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

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

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

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.29 = external hidden unnamed_addr constant [42 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [74 x i8], align 1

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

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

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

; 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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #4

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) #4

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36)) #7 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800)) #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120)) #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur11stepCalcRhsEiiiPiS1_S1_RdPKdS4_S4_S4_S4_NS_11BooleanTypeES5_PdS6_S6_S6_(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) #8 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur15stepCalcReorderEiiPiS1_iiS1_S1_S1_S1_S1_S1_Pd(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, ptr noundef, ptr noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur22stepCalcBacksolveSchurEiiiPiS1_S1_iPdS2_(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, i32 noundef, ptr noundef, ptr noundef) #8 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur16stepCalcReorder2EiiPiS1_iiS1_S1_S1_S1_S1_S1_PdS2_S2_(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, ptr noundef, ptr noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur13stepCalcResidEiiiPiS1_S1_NS_11BooleanTypeEPdS3_S3_PKdS5_S5_Rd(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 8 dereferenceable(8)) #8 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur16stepCalcDeltayFxEiiiPiPKdPdS4_S4_S4_(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) #8 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur23determineStepDirection2EPKdS2_S2_S2_S2_NS_11BooleanTypeES3_PdS4_S4_S4_(ptr noundef nonnull align 8 dereferenceable(1256) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5, i32 noundef %6, i32 noundef %7, ptr noundef %8, ptr noundef %9, ptr noundef %10, ptr noundef %11) unnamed_addr #8 align 2 {
  %13 = alloca i32, align 4
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca i32, align 4
  %21 = alloca i32, align 4
  %22 = alloca ptr, align 8
  %23 = alloca ptr, align 8
  %24 = alloca ptr, align 8
  %25 = alloca ptr, align 8
  %26 = alloca i32, align 4
  %27 = alloca i32, align 4
  %28 = alloca i32, align 4
  %29 = alloca i32, align 4
  %30 = alloca i32, align 4
  %31 = alloca i32, align 4
  %32 = alloca i32, align 4
  %33 = alloca ptr, align 8
  %34 = alloca ptr, align 8
  %35 = alloca ptr, align 8
  %36 = alloca double, align 8
  %37 = alloca i32, align 4
  %38 = alloca i32, align 4
  %39 = alloca i32, align 4
  %40 = alloca ptr, align 8
  %41 = alloca ptr, align 8
  %42 = alloca ptr, align 8
  %43 = alloca ptr, align 8
  %44 = alloca ptr, align 8
  %45 = alloca ptr, align 8
  %46 = alloca i32, align 4
  %47 = alloca ptr, align 8
  %48 = alloca ptr, align 8
  %49 = alloca double, align 8
  store ptr %0, ptr %14, align 8, !tbaa !5
  store ptr %1, ptr %15, align 8, !tbaa !5
  store ptr %2, ptr %16, align 8, !tbaa !5
  store ptr %3, ptr %17, align 8, !tbaa !5
  store ptr %4, ptr %18, align 8, !tbaa !5
  store ptr %5, ptr %19, align 8, !tbaa !5
  store i32 %6, ptr %20, align 4, !tbaa !9
  store i32 %7, ptr %21, align 4, !tbaa !9
  store ptr %8, ptr %22, align 8, !tbaa !5
  store ptr %9, ptr %23, align 8, !tbaa !5
  store ptr %10, ptr %24, align 8, !tbaa !5
  store ptr %11, ptr %25, align 8, !tbaa !5
  %50 = load ptr, ptr %14, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #9
  %51 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %50)
  store i32 %51, ptr %30, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #9
  %52 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %50)
  store i32 %52, ptr %31, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #9
  %53 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %50)
  store i32 %53, ptr %32, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #9
  %54 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %50, i32 0, i32 6
  %55 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %54)
  %56 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %55, ptr noundef %33)
  %57 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %50, i32 0, i32 6
  %58 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %57)
  %59 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %58, ptr noundef %34)
  %60 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %50, i32 0, i32 5
  %61 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %60)
  %62 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %61, ptr noundef %35)
  %63 = load i32, ptr %21, align 4, !tbaa !9
  %64 = icmp eq i32 %63, 0
  br i1 %64, label %65, label %105

65:                                               ; preds = %12
  store i32 0, ptr %26, align 4, !tbaa !11
  br label %66

66:                                               ; preds = %101, %65
  %67 = load i32, ptr %26, align 4, !tbaa !11
  %68 = load i32, ptr %31, align 4, !tbaa !11
  %69 = icmp slt i32 %67, %68
  br i1 %69, label %70, label %104

70:                                               ; preds = %66
  %71 = load ptr, ptr %34, align 8, !tbaa !5
  %72 = load i32, ptr %26, align 4, !tbaa !11
  %73 = sext i32 %72 to i64
  %74 = getelementptr inbounds i32, ptr %71, i64 %73
  %75 = load i32, ptr %74, align 4, !tbaa !11
  store i32 %75, ptr %27, align 4, !tbaa !11
  %76 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %50, i32 0, i32 6
  %77 = load i32, ptr %27, align 4, !tbaa !11
  %78 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %76, i32 noundef %77)
  %79 = icmp eq i32 %78, -1
  br i1 %79, label %80, label %90

80:                                               ; preds = %70
  %81 = load ptr, ptr %18, align 8, !tbaa !5
  %82 = load i32, ptr %27, align 4, !tbaa !11
  %83 = sext i32 %82 to i64
  %84 = getelementptr inbounds double, ptr %81, i64 %83
  %85 = load double, ptr %84, align 8, !tbaa !13
  %86 = load ptr, ptr %22, align 8, !tbaa !5
  %87 = load i32, ptr %26, align 4, !tbaa !11
  %88 = sext i32 %87 to i64
  %89 = getelementptr inbounds double, ptr %86, i64 %88
  store double %85, ptr %89, align 8, !tbaa !13
  br label %100

90:                                               ; preds = %70
  %91 = load ptr, ptr %19, align 8, !tbaa !5
  %92 = load i32, ptr %27, align 4, !tbaa !11
  %93 = sext i32 %92 to i64
  %94 = getelementptr inbounds double, ptr %91, i64 %93
  %95 = load double, ptr %94, align 8, !tbaa !13
  %96 = load ptr, ptr %22, align 8, !tbaa !5
  %97 = load i32, ptr %26, align 4, !tbaa !11
  %98 = sext i32 %97 to i64
  %99 = getelementptr inbounds double, ptr %96, i64 %98
  store double %95, ptr %99, align 8, !tbaa !13
  br label %100

