 = load double, ptr %gep147.prol, align 8, !tbaa !26
  %90 = getelementptr inbounds double, ptr %39, i64 %indvars.iv119.prol
  store double %89, ptr %90, align 8, !tbaa !26
  %indvars.iv.next120.prol = add nuw nsw i64 %indvars.iv119.prol, 1
  %prol.iter.next = add i64 %prol.iter, 1
  %prol.iter.cmp.not = icmp eq i64 %prol.iter.next, %xtraiter175
  br i1 %prol.iter.cmp.not, label %.lr.ph105.prol.loopexit, label %.lr.ph105.prol, !llvm.loop !35

.lr.ph105.prol.loopexit:                          ; preds = %.lr.ph105.prol, %.lr.ph105.preheader172
  %indvars.iv119.unr = phi i64 [ %indvars.iv119.ph, %.lr.ph105.preheader172 ], [ %indvars.iv.next120.prol, %.lr.ph105.prol ]
  %91 = sub nsw i64 %indvars.iv119.ph, %34
  %92 = icmp ugt i64 %91, -4
  br i1 %92, label %.loopexit, label %.lr.ph105

.lr.ph105:                                        ; preds = %.lr.ph105.prol.loopexit, %.lr.ph105
  %indvars.iv119 = phi i64 [ %indvars.iv.next120.3, %.lr.ph105 ], [ %indvars.iv119.unr, %.lr.ph105.prol.loopexit ]
  %93 = add nsw i64 %indvars.iv119, %59
  %94 = mul nsw i64 %93, %60
  %gep147 = getelementptr double, ptr %invariant.gep146, i64 %94
  %95 = load double, ptr %gep147, align 8, !tbaa !26
  %96 = getelementptr inbounds double, ptr %39, i64 %indvars.iv119
  store double %95, ptr %96, align 8, !tbaa !26
  %indvars.iv.next120 = add nuw nsw i64 %indvars.iv119, 1
  %97 = add nsw i64 %indvars.iv.next120, %59
  %98 = mul nsw i64 %97, %60
  %gep147.1 = getelementptr double, ptr %invariant.gep146, i64 %98
  %99 = load double, ptr %gep147.1, align 8, !tbaa !26
  %100 = getelementptr inbounds double, ptr %39, i64 %indvars.iv.next120
  store double %99, ptr %100, align 8, !tbaa !26
  %indvars.iv.next120.1 = add nuw nsw i64 %indvars.iv119, 2
  %101 = add nsw i64 %indvars.iv.next120.1, %59
  %102 = mul nsw i64 %101, %60
  %gep147.2 = getelementptr double, ptr %invariant.gep146, i64 %102
  %103 = load double, ptr %gep147.2, align 8, !tbaa !26
  %104 = getelementptr inbounds double, ptr %39, i64 %indvars.iv.next120.1
  store double %103, ptr %104, align 8, !tbaa !26
  %indvars.iv.next120.2 = add nuw nsw i64 %indvars.iv119, 3
  %105 = add nsw i64 %indvars.iv.next120.2, %59
  %106 = mul nsw i64 %105, %60
  %gep147.3 = getelementptr double, ptr %invariant.gep146, i64 %106
  %107 = load double, ptr %gep147.3, align 8, !tbaa !26
  %108 = getelementptr inbounds double, ptr %39, i64 %indvars.iv.next120.2
  store double %107, ptr %108, align 8, !tbaa !26
  %indvars.iv.next120.3 = add nuw nsw i64 %indvars.iv119, 4
  %exitcond123.not.3 = icmp eq i64 %indvars.iv.next120.3, %34
  br i1 %exitcond123.not.3, label %.loopexit, label %.lr.ph105, !llvm.loop !37

