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

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

@.str.1 = external hidden unnamed_addr constant [28 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [107 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 willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare { i64, i1 } @llvm.umul.with.overflow.i64(i64, i64) #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: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES17solveOqpBenchmarkEiiiiPKdS1_S1_S1_S1_S1_S1_NS_11BooleanTypeES2_RKNS_7OptionsEiRdS6_S6_S6_S6_S6_S6_(i32 noundef %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, ptr noundef %4, ptr noundef %5, ptr noundef %6, ptr noundef %7, ptr noundef %8, ptr noundef %9, ptr noundef %10, i32 noundef %11, i32 noundef %12, ptr noundef nonnull align 8 dereferenceable(220) %13, i32 noundef %14, ptr noundef nonnull align 8 dereferenceable(8) %15, ptr noundef nonnull align 8 dereferenceable(8) %16, ptr noundef nonnull align 8 dereferenceable(8) %17, ptr noundef nonnull align 8 dereferenceable(8) %18, ptr noundef nonnull align 8 dereferenceable(8) %19, ptr noundef nonnull align 8 dereferenceable(8) %20, ptr noundef nonnull align 8 dereferenceable(8) %21) #5 personality ptr @__gxx_personality_v0 {
  %23 = alloca i32, align 4
  %24 = alloca i32, align 4
  %25 = alloca i32, align 4
  %26 = alloca i32, align 4
  %27 = alloca i32, align 4
  %28 = alloca ptr, align 8
  %29 = alloca ptr, align 8
  %30 = alloca ptr, align 8
  %31 = alloca ptr, align 8
  %32 = alloca ptr, align 8
  %33 = alloca ptr, align 8
  %34 = alloca ptr, align 8
  %35 = alloca i32, align 4
  %36 = alloca i32, align 4
  %37 = alloca ptr, align 8
  %38 = alloca i32, align 4
  %39 = alloca ptr, align 8
  %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 i32, align 4
  %48 = alloca double, align 8
  %49 = alloca double, align 8
  %50 = alloca double, align 8
  %51 = alloca double, align 8
  %52 = alloca double, align 8
  %53 = alloca ptr, align 8
  %54 = alloca ptr, align 8
  %55 = alloca ptr, align 8
  %56 = alloca ptr, align 8
  %57 = alloca ptr, align 8
  %58 = alloca ptr, align 8
  %59 = alloca ptr, align 8
  %60 = alloca ptr, align 8
  %61 = alloca ptr, align 8
  %62 = alloca ptr, align 8
  %63 = alloca ptr, align 8
  %64 = alloca ptr, align 8
  %65 = alloca ptr, align 8
  %66 = alloca i32, align 4
  %67 = alloca %"class.qpOASES::QProblem", align 8
  %68 = alloca i32, align 4
  %69 = alloca i32, align 4
  store i32 %0, ptr %24, align 4, !tbaa !5
  store i32 %1, ptr %25, align 4, !tbaa !5
  store i32 %2, ptr %26, align 4, !tbaa !5
  store i32 %3, ptr %27, align 4, !tbaa !5
  store ptr %4, ptr %28, align 8, !tbaa !9
  store ptr %5, ptr %29, align 8, !tbaa !9
  store ptr %6, ptr %30, align 8, !tbaa !9
  store ptr %7, ptr %31, align 8, !tbaa !9
  store ptr %8, ptr %32, align 8, !tbaa !9
  store ptr %9, ptr %33, align 8, !tbaa !9
  store ptr %10, ptr %34, align 8, !tbaa !9
  store i32 %11, ptr %35, align 4, !tbaa !11
  store i32 %12, ptr %36, align 4, !tbaa !11
  store ptr %13, ptr %37, align 8, !tbaa !9
  store i32 %14, ptr %38, align 4, !tbaa !5
  store ptr %15, ptr %39, align 8, !tbaa !9
  store ptr %16, ptr %40, align 8, !tbaa !9
  store ptr %17, ptr %41, align 8, !tbaa !9
  store ptr %18, ptr %42, align 8, !tbaa !9
  store ptr %19, ptr %43, align 8, !tbaa !9
  store ptr %20, ptr %44, align 8, !tbaa !9
  store ptr %21, ptr %45, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %46) #10
  call void @llvm.lifetime.start.p0(i64 4, ptr %47) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #10
  %70 = load ptr, ptr %41, align 8, !tbaa !9
  %71 = load double, ptr %70, align 8, !tbaa !13
  store double %71, ptr %48, align 8, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 8, ptr %49) #10
  %72 = load double, ptr %48, align 8, !tbaa !13
  store double %72, ptr %49, align 8, !tbaa !13
  %73 = load ptr, ptr %39, align 8, !tbaa !9
  store double 0.000000e+00, ptr %73, align 8, !tbaa !13
  %74 = load ptr, ptr %40, align 8, !tbaa !9
  store double 0.000000e+00, ptr %74, align 8, !tbaa !13
  %75 = load ptr, ptr %41, align 8, !tbaa !9
  store double 0.000000e+00, ptr %75, align 8, !tbaa !13
  %76 = load ptr, ptr %42, align 8, !tbaa !9
  store double 0.000000e+00, ptr %76, align 8, !tbaa !13
  %77 = load ptr, ptr %43, align 8, !tbaa !9
  store double 0.000000e+00, ptr %77, align 8, !tbaa !13