100:                                              ; preds = %90, %80
  br label %101

101:                                              ; preds = %100
  %102 = load i32, ptr %26, align 4, !tbaa !11
  %103 = add nsw i32 %102, 1
  store i32 %103, ptr %26, align 4, !tbaa !11
  br label %66, !llvm.loop !15

104:                                              ; preds = %66
  br label %119

105:                                              ; preds = %12
  store i32 0, ptr %26, align 4, !tbaa !11
  br label %106

106:                                              ; preds = %115, %105
  %107 = load i32, ptr %26, align 4, !tbaa !11
  %108 = load i32, ptr %31, align 4, !tbaa !11
  %109 = icmp slt i32 %107, %108
  br i1 %109, label %110, label %118

110:                                              ; preds = %106
  %111 = load ptr, ptr %22, align 8, !tbaa !5
  %112 = load i32, ptr %26, align 4, !tbaa !11
  %113 = sext i32 %112 to i64
  %114 = getelementptr inbounds double, ptr %111, i64 %113
  store double 0.000000e+00, ptr %114, align 8, !tbaa !13
  br label %115

115:                                              ; preds = %110
  %116 = load i32, ptr %26, align 4, !tbaa !11
  %117 = add nsw i32 %116, 1
  store i32 %117, ptr %26, align 4, !tbaa !11
  br label %106, !llvm.loop !17

118:                                              ; preds = %106
  br label %119

119:                                              ; preds = %118, %104
  %120 = load i32, ptr %30, align 4, !tbaa !11
  %121 = load i32, ptr %32, align 4, !tbaa !11
  %122 = add nsw i32 %120, %121
  %123 = icmp sgt i32 %122, 0
  br i1 %123, label %124, label %332

124:                                              ; preds = %119
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #9
  store double 0.000000e+00, ptr %36, align 8, !tbaa !13
  %125 = load i32, ptr %30, align 4, !tbaa !11
  %126 = load i32, ptr %31, align 4, !tbaa !11
  %127 = load i32, ptr %32, align 4, !tbaa !11
  %128 = load ptr, ptr %33, align 8, !tbaa !5
  %129 = load ptr, ptr %34, align 8, !tbaa !5
  %130 = load ptr, ptr %35, align 8, !tbaa !5
  %131 = load ptr, ptr %15, align 8, !tbaa !5
  %132 = load ptr, ptr %16, align 8, !tbaa !5
  %133 = load ptr, ptr %17, align 8, !tbaa !5
  %134 = load ptr, ptr %18, align 8, !tbaa !5
  %135 = load ptr, ptr %19, align 8, !tbaa !5
  %136 = load i32, ptr %20, align 4, !tbaa !9
  %137 = load i32, ptr %21, align 4, !tbaa !9
  %138 = load ptr, ptr %22, align 8, !tbaa !5
  %139 = load ptr, ptr %23, align 8, !tbaa !5
  %140 = load ptr, ptr %24, align 8, !tbaa !5
  %141 = load ptr, ptr %25, align 8, !tbaa !5
  %142 = call noundef i32 @_ZN7qpOASES14SQProblemSchur11stepCalcRhsEiiiPiS1_S1_RdPKdS4_S4_S4_S4_NS_11BooleanTypeES5_PdS6_S6_S6_(ptr noundef nonnull align 8 dereferenceable(1256) %50, i32 noundef %125, i32 noundef %126, i32 noundef %127, ptr noundef %128, ptr noundef %129, ptr noundef %130, ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef %131, ptr noundef %132, ptr noundef %133, ptr noundef %134, ptr noundef %135, i32 noundef %136, i32 noundef %137, ptr noundef %138, ptr noundef %139, ptr noundef %140, ptr noundef %141)
  store i32 %142, ptr %29, align 4, !tbaa !18
  %143 = load i32, ptr %29, align 4, !tbaa !18
  %144 = icmp ne i32 %143, 0
  br i1 %144, label %145, label %147

145:                                              ; preds = %124
  %146 = load i32, ptr %29, align 4, !tbaa !18
  store i32 %146, ptr %13, align 4
  store i32 1, ptr %37, align 4
  br label %329

147:                                              ; preds = %124
  call void @llvm.lifetime.start.p0(i64 4, ptr %38) #9
  %148 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %50, i32 0, i32 16
  %149 = call noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36) %148)
  store i32 %149, ptr %38, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %39) #9
  %150 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %50, i32 0, i32 17
  %151 = call noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36) %150)
  store i32 %151, ptr %39, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %41) #9
  %152 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %50, i32 0, i32 6
  %153 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %152)
  %154 = call noundef i32 @_ZNK7qpOASES9Indexlist13getISortArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %153, ptr noundef %40)
  %155 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %50, i32 0, i32 5
  %156 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %155)
  %157 = call noundef i32 @_ZNK7qpOASES9Indexlist13getISortArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %156, ptr noundef %41)
  call void @llvm.lifetime.start.p0(i64 8, ptr %42) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %43) #9
  %158 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %50, i32 0, i32 16
  %159 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %158, ptr noundef %42)
  %160 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %50, i32 0, i32 17
  %161 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %160, ptr noundef %43)
  call void @llvm.lifetime.start.p0(i64 8, ptr %44) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %45) #9
  %162 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %50, i32 0, i32 16
  %163 = call noundef i32 @_ZNK7qpOASES9Indexlist13getISortArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %162, ptr noundef %44)
  %164 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %50, i32 0, i32 17
  %165 = call noundef i32 @_ZNK7qpOASES9Indexlist13getISortArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %164, ptr noundef %45)
  call void @llvm.lifetime.start.p0(i64 4, ptr %46) #9
  %166 = load i32, ptr %38, align 4, !tbaa !11
  %167 = load i32, ptr %39, align 4, !tbaa !11
  %168 = add nsw i32 %166, %167
  store i32 %168, ptr %46, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #9
  %169 = load i32, ptr %46, align 4, !tbaa !11
  %170 = sext i32 %169 to i64
  %171 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %170, i64 8)
  %172 = extractvalue { i64, i1 } %171, 1
  %173 = extractvalue { i64, i1 } %171, 0
  %174 = select i1 %172, i64 -1, i64 %173
  %175 = call noalias noundef nonnull ptr @_Znam(i64 noundef %174) #10
  store ptr %175, ptr %47, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #9
  %176 = load i32, ptr %46, align 4, !tbaa !11
  %177 = sext i32 %176 to i64
  %178 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %177, i64 8)
  %179 = extractvalue { i64, i1 } %178, 1
  %180 = extractvalue { i64, i1 } %178, 0
  %181 = select i1 %179, i64 -1, i64 %180
  %182 = call noalias noundef nonnull ptr @_Znam(i64 noundef %181) #10
  store ptr %182, ptr %48, align 8, !tbaa !5
  store i32 0, ptr %28, align 4, !tbaa !11
  br label %183