.lr.ph:                                           ; preds = %.lr.ph.prol.loopexit, %.lr.ph
  %indvars.iv = phi i64 [ %indvars.iv.next.1, %.lr.ph ], [ %indvars.iv.unr, %.lr.ph.prol.loopexit ]
  %109 = add nsw i64 %indvars.iv, %59
  %110 = mul nsw i64 %109, %60
  %gep = getelementptr double, ptr %invariant.gep146, i64 %110
  %111 = load double, ptr %gep, align 8, !tbaa !26
  %112 = fneg double %111
  %113 = getelementptr inbounds double, ptr %39, i64 %indvars.iv
  store double %112, ptr %113, align 8, !tbaa !26
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %114 = add nsw i64 %indvars.iv.next, %59
  %115 = mul nsw i64 %114, %60
  %gep.1 = getelementptr double, ptr %invariant.gep146, i64 %115
  %116 = load double, ptr %gep.1, align 8, !tbaa !26
  %117 = fneg double %116
  %118 = getelementptr inbounds double, ptr %39, i64 %indvars.iv.next
  store double %117, ptr %118, align 8, !tbaa !26
  %indvars.iv.next.1 = add nuw nsw i64 %indvars.iv, 2
  %exitcond.not.1 = icmp eq i64 %indvars.iv.next.1, %34
  br i1 %exitcond.not.1, label %.loopexit, label %.lr.ph, !llvm.loop !38

.loopexit:                                        ; preds = %.lr.ph.prol.loopexit, %.lr.ph, %.lr.ph105.prol.loopexit, %.lr.ph105, %middle.block, %middle.block158
  %119 = load ptr, ptr %0, align 8, !tbaa !5
  %120 = getelementptr inbounds i8, ptr %119, i64 264
  %121 = load ptr, ptr %120, align 8
  %122 = call noundef i32 %121(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef nonnull %39, i32 noundef 1, ptr noundef nonnull %38)
  %.not = icmp eq i32 %122, 0
  br i1 %.not, label %123, label %326

123:                                              ; preds = %.loopexit, %25
  %124 = getelementptr inbounds i8, ptr %0, i64 808
  %125 = load ptr, ptr %124, align 8, !tbaa !39
  %126 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %31)
  %127 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %26)
  %128 = load ptr, ptr %125, align 8, !tbaa !5
  %129 = getelementptr inbounds i8, ptr %128, i64 144
  %130 = load ptr, ptr %129, align 8
  %131 = call noundef i32 %130(ptr noundef nonnull align 8 dereferenceable(12) %125, ptr noundef %126, ptr noundef %127, i32 noundef 1, double noundef -1.000000e+00, ptr noundef nonnull %38, i32 noundef %13, double noundef 0.000000e+00, ptr noundef nonnull %45, i32 noundef %12)
  %.pre = load ptr, ptr %6, align 8, !tbaa !40
  br i1 %53, label %.lr.ph107, label %._crit_edge

.lr.ph107:                                        ; preds = %123
  %132 = getelementptr inbounds i8, ptr %0, i64 192
  %133 = load ptr, ptr %132, align 8, !tbaa !41
  %xtraiter177 = and i64 %34, 1
  %134 = icmp eq i32 %13, 1
  br i1 %134, label %._crit_edge.loopexit.unr-lcssa, label %.lr.ph107.new

.lr.ph107.new:                                    ; preds = %.lr.ph107
  %unroll_iter = and i64 %34, 2147483646
  br label %135

135:                                              ; preds = %135, %.lr.ph107.new
  %indvars.iv124 = phi i64 [ 0, %.lr.ph107.new ], [ %indvars.iv.next125.1, %135 ]
  %niter = phi i64 [ 0, %.lr.ph107.new ], [ %niter.next.1, %135 ]
  %136 = getelementptr inbounds i32, ptr %.pre, i64 %indvars.iv124
  %137 = load i32, ptr %136, align 4, !tbaa !27
  %138 = add nsw i32 %137, %11
  %139 = sext i32 %138 to i64
  %140 = getelementptr inbounds double, ptr %133, i64 %139
  %141 = load double, ptr %140, align 8, !tbaa !26
  %142 = getelementptr inbounds double, ptr %50, i64 %indvars.iv124
  store double %141, ptr %142, align 8, !tbaa !26
  %indvars.iv.next125 = or disjoint i64 %indvars.iv124, 1
  %143 = getelementptr inbounds i32, ptr %.pre, i64 %indvars.iv.next125
  %144 = load i32, ptr %143, align 4, !tbaa !27
  %145 = add nsw i32 %144, %11
  %146 = sext i32 %145 to i64
  %147 = getelementptr inbounds double, ptr %133, i64 %146
  %148 = load double, ptr %147, align 8, !tbaa !26
  %149 = getelementptr inbounds double, ptr %50, i64 %indvars.iv.next125
  store double %148, ptr %149, align 8, !tbaa !26
  %indvars.iv.next125.1 = add nuw nsw i64 %indvars.iv124, 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_edge.loopexit.unr-lcssa, label %135, !llvm.loop !42