183:                                              ; preds = %316, %147
  %184 = load i32, ptr %28, align 4, !tbaa !11
  %185 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %50, i32 0, i32 23
  %186 = getelementptr inbounds %"class.qpOASES::Options", ptr %185, i32 0, i32 27
  %187 = load i32, ptr %186, align 8, !tbaa !20
  %188 = icmp sle i32 %184, %187
  br i1 %188, label %189, label %319

189:                                              ; preds = %183
  %190 = load i32, ptr %30, align 4, !tbaa !11
  %191 = load i32, ptr %32, align 4, !tbaa !11
  %192 = load ptr, ptr %33, align 8, !tbaa !5
  %193 = load ptr, ptr %35, align 8, !tbaa !5
  %194 = load i32, ptr %38, align 4, !tbaa !11
  %195 = load i32, ptr %39, align 4, !tbaa !11
  %196 = load ptr, ptr %42, align 8, !tbaa !5
  %197 = load ptr, ptr %43, align 8, !tbaa !5
  %198 = load ptr, ptr %40, align 8, !tbaa !5
  %199 = load ptr, ptr %44, align 8, !tbaa !5
  %200 = load ptr, ptr %41, align 8, !tbaa !5
  %201 = load ptr, ptr %45, align 8, !tbaa !5
  %202 = load ptr, ptr %47, align 8, !tbaa !5
  %203 = call noundef i32 @_ZN7qpOASES14SQProblemSchur15stepCalcReorderEiiPiS1_iiS1_S1_S1_S1_S1_S1_Pd(ptr noundef nonnull align 8 dereferenceable(1256) %50, i32 noundef %190, i32 noundef %191, ptr noundef %192, ptr noundef %193, i32 noundef %194, i32 noundef %195, ptr noundef %196, ptr noundef %197, ptr noundef %198, ptr noundef %199, ptr noundef %200, ptr noundef %201, ptr noundef %202)
  store i32 %203, ptr %29, align 4, !tbaa !18
  %204 = load i32, ptr %29, align 4, !tbaa !18
  %205 = icmp ne i32 %204, 0
  br i1 %205, label %206, label %208

206:                                              ; preds = %189
  %207 = load i32, ptr %29, align 4, !tbaa !18
  store i32 %207, ptr %13, align 4
  store i32 1, ptr %37, align 4
  br label %328

208:                                              ; preds = %189
  %209 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %50, i32 0, i32 1
  %210 = load ptr, ptr %209, align 8, !tbaa !33
  %211 = load i32, ptr %46, align 4, !tbaa !11
  %212 = load ptr, ptr %47, align 8, !tbaa !5
  %213 = load ptr, ptr %48, align 8, !tbaa !5
  %214 = load ptr, ptr %210, align 8, !tbaa !37
  %215 = getelementptr inbounds ptr, ptr %214, i64 5
  %216 = load ptr, ptr %215, align 8
  %217 = call noundef i32 %216(ptr noundef nonnull align 8 dereferenceable(8) %210, i32 noundef %211, ptr noundef %212, ptr noundef %213)
  store i32 %217, ptr %29, align 4, !tbaa !18
  %218 = load i32, ptr %29, align 4, !tbaa !18
  %219 = icmp ne i32 %218, 0
  br i1 %219, label %220, label %223

220:                                              ; preds = %208
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.29)
  %221 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %222 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %221, i32 noundef 102, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2938, i32 noundef 1)
  store i32 %222, ptr %13, align 4
  store i32 1, ptr %37, align 4
  br label %328

223:                                              ; preds = %208
  %224 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %50, i32 0, i32 3
  %225 = load i32, ptr %224, align 8, !tbaa !39
  %226 = icmp sgt i32 %225, 0
  br i1 %226, label %227, label %243

227:                                              ; preds = %223
  %228 = load i32, ptr %30, align 4, !tbaa !11
  %229 = load i32, ptr %31, align 4, !tbaa !11
  %230 = load i32, ptr %32, align 4, !tbaa !11
  %231 = load ptr, ptr %33, align 8, !tbaa !5
  %232 = load ptr, ptr %34, align 8, !tbaa !5
  %233 = load ptr, ptr %35, align 8, !tbaa !5
  %234 = load i32, ptr %46, align 4, !tbaa !11
  %235 = load ptr, ptr %47, align 8, !tbaa !5
  %236 = load ptr, ptr %48, align 8, !tbaa !5
  %237 = call noundef i32 @_ZN7qpOASES14SQProblemSchur22stepCalcBacksolveSchurEiiiPiS1_S1_iPdS2_(ptr noundef nonnull align 8 dereferenceable(1256) %50, i32 noundef %228, i32 noundef %229, i32 noundef %230, ptr noundef %231, ptr noundef %232, ptr noundef %233, i32 noundef %234, ptr noundef %235, ptr noundef %236)
  store i32 %237, ptr %29, align 4, !tbaa !18
  %238 = load i32, ptr %29, align 4, !tbaa !18
  %239 = icmp ne i32 %238, 0
  br i1 %239, label %240, label %242

240:                                              ; preds = %227
  %241 = load i32, ptr %29, align 4, !tbaa !18
  store i32 %241, ptr %13, align 4
  store i32 1, ptr %37, align 4
  br label %328

242:                                              ; preds = %227
  br label %243

243:                                              ; preds = %242, %223
  %244 = load i32, ptr %30, align 4, !tbaa !11
  %245 = load i32, ptr %32, align 4, !tbaa !11
  %246 = load ptr, ptr %33, align 8, !tbaa !5
  %247 = load ptr, ptr %35, align 8, !tbaa !5
  %248 = load i32, ptr %38, align 4, !tbaa !11
  %249 = load i32, ptr %39, align 4, !tbaa !11
  %250 = load ptr, ptr %42, align 8, !tbaa !5
  %251 = load ptr, ptr %43, align 8, !tbaa !5
  %252 = load ptr, ptr %40, align 8, !tbaa !5
  %253 = load ptr, ptr %44, align 8, !tbaa !5
  %254 = load ptr, ptr %41, align 8, !tbaa !5
  %255 = load ptr, ptr %45, align 8, !tbaa !5
  %256 = load ptr, ptr %48, align 8, !tbaa !5
  %257 = load ptr, ptr %23, align 8, !tbaa !5
  %258 = load ptr, ptr %24, align 8, !tbaa !5
  %259 = call noundef i32 @_ZN7qpOASES14SQProblemSchur16stepCalcReorder2EiiPiS1_iiS1_S1_S1_S1_S1_S1_PdS2_S2_(ptr noundef nonnull align 8 dereferenceable(1256) %50, i32 noundef %244, i32 noundef %245, ptr noundef %246, ptr noundef %247, i32 noundef %248, i32 noundef %249, ptr noundef %250, ptr noundef %251, ptr noundef %252, ptr noundef %253, ptr noundef %254, ptr noundef %255, ptr noundef %256, ptr noundef %257, ptr noundef %258)
  store i32 %259, ptr %29, align 4, !tbaa !18
  %260 = load i32, ptr %29, align 4, !tbaa !18
  %261 = icmp ne i32 %260, 0
  br i1 %261, label %262, label %264

262:                                              ; preds = %243
  %263 = load i32, ptr %29, align 4, !tbaa !18
  store i32 %263, ptr %13, align 4
  store i32 1, ptr %37, align 4
  br label %328

264:                                              ; preds = %243
  %265 = load i32, ptr %28, align 4, !tbaa !11
  %266 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %50, i32 0, i32 23
  %267 = getelementptr inbounds %"class.qpOASES::Options", ptr %266, i32 0, i32 27
  %268 = load i32, ptr %267, align 8, !tbaa !20
  %269 = icmp slt i32 %265, %268
  br i1 %269, label %270, label %315

270:                                              ; preds = %264
  call void @llvm.lifetime.start.p0(i64 8, ptr %49) #9
  %271 = load i32, ptr %30, align 4, !tbaa !11
  %272 = load i32, ptr %31, align 4, !tbaa !11
  %273 = load i32, ptr %32, align 4, !tbaa !11
  %274 = load ptr, ptr %33, align 8, !tbaa !5
  %275 = load ptr, ptr %34, align 8, !tbaa !5
  %276 = load ptr, ptr %35, align 8, !tbaa !5
  %277 = load i32, ptr %20, align 4, !tbaa !9
  %278 = load ptr, ptr %22, align 8, !tbaa !5
  %279 = load ptr, ptr %23, align 8, !tbaa !5
  %280 = load ptr, ptr %24, align 8, !tbaa !5
  %281 = load ptr, ptr %15, align 8, !tbaa !5
  %282 = load ptr, ptr %16, align 8, !tbaa !5
  %283 = load ptr, ptr %17, align 8, !tbaa !5
  %284 = call noundef i32 @_ZN7qpOASES14SQProblemSchur13stepCalcResidEiiiPiS1_S1_NS_11BooleanTypeEPdS3_S3_PKdS5_S5_Rd(ptr noundef nonnull align 8 dereferenceable(1256) %50, i32 noundef %271, i32 noundef %272, i32 noundef %273, ptr noundef %274, ptr noundef %275, ptr noundef %276, i32 noundef %277, ptr noundef %278, ptr noundef %279, ptr noundef %280, ptr noundef %281, ptr noundef %282, ptr noundef %283, ptr noundef nonnull align 8 dereferenceable(8) %49)
  store i32 %284, ptr %29, align 4, !tbaa !18
  %285 = load i32, ptr %29, align 4, !tbaa !18
  %286 = icmp ne i32 %285, 0
  br i1 %286, label %287, label %289

287:                                              ; preds = %270
  %288 = load i32, ptr %29, align 4, !tbaa !18
  store i32 %288, ptr %13, align 4
  store i32 1, ptr %37, align 4
  br label %312

289:                                              ; preds = %270
  %290 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %50, i32 0, i32 23
  %291 = getelementptr inbounds %"class.qpOASES::Options", ptr %290, i32 0, i32 0
  %292 = load i32, ptr %291, align 8, !tbaa !40
  %293 = icmp eq i32 %292, 3
  br i1 %293, label %294, label %302

294:                                              ; preds = %289
  %295 = load i32, ptr %28, align 4, !tbaa !11
  %296 = load double, ptr %49, align 8, !tbaa !13
  %297 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %50, i32 0, i32 23
  %298 = getelementptr inbounds %"class.qpOASES::Options", ptr %297, i32 0, i32 29
  %299 = load double, ptr %298, align 8, !tbaa !41
  %300 = load double, ptr %36, align 8, !tbaa !13
  %301 = fmul double %299, %300
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.30, i32 noundef %295, double noundef %296, double noundef %301)
  br label %302

302:                                              ; preds = %294, %289
  %303 = load double, ptr %49, align 8, !tbaa !13
  %304 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %50, i32 0, i32 23
  %305 = getelementptr inbounds %"class.qpOASES::Options", ptr %304, i32 0, i32 29
  %306 = load double, ptr %305, align 8, !tbaa !41
  %307 = load double, ptr %36, align 8, !tbaa !13
  %308 = fmul double %306, %307
  %309 = fcmp ole double %303, %308
  br i1 %309, label %310, label %311

310:                                              ; preds = %302
  store i32 8, ptr %37, align 4
  br label %312

311:                                              ; preds = %302
  store i32 0, ptr %37, align 4
  br label %312

312:                                              ; preds = %311, %310, %287
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #9
  %313 = load i32, ptr %37, align 4
  switch i32 %313, label %328 [
    i32 0, label %314
    i32 8, label %319
  ]

314:                                              ; preds = %312
  br label %315

315:                                              ; preds = %314, %264
  br label %316

316:                                              ; preds = %315
  %317 = load i32, ptr %28, align 4, !tbaa !11
  %318 = add nsw i32 %317, 1
  store i32 %318, ptr %28, align 4, !tbaa !11
  br label %183, !llvm.loop !42

319:                                              ; preds = %312, %183
  %320 = load ptr, ptr %48, align 8, !tbaa !5
  %321 = icmp eq ptr %320, null
  br i1 %321, label %323, label %322