._crit_edge.loopexit.unr-lcssa:                   ; preds = %135, %.lr.ph107
  %indvars.iv124.unr = phi i64 [ 0, %.lr.ph107 ], [ %indvars.iv.next125.1, %135 ]
  %lcmp.mod178.not = icmp eq i64 %xtraiter177, 0
  br i1 %lcmp.mod178.not, label %._crit_edge, label %._crit_edge.loopexit.epilog-lcssa

._crit_edge.loopexit.epilog-lcssa:                ; preds = %._crit_edge.loopexit.unr-lcssa
  %150 = getelementptr inbounds i32, ptr %.pre, i64 %indvars.iv124.unr
  %151 = load i32, ptr %150, align 4, !tbaa !27
  %152 = add nsw i32 %151, %11
  %153 = sext i32 %152 to i64
  %154 = getelementptr inbounds double, ptr %133, i64 %153
  %155 = load double, ptr %154, align 8, !tbaa !26
  %156 = getelementptr inbounds double, ptr %50, i64 %indvars.iv124.unr
  store double %155, ptr %156, align 8, !tbaa !26
  br label %._crit_edge

._crit_edge:                                      ; preds = %._crit_edge.loopexit.epilog-lcssa, %._crit_edge.loopexit.unr-lcssa, %123
  %157 = getelementptr inbounds i8, ptr %0, i64 336
  %158 = load double, ptr %157, align 8, !tbaa !43
  %159 = getelementptr inbounds i8, ptr %0, i64 344
  %160 = load double, ptr %159, align 8, !tbaa !44
  %161 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %13, ptr noundef %.pre, ptr noundef nonnull %31, ptr noundef nonnull %50, ptr noundef nonnull %38, double noundef %158, double noundef %160, ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(4) %8)
  %162 = icmp sgt i32 %12, 0
  %.pre144 = load ptr, ptr %5, align 8, !tbaa !40
  br i1 %162, label %.lr.ph110, label %._crit_edge111

.lr.ph110:                                        ; preds = %._crit_edge
  %163 = getelementptr inbounds i8, ptr %0, i64 192
  %164 = load ptr, ptr %163, align 8, !tbaa !41
  %xtraiter180 = and i64 %41, 3
  %165 = icmp ult i32 %12, 4
  br i1 %165, label %._crit_edge111.loopexit.unr-lcssa, label %.lr.ph110.new

.lr.ph110.new:                                    ; preds = %.lr.ph110
  %unroll_iter182 = and i64 %41, 2147483644
  br label %166