322:                                              ; preds = %319
  call void @_ZdaPv(ptr noundef %320) #11
  br label %323

323:                                              ; preds = %322, %319
  %324 = load ptr, ptr %47, align 8, !tbaa !5
  %325 = icmp eq ptr %324, null
  br i1 %325, label %327, label %326

326:                                              ; preds = %323
  call void @_ZdaPv(ptr noundef %324) #11
  br label %327

327:                                              ; preds = %326, %323
  store i32 0, ptr %37, align 4
  br label %328

328:                                              ; preds = %327, %312, %262, %240, %220, %206
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %46) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %42) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %41) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %39) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %38) #9
  br label %329

329:                                              ; preds = %328, %145
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #9
  %330 = load i32, ptr %37, align 4
  switch i32 %330, label %352 [
    i32 0, label %331
  ]

331:                                              ; preds = %329
  br label %332

332:                                              ; preds = %331, %119
  %333 = load i32, ptr %31, align 4, !tbaa !11
  %334 = icmp sgt i32 %333, 0
  br i1 %334, label %335, label %351

335:                                              ; preds = %332
  %336 = load i32, ptr %30, align 4, !tbaa !11
  %337 = load i32, ptr %31, align 4, !tbaa !11
  %338 = load i32, ptr %32, align 4, !tbaa !11
  %339 = load ptr, ptr %34, align 8, !tbaa !5
  %340 = load ptr, ptr %15, align 8, !tbaa !5
  %341 = load ptr, ptr %22, align 8, !tbaa !5
  %342 = load ptr, ptr %23, align 8, !tbaa !5
  %343 = load ptr, ptr %24, align 8, !tbaa !5
  %344 = load ptr, ptr %25, align 8, !tbaa !5
  %345 = call noundef i32 @_ZN7qpOASES14SQProblemSchur16stepCalcDeltayFxEiiiPiPKdPdS4_S4_S4_(ptr noundef nonnull align 8 dereferenceable(1256) %50, i32 noundef %336, i32 noundef %337, i32 noundef %338, ptr noundef %339, ptr noundef %340, ptr noundef %341, ptr noundef %342, ptr noundef %343, ptr noundef %344)
  store i32 %345, ptr %29, align 4, !tbaa !18
  %346 = load i32, ptr %29, align 4, !tbaa !18
  %347 = icmp ne i32 %346, 0
  br i1 %347, label %348, label %350

348:                                              ; preds = %335
  %349 = load i32, ptr %29, align 4, !tbaa !18
  store i32 %349, ptr %13, align 4
  store i32 1, ptr %37, align 4
  br label %352

350:                                              ; preds = %335
  br label %351

351:                                              ; preds = %350, %332
  store i32 0, ptr %13, align 4
  store i32 1, ptr %37, align 4
  br label %352

352:                                              ; preds = %351, %348, %329
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #9
  %353 = load i32, ptr %13, align 4
  ret i32 %353
}

declare noundef i32 @_ZNK7qpOASES9Indexlist13getISortArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) #4

attributes #0 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 = { "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 = { 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 #6 = { 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 #7 = { 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 #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 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"double", !7, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}
!17 = distinct !{!17, !16}
!18 = !{!19, !19, i64 0}
!19 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!20 = !{!21, !12, i64 432}
!21 = !{!"_ZTSN7qpOASES9QProblemBE", !10, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !22, i64 48, !6, i64 168, !10, i64 176, !6, i64 184, !6, i64 192, !14, i64 200, !25, i64 208, !10, i64 212, !10, i64 216, !26, i64 220, !14, i64 224, !12, i64 232, !6, i64 240, !14, i64 248, !14, i64 256, !12, i64 264, !27, i64 272, !30, i64 496, !32, i64 768}
!22 = !{!"_ZTSN7qpOASES6BoundsE", !23, i64 0, !24, i64 40, !24, i64 80}
!23 = !{!"_ZTSN7qpOASES9SubjectToE", !12, i64 8, !6, i64 16, !6, i64 24, !10, i64 32, !10, i64 36}
!24 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !12, i64 16, !12, i64 20, !12, i64 24, !12, i64 28, !12, i64 32}
!25 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!27 = !{!"_ZTSN7qpOASES7OptionsE", !28, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !12, i64 28, !12, i64 32, !10, i64 36, !14, i64 40, !14, i64 48, !14, i64 56, !14, i64 64, !14, i64 72, !14, i64 80, !14, i64 88, !14, i64 96, !14, i64 104, !14, i64 112, !14, i64 120, !29, i64 128, !14, i64 136, !12, i64 144, !14, i64 152, !12, i64 160, !14, i64 168, !14, i64 176, !14, i64 184, !14, i64 192, !10, i64 200, !10, i64 204, !12, i64 208, !12, i64 212, !12, i64 216}
!28 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!29 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!30 = !{!"_ZTSN7qpOASES7FlipperE", !12, i64 0, !12, i64 4, !22, i64 8, !31, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!31 = !{!"_ZTSN7qpOASES11ConstraintsE", !23, i64 0, !24, i64 40, !24, i64 80}
!32 = !{!"_ZTSN7qpOASES13TabularOutputE", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !12, i64 24, !12, i64 28}
!33 = !{!34, !6, i64 1064}
!34 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !35, i64 0, !6, i64 1064, !6, i64 1072, !12, i64 1080, !12, i64 1084, !6, i64 1088, !6, i64 1096, !14, i64 1104, !14, i64 1112, !12, i64 1120, !6, i64 1128, !6, i64 1136, !12, i64 1144, !6, i64 1152, !6, i64 1160, !6, i64 1168, !24, i64 1176, !24, i64 1216}
!35 = !{!"_ZTSN7qpOASES9SQProblemE", !36, i64 0}
!36 = !{!"_ZTSN7qpOASES8QProblemE", !21, i64 0, !10, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !31, i64 832, !6, i64 952, !6, i64 960, !12, i64 968, !6, i64 976, !6, i64 984, !6, i64 992, !6, i64 1000, !6, i64 1008, !6, i64 1016, !6, i64 1024, !6, i64 1032, !6, i64 1040, !6, i64 1048, !6, i64 1056}
!37 = !{!38, !38, i64 0}
!38 = !{!"vtable pointer", !8, i64 0}
!39 = !{!34, !12, i64 1080}
!40 = !{!21, !28, i64 272}
!41 = !{!21, !14, i64 440}
!42 = distinct !{!42, !16}