166:                                              ; preds = %166, %.lr.ph110.new
  %indvars.iv129 = phi i64 [ 0, %.lr.ph110.new ], [ %indvars.iv.next130.3, %166 ]
  %niter183 = phi i64 [ 0, %.lr.ph110.new ], [ %niter183.next.3, %166 ]
  %167 = getelementptr inbounds i32, ptr %.pre144, i64 %indvars.iv129
  %168 = load i32, ptr %167, align 4, !tbaa !27
  %169 = sext i32 %168 to i64
  %170 = getelementptr inbounds double, ptr %164, i64 %169
  %171 = load double, ptr %170, align 8, !tbaa !26
  %172 = getelementptr inbounds double, ptr %50, i64 %indvars.iv129
  store double %171, ptr %172, align 8, !tbaa !26
  %indvars.iv.next130 = or disjoint i64 %indvars.iv129, 1
  %173 = getelementptr inbounds i32, ptr %.pre144, i64 %indvars.iv.next130
  %174 = load i32, ptr %173, align 4, !tbaa !27
  %175 = sext i32 %174 to i64
  %176 = getelementptr inbounds double, ptr %164, i64 %175
  %177 = load double, ptr %176, align 8, !tbaa !26
  %178 = getelementptr inbounds double, ptr %50, i64 %indvars.iv.next130
  store double %177, ptr %178, align 8, !tbaa !26
  %indvars.iv.next130.1 = or disjoint i64 %indvars.iv129, 2
  %179 = getelementptr inbounds i32, ptr %.pre144, i64 %indvars.iv.next130.1
  %180 = load i32, ptr %179, align 4, !tbaa !27
  %181 = sext i32 %180 to i64
  %182 = getelementptr inbounds double, ptr %164, i64 %181
  %183 = load double, ptr %182, align 8, !tbaa !26
  %184 = getelementptr inbounds double, ptr %50, i64 %indvars.iv.next130.1
  store double %183, ptr %184, align 8, !tbaa !26
  %indvars.iv.next130.2 = or disjoint i64 %indvars.iv129, 3
  %185 = getelementptr inbounds i32, ptr %.pre144, i64 %indvars.iv.next130.2
  %186 = load i32, ptr %185, align 4, !tbaa !27
  %187 = sext i32 %186 to i64
  %188 = getelementptr inbounds double, ptr %164, i64 %187
  %189 = load double, ptr %188, align 8, !tbaa !26
  %190 = getelementptr inbounds double, ptr %50, i64 %indvars.iv.next130.2
  store double %189, ptr %190, align 8, !tbaa !26
  %indvars.iv.next130.3 = add nuw nsw i64 %indvars.iv129, 4
  %niter183.next.3 = add i64 %niter183, 4
  %niter183.ncmp.3 = icmp eq i64 %niter183.next.3, %unroll_iter182
  br i1 %niter183.ncmp.3, label %._crit_edge111.loopexit.unr-lcssa, label %166, !llvm.loop !45

._crit_edge111.loopexit.unr-lcssa:                ; preds = %166, %.lr.ph110
  %indvars.iv129.unr = phi i64 [ 0, %.lr.ph110 ], [ %indvars.iv.next130.3, %166 ]
  %lcmp.mod181.not = icmp eq i64 %xtraiter180, 0
  br i1 %lcmp.mod181.not, label %._crit_edge111, label %.epil.preheader179

.epil.preheader179:                               ; preds = %._crit_edge111.loopexit.unr-lcssa, %.epil.preheader179
  %indvars.iv129.epil = phi i64 [ %indvars.iv.next130.epil, %.epil.preheader179 ], [ %indvars.iv129.unr, %._crit_edge111.loopexit.unr-lcssa ]
  %epil.iter = phi i64 [ %epil.iter.next, %.epil.preheader179 ], [ 0, %._crit_edge111.loopexit.unr-lcssa ]
  %191 = getelementptr inbounds i32, ptr %.pre144, i64 %indvars.iv129.epil
  %192 = load i32, ptr %191, align 4, !tbaa !27
  %193 = sext i32 %192 to i64
  %194 = getelementptr inbounds double, ptr %164, i64 %193
  %195 = load double, ptr %194, align 8, !tbaa !26
  %196 = getelementptr inbounds double, ptr %50, i64 %indvars.iv129.epil
  store double %195, ptr %196, align 8, !tbaa !26
  %indvars.iv.next130.epil = add nuw nsw i64 %indvars.iv129.epil, 1
  %epil.iter.next = add i64 %epil.iter, 1
  %epil.iter.cmp.not = icmp eq i64 %epil.iter.next, %xtraiter180
  br i1 %epil.iter.cmp.not, label %._crit_edge111, label %.epil.preheader179, !llvm.loop !46