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

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.29 = external hidden unnamed_addr constant [42 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [74 x i8], align 1

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

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

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

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #3

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 #3

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

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36)) local_unnamed_addr #6 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #5 align 2

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #6 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur11stepCalcRhsEiiiPiS1_S1_RdPKdS4_S4_S4_S4_NS_11BooleanTypeES5_PdS6_S6_S6_(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur15stepCalcReorderEiiPiS1_iiS1_S1_S1_S1_S1_S1_Pd(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, ptr noundef, ptr noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur22stepCalcBacksolveSchurEiiiPiS1_S1_iPdS2_(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, i32 noundef, ptr noundef, ptr noundef) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur16stepCalcReorder2EiiPiS1_iiS1_S1_S1_S1_S1_S1_PdS2_S2_(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, ptr noundef, ptr noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur13stepCalcResidEiiiPiS1_S1_NS_11BooleanTypeEPdS3_S3_PKdS5_S5_Rd(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur16stepCalcDeltayFxEiiiPiPKdPdS4_S4_S4_(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur23determineStepDirection2EPKdS2_S2_S2_S2_NS_11BooleanTypeES3_PdS4_S4_S4_(ptr noundef nonnull align 8 dereferenceable(1256) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5, i32 noundef %6, i32 noundef %7, ptr noundef %8, ptr noundef %9, ptr noundef %10, ptr noundef %11) unnamed_addr #7 align 2 {
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca double, 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 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %25 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %26 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #9
  %27 = getelementptr inbounds i8, ptr %0, i64 48
  %28 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %27)
  %29 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %28, ptr noundef nonnull %13)
  %30 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %27)
  %31 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %30, ptr noundef nonnull %14)
  %32 = getelementptr inbounds i8, ptr %0, i64 832
  %33 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %32)
  %34 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %33, ptr noundef nonnull %15)
  %35 = icmp eq i32 %7, 0
  %36 = icmp sgt i32 %25, 0
  br i1 %35, label %.preheader, label %.preheader133

.preheader133:                                    ; preds = %12
  br i1 %36, label %.lr.ph.preheader, label %.loopexit132

.lr.ph.preheader:                                 ; preds = %.preheader133
  %37 = zext nneg i32 %25 to i64
  %38 = shl nuw nsw i64 %37, 3
  call void @llvm.memset.p0.i64(ptr align 8 %8, i8 0, i64 %38, i1 false), !tbaa !5
  br label %.loopexit132

.preheader:                                       ; preds = %12
  br i1 %36, label %.lr.ph138.preheader, label %.loopexit132

.lr.ph138.preheader:                              ; preds = %.preheader
  %wide.trip.count = zext nneg i32 %25 to i64
  br label %.lr.ph138

.lr.ph138:                                        ; preds = %.lr.ph138.preheader, %.lr.ph138
  %indvars.iv = phi i64 [ 0, %.lr.ph138.preheader ], [ %indvars.iv.next, %.lr.ph138 ]
  %39 = load ptr, ptr %14, align 8, !tbaa !9
  %40 = getelementptr inbounds i32, ptr %39, i64 %indvars.iv
  %41 = load i32, ptr %40, align 4, !tbaa !11
  %42 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %27, i32 noundef %41)
  %43 = icmp eq i32 %42, -1
  %44 = sext i32 %41 to i64
  %. = select i1 %43, ptr %4, ptr %5
  %45 = getelementptr inbounds double, ptr %., i64 %44
  %.sink = load double, ptr %45, align 8, !tbaa !5
  %46 = getelementptr inbounds double, ptr %8, i64 %indvars.iv
  store double %.sink, ptr %46, align 8
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %.loopexit132, label %.lr.ph138, !llvm.loop !13

.loopexit132:                                     ; preds = %.lr.ph138, %.lr.ph.preheader, %.preheader133, %.preheader
  %47 = add nsw i32 %26, %24
  %48 = icmp sgt i32 %47, 0
  br i1 %48, label %49, label %142

49:                                               ; preds = %.loopexit132
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #9
  store double 0.000000e+00, ptr %16, align 8, !tbaa !5
  %50 = load ptr, ptr %13, align 8, !tbaa !9
  %51 = load ptr, ptr %14, align 8, !tbaa !9
  %52 = load ptr, ptr %15, align 8, !tbaa !9
  %53 = call noundef i32 @_ZN7qpOASES14SQProblemSchur11stepCalcRhsEiiiPiS1_S1_RdPKdS4_S4_S4_S4_NS_11BooleanTypeES5_PdS6_S6_S6_(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %24, i32 noundef %25, i32 noundef %26, ptr noundef %50, ptr noundef %51, ptr noundef %52, ptr noundef nonnull align 8 dereferenceable(8) %16, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5, i32 noundef %6, i32 noundef %7, ptr noundef %8, ptr noundef %9, ptr noundef %10, ptr noundef %11)
  %.not = icmp eq i32 %53, 0
  br i1 %.not, label %54, label %.thread126

.thread126:                                       ; preds = %49
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #9
  br label %148

54:                                               ; preds = %49
  %55 = getelementptr inbounds i8, ptr %0, i64 1176
  %56 = call noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36) %55)
  %57 = getelementptr inbounds i8, ptr %0, i64 1216
  %58 = call noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36) %57)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #9
  %59 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %27)
  %60 = call noundef i32 @_ZNK7qpOASES9Indexlist13getISortArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %59, ptr noundef nonnull %17)
  %61 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %32)
  %62 = call noundef i32 @_ZNK7qpOASES9Indexlist13getISortArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %61, ptr noundef nonnull %18)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %20) #9
  %63 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %55, ptr noundef nonnull %19)
  %64 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %57, ptr noundef nonnull %20)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %21) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %22) #9
  %65 = call noundef i32 @_ZNK7qpOASES9Indexlist13getISortArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %55, ptr noundef nonnull %21)
  %66 = call noundef i32 @_ZNK7qpOASES9Indexlist13getISortArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %57, ptr noundef nonnull %22)
  %67 = add nsw i32 %58, %56
  %68 = zext nneg i32 %67 to i64
  %69 = icmp slt i32 %67, 0
  %70 = shl nuw nsw i64 %68, 3
  %71 = select i1 %69, i64 -1, i64 %70
  %72 = call noalias noundef nonnull ptr @_Znam(i64 noundef %71) #10
  %73 = call noalias noundef nonnull ptr @_Znam(i64 noundef %71) #10
  %74 = getelementptr inbounds i8, ptr %0, i64 272
  %75 = getelementptr inbounds i8, ptr %0, i64 432
  %76 = load i32, ptr %75, align 8, !tbaa !15
  %.not114139 = icmp slt i32 %76, 0
  br i1 %.not114139, label %.loopexit, label %.lr.ph142