._crit_edge111:                                   ; preds = %._crit_edge111.loopexit.unr-lcssa, %.epil.preheader179, %._crit_edge
  %197 = load double, ptr %157, align 8, !tbaa !43
  %198 = load double, ptr %159, align 8, !tbaa !44
  %199 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %12, ptr noundef %.pre144, ptr noundef nonnull %26, ptr noundef nonnull %50, ptr noundef nonnull %45, double noundef %197, double noundef %198, ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef nonnull align 4 dereferenceable(4) %9)
  %200 = load i32, ptr %9, align 4, !tbaa !27
  %201 = icmp sgt i32 %200, -1
  br i1 %201, label %.thread, label %202

.thread:                                          ; preds = %._crit_edge111
  store i32 %200, ptr %8, align 4, !tbaa !27
  br label %.preheader99

202:                                              ; preds = %._crit_edge111
  %.pr = load i32, ptr %8, align 4, !tbaa !27
  %203 = icmp sgt i32 %.pr, -1
  br i1 %203, label %.preheader99, label %318

.preheader99:                                     ; preds = %.thread, %202
  %204 = phi i32 [ %200, %.thread ], [ %.pr, %202 ]
  br i1 %53, label %.lr.ph113, label %.preheader

.lr.ph113:                                        ; preds = %.preheader99
  %205 = load ptr, ptr %6, align 8, !tbaa !40
  %206 = getelementptr inbounds i8, ptr %0, i64 192
  %207 = load ptr, ptr %206, align 8, !tbaa !41
  %xtraiter185 = and i64 %34, 1
  %208 = icmp eq i32 %13, 1
  br i1 %208, label %.preheader.loopexit.unr-lcssa, label %.lr.ph113.new

.lr.ph113.new:                                    ; preds = %.lr.ph113
  %unroll_iter188 = and i64 %34, 2147483646
  br label %224

.preheader.loopexit.unr-lcssa:                    ; preds = %224, %.lr.ph113
  %indvars.iv134.unr = phi i64 [ 0, %.lr.ph113 ], [ %indvars.iv.next135.1, %224 ]
  %lcmp.mod187.not = icmp eq i64 %xtraiter185, 0
  br i1 %lcmp.mod187.not, label %.preheader, label %.preheader.loopexit.epilog-lcssa

.preheader.loopexit.epilog-lcssa:                 ; preds = %.preheader.loopexit.unr-lcssa
  %209 = getelementptr inbounds i32, ptr %205, i64 %indvars.iv134.unr
  %210 = load i32, ptr %209, align 4, !tbaa !27
  %211 = load double, ptr %7, align 8, !tbaa !26
  %212 = getelementptr inbounds double, ptr %38, i64 %indvars.iv134.unr
  %213 = load double, ptr %212, align 8, !tbaa !26
  %214 = add nsw i32 %210, %11
  %215 = sext i32 %214 to i64
  %216 = getelementptr inbounds double, ptr %207, i64 %215
  %217 = load double, ptr %216, align 8, !tbaa !26
  %218 = fneg double %211
  %219 = call double @llvm.fmuladd.f64(double %218, double %213, double %217)
  store double %219, ptr %216, align 8, !tbaa !26
  br label %.preheader

.preheader:                                       ; preds = %.preheader.loopexit.epilog-lcssa, %.preheader.loopexit.unr-lcssa, %.preheader99
  br i1 %162, label %.lr.ph115, label %._crit_edge116

.lr.ph115:                                        ; preds = %.preheader
  %220 = load ptr, ptr %5, align 8, !tbaa !40
  %221 = getelementptr inbounds i8, ptr %0, i64 192
  %222 = load ptr, ptr %221, align 8, !tbaa !41
  %xtraiter191 = and i64 %41, 1
  %223 = icmp eq i32 %12, 1
  br i1 %223, label %._crit_edge116.loopexit.unr-lcssa, label %.lr.ph115.new

.lr.ph115.new:                                    ; preds = %.lr.ph115
  %unroll_iter194 = and i64 %41, 2147483646
  br label %247

224:                                              ; preds = %224, %.lr.ph113.new
  %indvars.iv134 = phi i64 [ 0, %.lr.ph113.new ], [ %indvars.iv.next135.1, %224 ]
  %niter189 = phi i64 [ 0, %.lr.ph113.new ], [ %niter189.next.1, %224 ]
  %225 = getelementptr inbounds i32, ptr %205, i64 %indvars.iv134
  %226 = load i32, ptr %225, align 4, !tbaa !27
  %227 = load double, ptr %7, align 8, !tbaa !26
  %228 = getelementptr inbounds double, ptr %38, i64 %indvars.iv134
  %229 = load double, ptr %228, align 8, !tbaa !26
  %230 = add nsw i32 %226, %11
  %231 = sext i32 %230 to i64
  %232 = getelementptr inbounds double, ptr %207, i64 %231
  %233 = load double, ptr %232, align 8, !tbaa !26
  %234 = fneg double %227
  %235 = call double @llvm.fmuladd.f64(double %234, double %229, double %233)
  store double %235, ptr %232, align 8, !tbaa !26
  %indvars.iv.next135 = or disjoint i64 %indvars.iv134, 1
  %236 = getelementptr inbounds i32, ptr %205, i64 %indvars.iv.next135
  %237 = load i32, ptr %236, align 4, !tbaa !27
  %238 = load double, ptr %7, align 8, !tbaa !26
  %239 = getelementptr inbounds double, ptr %38, i64 %indvars.iv.next135
  %240 = load double, ptr %239, align 8, !tbaa !26
  %241 = add nsw i32 %237, %11
  %242 = sext i32 %241 to i64
  %243 = getelementptr inbounds double, ptr %207, i64 %242
  %244 = load double, ptr %243, align 8, !tbaa !26
  %245 = fneg double %238
  %246 = call double @llvm.fmuladd.f64(double %245, double %240, double %244)
  store double %246, ptr %243, align 8, !tbaa !26
  %indvars.iv.next135.1 = add nuw nsw i64 %indvars.iv134, 2
  %niter189.next.1 = add i64 %niter189, 2
  %niter189.ncmp.1 = icmp eq i64 %niter189.next.1, %unroll_iter188
  br i1 %niter189.ncmp.1, label %.preheader.loopexit.unr-lcssa, label %224, !llvm.loop !47

247:                                              ; preds = %247, %.lr.ph115.new
  %indvars.iv139 = phi i64 [ 0, %.lr.ph115.new ], [ %indvars.iv.next140.1, %247 ]
  %niter195 = phi i64 [ 0, %.lr.ph115.new ], [ %niter195.next.1, %247 ]
  %248 = getelementptr inbounds i32, ptr %220, i64 %indvars.iv139
  %249 = load i32, ptr %248, align 4, !tbaa !27
  %250 = load double, ptr %7, align 8, !tbaa !26
  %251 = getelementptr inbounds double, ptr %45, i64 %indvars.iv139
  %252 = load double, ptr %251, align 8, !tbaa !26
  %253 = sext i32 %249 to i64
  %254 = getelementptr inbounds double, ptr %222, i64 %253
  %255 = load double, ptr %254, align 8, !tbaa !26
  %256 = fneg double %250
  %257 = call double @llvm.fmuladd.f64(double %256, double %252, double %255)
  store double %257, ptr %254, align 8, !tbaa !26
  %indvars.iv.next140 = or disjoint i64 %indvars.iv139, 1
  %258 = getelementptr inbounds i32, ptr %220, i64 %indvars.iv.next140
  %259 = load i32, ptr %258, align 4, !tbaa !27
  %260 = load double, ptr %7, align 8, !tbaa !26
  %261 = getelementptr inbounds double, ptr %45, i64 %indvars.iv.next140
  %262 = load double, ptr %261, align 8, !tbaa !26
  %263 = sext i32 %259 to i64
  %264 = getelementptr inbounds double, ptr %222, i64 %263
  %265 = load double, ptr %264, align 8, !tbaa !26
  %266 = fneg double %260
  %267 = call double @llvm.fmuladd.f64(double %266, double %262, double %265)
  store double %267, ptr %264, align 8, !tbaa !26
  %indvars.iv.next140.1 = add nuw nsw i64 %indvars.iv139, 2
  %niter195.next.1 = add i64 %niter195, 2
  %niter195.ncmp.1 = icmp eq i64 %niter195.next.1, %unroll_iter194
  br i1 %niter195.ncmp.1, label %._crit_edge116.loopexit.unr-lcssa, label %247, !llvm.loop !48