.lr.ph142:                                        ; preds = %54
  %77 = getelementptr inbounds i8, ptr %0, i64 1064
  %78 = getelementptr inbounds i8, ptr %0, i64 1080
  %79 = getelementptr inbounds i8, ptr %0, i64 440
  br label %80

80:                                               ; preds = %.lr.ph142, %139
  %.0103140 = phi i32 [ 0, %.lr.ph142 ], [ %141, %139 ]
  %81 = load ptr, ptr %13, align 8, !tbaa !9
  %82 = load ptr, ptr %15, align 8, !tbaa !9
  %83 = load ptr, ptr %19, align 8, !tbaa !9
  %84 = load ptr, ptr %20, align 8, !tbaa !9
  %85 = load ptr, ptr %17, align 8, !tbaa !9
  %86 = load ptr, ptr %21, align 8, !tbaa !9
  %87 = load ptr, ptr %18, align 8, !tbaa !9
  %88 = load ptr, ptr %22, align 8, !tbaa !9
  %89 = call noundef i32 @_ZN7qpOASES14SQProblemSchur15stepCalcReorderEiiPiS1_iiS1_S1_S1_S1_S1_S1_Pd(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %24, i32 noundef %26, ptr noundef %81, ptr noundef %82, i32 noundef %56, i32 noundef %58, ptr noundef %83, ptr noundef %84, ptr noundef %85, ptr noundef %86, ptr noundef %87, ptr noundef %88, ptr noundef nonnull %72)
  %.not115 = icmp eq i32 %89, 0
  br i1 %.not115, label %90, label %.thread129

90:                                               ; preds = %80
  %91 = load ptr, ptr %77, align 8, !tbaa !29
  %92 = load ptr, ptr %91, align 8, !tbaa !33
  %93 = getelementptr inbounds i8, ptr %92, i64 40
  %94 = load ptr, ptr %93, align 8
  %95 = call noundef i32 %94(ptr noundef nonnull align 8 dereferenceable(8) %91, i32 noundef %67, ptr noundef nonnull %72, ptr noundef nonnull %73)
  %.not116 = icmp eq i32 %95, 0
  br i1 %.not116, label %99, label %96

96:                                               ; preds = %90
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.29)
  %97 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %98 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %97, i32 noundef 102, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2938, i32 noundef 1)
  br label %.thread129

99:                                               ; preds = %90
  %100 = load i32, ptr %78, align 8, !tbaa !35
  %101 = icmp sgt i32 %100, 0
  br i1 %101, label %102, label %107

102:                                              ; preds = %99
  %103 = load ptr, ptr %13, align 8, !tbaa !9
  %104 = load ptr, ptr %14, align 8, !tbaa !9
  %105 = load ptr, ptr %15, align 8, !tbaa !9
  %106 = call noundef i32 @_ZN7qpOASES14SQProblemSchur22stepCalcBacksolveSchurEiiiPiS1_S1_iPdS2_(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %24, i32 noundef %25, i32 noundef %26, ptr noundef %103, ptr noundef %104, ptr noundef %105, i32 noundef %67, ptr noundef nonnull %72, ptr noundef nonnull %73)
  %.not117 = icmp eq i32 %106, 0
  br i1 %.not117, label %107, label %.thread129

107:                                              ; preds = %102, %99
  %108 = load ptr, ptr %13, align 8, !tbaa !9
  %109 = load ptr, ptr %15, align 8, !tbaa !9
  %110 = load ptr, ptr %19, align 8, !tbaa !9
  %111 = load ptr, ptr %20, align 8, !tbaa !9
  %112 = load ptr, ptr %17, align 8, !tbaa !9
  %113 = load ptr, ptr %21, align 8, !tbaa !9
  %114 = load ptr, ptr %18, align 8, !tbaa !9
  %115 = load ptr, ptr %22, align 8, !tbaa !9
  %116 = call noundef i32 @_ZN7qpOASES14SQProblemSchur16stepCalcReorder2EiiPiS1_iiS1_S1_S1_S1_S1_S1_PdS2_S2_(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %24, i32 noundef %26, ptr noundef %108, ptr noundef %109, i32 noundef %56, i32 noundef %58, ptr noundef %110, ptr noundef %111, ptr noundef %112, ptr noundef %113, ptr noundef %114, ptr noundef %115, ptr noundef nonnull %73, ptr noundef %9, ptr noundef %10)
  %.not118 = icmp eq i32 %116, 0
  br i1 %.not118, label %117, label %.thread129

117:                                              ; preds = %107
  %118 = load i32, ptr %75, align 8, !tbaa !15
  %119 = icmp slt i32 %.0103140, %118
  br i1 %119, label %120, label %139

120:                                              ; preds = %117
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %23) #9
  %121 = load ptr, ptr %13, align 8, !tbaa !9
  %122 = load ptr, ptr %14, align 8, !tbaa !9
  %123 = load ptr, ptr %15, align 8, !tbaa !9
  %124 = call noundef i32 @_ZN7qpOASES14SQProblemSchur13stepCalcResidEiiiPiS1_S1_NS_11BooleanTypeEPdS3_S3_PKdS5_S5_Rd(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %24, i32 noundef %25, i32 noundef %26, ptr noundef %121, ptr noundef %122, ptr noundef %123, i32 noundef %6, ptr noundef %8, ptr noundef %9, ptr noundef %10, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef nonnull align 8 dereferenceable(8) %23)
  %.not119 = icmp eq i32 %124, 0
  br i1 %.not119, label %125, label %.thread

.thread:                                          ; preds = %120
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #9
  br label %.thread129

125:                                              ; preds = %120
  %126 = load i32, ptr %74, align 8, !tbaa !36
  %127 = icmp eq i32 %126, 3
  br i1 %127, label %128, label %133

128:                                              ; preds = %125
  %129 = load double, ptr %23, align 8, !tbaa !5
  %130 = load double, ptr %79, align 8, !tbaa !37
  %131 = load double, ptr %16, align 8, !tbaa !5
  %132 = fmul double %130, %131
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.30, i32 noundef %.0103140, double noundef %129, double noundef %132)
  br label %133