._crit_edge116.loopexit.unr-lcssa:                ; preds = %247, %.lr.ph115
  %indvars.iv139.unr = phi i64 [ 0, %.lr.ph115 ], [ %indvars.iv.next140.1, %247 ]
  %lcmp.mod193.not = icmp eq i64 %xtraiter191, 0
  br i1 %lcmp.mod193.not, label %._crit_edge116, label %._crit_edge116.loopexit.epilog-lcssa

._crit_edge116.loopexit.epilog-lcssa:             ; preds = %._crit_edge116.loopexit.unr-lcssa
  %268 = getelementptr inbounds i32, ptr %220, i64 %indvars.iv139.unr
  %269 = load i32, ptr %268, align 4, !tbaa !27
  %270 = load double, ptr %7, align 8, !tbaa !26
  %271 = getelementptr inbounds double, ptr %45, i64 %indvars.iv139.unr
  %272 = load double, ptr %271, align 8, !tbaa !26
  %273 = sext i32 %269 to i64
  %274 = getelementptr inbounds double, ptr %222, i64 %273
  %275 = load double, ptr %274, align 8, !tbaa !26
  %276 = fneg double %270
  %277 = call double @llvm.fmuladd.f64(double %276, double %272, double %275)
  store double %277, ptr %274, align 8, !tbaa !26
  br label %._crit_edge116

._crit_edge116:                                   ; preds = %._crit_edge116.loopexit.epilog-lcssa, %._crit_edge116.loopexit.unr-lcssa, %.preheader
  %278 = icmp eq i32 %2, -1
  %279 = load double, ptr %7, align 8, !tbaa !26
  %280 = fneg double %279
  %.sink = select i1 %278, double %279, double %280
  %281 = getelementptr inbounds i8, ptr %0, i64 192
  %282 = load ptr, ptr %281, align 8, !tbaa !41
  %283 = sext i32 %1 to i64
  %284 = getelementptr inbounds double, ptr %282, i64 %283
  store double %.sink, ptr %284, align 8, !tbaa !26
  br i1 %201, label %285, label %301

285:                                              ; preds = %._crit_edge116
  %286 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %10, i64 noundef 160, ptr noundef nonnull @.str.42, i32 noundef %204) #9
  %287 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %288 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %287, i32 noundef 82, ptr noundef nonnull %10, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3723, i32 noundef 1)
  %289 = load i32, ptr %8, align 4, !tbaa !27
  %290 = load ptr, ptr %0, align 8, !tbaa !5
  %291 = getelementptr inbounds i8, ptr %290, i64 256
  %292 = load ptr, ptr %291, align 8
  %293 = call noundef i32 %292(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %289, i32 noundef 1, i32 noundef 0, i32 noundef 0)
  %.not98 = icmp eq i32 %293, 0
  br i1 %.not98, label %294, label %326

294:                                              ; preds = %285
  %295 = getelementptr inbounds i8, ptr %0, i64 788
  store i32 1, ptr %295, align 4, !tbaa !49
  %296 = getelementptr inbounds i8, ptr %0, i64 192
  %297 = load ptr, ptr %296, align 8, !tbaa !41
  %298 = load i32, ptr %8, align 4, !tbaa !27
  %299 = sext i32 %298 to i64
  %300 = getelementptr inbounds double, ptr %297, i64 %299
  store double 0.000000e+00, ptr %300, align 8, !tbaa !26
  br label %326

301:                                              ; preds = %._crit_edge116
  %302 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %10, i64 noundef 160, ptr noundef nonnull @.str.43, i32 noundef %204) #9
  %303 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %304 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %303, i32 noundef 82, ptr noundef nonnull %10, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3739, i32 noundef 1)
  %305 = load i32, ptr %8, align 4, !tbaa !27
  %306 = load ptr, ptr %0, align 8, !tbaa !5
  %307 = getelementptr inbounds i8, ptr %306, i64 248
  %308 = load ptr, ptr %307, align 8
  %309 = call noundef i32 %308(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %305, i32 noundef 1, i32 noundef 0, i32 noundef 0)
  %.not97 = icmp eq i32 %309, 0
  br i1 %.not97, label %310, label %326