133:                                              ; preds = %128, %125
  %134 = load double, ptr %23, align 8, !tbaa !5
  %135 = load double, ptr %79, align 8, !tbaa !37
  %136 = load double, ptr %16, align 8, !tbaa !5
  %137 = fmul double %135, %136
  %138 = fcmp ugt double %134, %137
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #9
  br i1 %138, label %.thread123, label %.loopexit

.thread123:                                       ; preds = %133
  %.pre = load i32, ptr %75, align 8, !tbaa !15
  br label %139

139:                                              ; preds = %.thread123, %117
  %140 = phi i32 [ %.pre, %.thread123 ], [ %118, %117 ]
  %141 = add nuw nsw i32 %.0103140, 1
  %.not114.not = icmp slt i32 %.0103140, %140
  br i1 %.not114.not, label %80, label %.loopexit, !llvm.loop !38

.thread129:                                       ; preds = %80, %102, %107, %96, %.thread
  %.4.ph = phi i32 [ %124, %.thread ], [ %98, %96 ], [ %89, %80 ], [ %106, %102 ], [ %116, %107 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #9
  br label %148

.loopexit:                                        ; preds = %139, %133, %54
  call void @_ZdaPv(ptr noundef nonnull %73) #11
  call void @_ZdaPv(ptr noundef nonnull %72) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #9
  br label %142

142:                                              ; preds = %.loopexit, %.loopexit132
  %143 = icmp sgt i32 %25, 0
  br i1 %143, label %144, label %147

144:                                              ; preds = %142
  %145 = load ptr, ptr %14, align 8, !tbaa !9
  %146 = call noundef i32 @_ZN7qpOASES14SQProblemSchur16stepCalcDeltayFxEiiiPiPKdPdS4_S4_S4_(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %24, i32 noundef %25, i32 noundef %26, ptr noundef %145, ptr noundef %1, ptr noundef %8, ptr noundef %9, ptr noundef %10, ptr noundef %11)
  %.not120 = icmp eq i32 %146, 0
  br i1 %.not120, label %147, label %148

147:                                              ; preds = %144, %142
  br label %148

148:                                              ; preds = %.thread129, %.thread126, %144, %147
  %.6 = phi i32 [ 0, %147 ], [ %146, %144 ], [ %53, %.thread126 ], [ %.4.ph, %.thread129 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #9
  ret i32 %.6
}

declare noundef i32 @_ZNK7qpOASES9Indexlist13getISortArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) local_unnamed_addr #3

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #8

attributes #0 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { nocallback nofree nounwind willreturn memory(argmem: write) }
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 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"any pointer", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = !{!16, !12, i64 432}
!16 = !{!"_ZTSN7qpOASES9QProblemBE", !17, i64 8, !10, i64 16, !10, i64 24, !10, i64 32, !10, i64 40, !18, i64 48, !10, i64 168, !17, i64 176, !10, i64 184, !10, i64 192, !6, i64 200, !21, i64 208, !17, i64 212, !17, i64 216, !22, i64 220, !6, i64 224, !12, i64 232, !10, i64 240, !6, i64 248, !6, i64 256, !12, i64 264, !23, i64 272, !26, i64 496, !28, i64 768}
!17 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!18 = !{!"_ZTSN7qpOASES6BoundsE", !19, i64 0, !20, i64 40, !20, i64 80}
!19 = !{!"_ZTSN7qpOASES9SubjectToE", !12, i64 8, !10, i64 16, !10, i64 24, !17, i64 32, !17, i64 36}
!20 = !{!"_ZTSN7qpOASES9IndexlistE", !10, i64 0, !10, i64 8, !12, i64 16, !12, i64 20, !12, i64 24, !12, i64 28, !12, i64 32}
!21 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!22 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES7OptionsE", !24, i64 0, !17, i64 4, !17, i64 8, !17, i64 12, !17, i64 16, !17, i64 20, !17, i64 24, !12, i64 28, !12, i64 32, !17, i64 36, !6, i64 40, !6, i64 48, !6, i64 56, !6, i64 64, !6, i64 72, !6, i64 80, !6, i64 88, !6, i64 96, !6, i64 104, !6, i64 112, !6, i64 120, !25, i64 128, !6, i64 136, !12, i64 144, !6, i64 152, !12, i64 160, !6, i64 168, !6, i64 176, !6, i64 184, !6, i64 192, !17, i64 200, !17, i64 204, !12, i64 208, !12, i64 212, !12, i64 216}
!24 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!25 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES7FlipperE", !12, i64 0, !12, i64 4, !18, i64 8, !27, i64 128, !10, i64 248, !10, i64 256, !10, i64 264}
!27 = !{!"_ZTSN7qpOASES11ConstraintsE", !19, i64 0, !20, i64 40, !20, i64 80}
!28 = !{!"_ZTSN7qpOASES13TabularOutputE", !12, i64 0, !12, i64 4, !12, i64 8, !12, i64 12, !12, i64 16, !12, i64 20, !12, i64 24, !12, i64 28}
!29 = !{!30, !10, i64 1064}
!30 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !31, i64 0, !10, i64 1064, !10, i64 1072, !12, i64 1080, !12, i64 1084, !10, i64 1088, !10, i64 1096, !6, i64 1104, !6, i64 1112, !12, i64 1120, !10, i64 1128, !10, i64 1136, !12, i64 1144, !10, i64 1152, !10, i64 1160, !10, i64 1168, !20, i64 1176, !20, i64 1216}
!31 = !{!"_ZTSN7qpOASES9SQProblemE", !32, i64 0}
!32 = !{!"_ZTSN7qpOASES8QProblemE", !16, i64 0, !17, i64 800, !10, i64 808, !10, i64 816, !10, i64 824, !27, i64 832, !10, i64 952, !10, i64 960, !12, i64 968, !10, i64 976, !10, i64 984, !10, i64 992, !10, i64 1000, !10, i64 1008, !10, i64 1016, !10, i64 1024, !10, i64 1032, !10, i64 1040, !10, i64 1048, !10, i64 1056}
!33 = !{!34, !34, i64 0}
!34 = !{!"vtable pointer", !8, i64 0}
!35 = !{!30, !12, i64 1080}
!36 = !{!16, !24, i64 272}
!37 = !{!16, !6, i64 440}
!38 = distinct !{!38, !14}


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