310:                                              ; preds = %301
  %311 = getelementptr inbounds i8, ptr %0, i64 796
  store i32 1, ptr %311, align 4, !tbaa !50
  %312 = getelementptr inbounds i8, ptr %0, i64 192
  %313 = load ptr, ptr %312, align 8, !tbaa !41
  %314 = load i32, ptr %8, align 4, !tbaa !27
  %315 = add nsw i32 %314, %11
  %316 = sext i32 %315 to i64
  %317 = getelementptr inbounds double, ptr %313, i64 %316
  store double 0.000000e+00, ptr %317, align 8, !tbaa !26
  br label %326

318:                                              ; preds = %202
  %319 = getelementptr inbounds i8, ptr %0, i64 476
  %320 = load i32, ptr %319, align 4, !tbaa !51
  %321 = icmp eq i32 %320, 1
  br i1 %321, label %322, label %324

322:                                              ; preds = %318
  %323 = call noundef i32 @_ZN7qpOASES8QProblem15dropInfeasiblesEiNS_15SubjectToStatusENS_11BooleanTypeEPdS3_(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %1, i32 noundef %2, i32 noundef 1, ptr noundef nonnull %45, ptr noundef nonnull %38)
  br label %326

324:                                              ; preds = %318
  %325 = call noundef i32 @_ZN7qpOASES9QProblemB20setInfeasibilityFlagENS_11returnValueENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef 93, i32 noundef 0)
  br label %326

326:                                              ; preds = %322, %324, %294, %310, %.loopexit, %285, %301
  %.0 = phi i32 [ 0, %294 ], [ 0, %310 ], [ %323, %322 ], [ 93, %324 ], [ 92, %.loopexit ], [ 84, %285 ], [ 84, %301 ]
  call void @_ZdaPv(ptr noundef nonnull %50) #11
  call void @_ZdaPv(ptr noundef nonnull %45) #11
  call void @_ZdaPv(ptr noundef nonnull %39) #11
  call void @_ZdaPv(ptr noundef nonnull %38) #11
  %327 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %328 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %327, i32 noundef 90, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3772, i32 noundef 1)
  switch i32 %.0, label %329 [
    i32 93, label %332
    i32 0, label %332
  ]

329:                                              ; preds = %326
  %330 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %331 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %330, i32 noundef %.0, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3774, i32 noundef 1)
  br label %332

332:                                              ; preds = %326, %326, %329
  %333 = phi i32 [ %331, %329 ], [ %.0, %326 ], [ %.0, %326 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %9) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #9
  br label %334

334:                                              ; preds = %3, %332, %22
  %.090 = phi i32 [ %24, %22 ], [ %333, %332 ], [ 0, %3 ]
  ret i32 %.090
}

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 = { nofree 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 #7 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #8 = { 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 #9 = { nounwind }
attributes #10 = { builtin allocsize(0) }
attributes #11 = { 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, !17, i64 360}
!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 = !{!15, !15, i64 0}
!28 = !{!29, !12, i64 960}
!29 = !{!"_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}
!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, !31, !32, !33}
!35 = distinct !{!35, !36}
!36 = !{!"llvm.loop.unroll.disable"}
!37 = distinct !{!37, !31, !32}
!38 = distinct !{!38, !31, !32}
!39 = !{!29, !12, i64 808}
!40 = !{!12, !12, i64 0}
!41 = !{!9, !12, i64 192}
!42 = distinct !{!42, !31}
!43 = !{!9, !17, i64 336}
!44 = !{!9, !17, i64 344}
!45 = distinct !{!45, !31}
!46 = distinct !{!46, !36}
!47 = distinct !{!47, !31}
!48 = distinct !{!48, !31}
!49 = !{!9, !15, i64 788}
!50 = !{!9, !15, i64 796}
!51 = !{!9, !10, i64 476}


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