  %78 = load ptr, ptr %44, align 8, !tbaa !9
  store double 0.000000e+00, ptr %78, align 8, !tbaa !13
  %79 = load ptr, ptr %45, align 8, !tbaa !9
  store double 0.000000e+00, ptr %79, align 8, !tbaa !13
  call void @llvm.lifetime.start.p0(i64 8, ptr %50) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %51) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %52) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %53) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %54) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %55) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %56) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %57) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %58) #10
  %80 = load i32, ptr %25, align 4, !tbaa !5
  %81 = sext i32 %80 to i64
  %82 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %81, i64 8)
  %83 = extractvalue { i64, i1 } %82, 1
  %84 = extractvalue { i64, i1 } %82, 0
  %85 = select i1 %83, i64 -1, i64 %84
  %86 = call noalias noundef nonnull ptr @_Znam(i64 noundef %85) #11
  store ptr %86, ptr %58, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %59) #10
  %87 = load i32, ptr %25, align 4, !tbaa !5
  %88 = load i32, ptr %26, align 4, !tbaa !5
  %89 = add nsw i32 %87, %88
  %90 = sext i32 %89 to i64
  %91 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %90, i64 8)
  %92 = extractvalue { i64, i1 } %91, 1
  %93 = extractvalue { i64, i1 } %91, 0
  %94 = select i1 %92, i64 -1, i64 %93
  %95 = call noalias noundef nonnull ptr @_Znam(i64 noundef %94) #11
  store ptr %95, ptr %59, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %60) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %61) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr %62) #10
  %96 = load i32, ptr %25, align 4, !tbaa !5
  %97 = load i32, ptr %25, align 4, !tbaa !5
  %98 = mul nsw i32 %96, %97
  %99 = sext i32 %98 to i64
  %100 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %99, i64 8)
  %101 = extractvalue { i64, i1 } %100, 1
  %102 = extractvalue { i64, i1 } %100, 0
  %103 = select i1 %101, i64 -1, i64 %102
  %104 = call noalias noundef nonnull ptr @_Znam(i64 noundef %103) #11
  store ptr %104, ptr %62, align 8, !tbaa !9
  %105 = load ptr, ptr %62, align 8, !tbaa !9
  %106 = load ptr, ptr %28, align 8, !tbaa !9
  %107 = load i32, ptr %25, align 4, !tbaa !5
  %108 = load i32, ptr %25, align 4, !tbaa !5
  %109 = mul nsw i32 %107, %108
  %110 = zext i32 %109 to i64
  %111 = mul i64 %110, 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %105, ptr align 8 %106, i64 %111, i1 false)
  call void @llvm.lifetime.start.p0(i64 8, ptr %63) #10
  %112 = load i32, ptr %26, align 4, !tbaa !5
  %113 = load i32, ptr %25, align 4, !tbaa !5
  %114 = mul nsw i32 %112, %113
  %115 = sext i32 %114 to i64
  %116 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %115, i64 8)
  %117 = extractvalue { i64, i1 } %116, 1
  %118 = extractvalue { i64, i1 } %116, 0
  %119 = select i1 %117, i64 -1, i64 %118
  %120 = call noalias noundef nonnull ptr @_Znam(i64 noundef %119) #11
  store ptr %120, ptr %63, align 8, !tbaa !9
  %121 = load ptr, ptr %63, align 8, !tbaa !9
  %122 = load ptr, ptr %30, align 8, !tbaa !9
  %123 = load i32, ptr %26, align 4, !tbaa !5
  %124 = load i32, ptr %25, align 4, !tbaa !5
  %125 = mul nsw i32 %123, %124
  %126 = zext i32 %125 to i64
  %127 = mul i64 %126, 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %121, ptr align 8 %122, i64 %127, i1 false)
  %128 = load i32, ptr %35, align 4, !tbaa !11
  %129 = icmp eq i32 %128, 1
  br i1 %129, label %130, label %171

130:                                              ; preds = %22
  call void @llvm.lifetime.start.p0(i64 8, ptr %64) #10
  %131 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 72) #11
  %132 = load i32, ptr %25, align 4, !tbaa !5
  %133 = load i32, ptr %25, align 4, !tbaa !5
  %134 = load i32, ptr %25, align 4, !tbaa !5
  %135 = load ptr, ptr %62, align 8, !tbaa !9
  invoke void @_ZN7qpOASES12SymSparseMatC1EiiiPKd(ptr noundef nonnull align 8 dereferenceable(56) %131, i32 noundef %132, i32 noundef %133, i32 noundef %134, ptr noundef %135)
          to label %136 unwind label %162

136:                                              ; preds = %130
  store ptr %131, ptr %64, align 8, !tbaa !9
  store ptr %131, ptr %60, align 8, !tbaa !9
  %137 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 64) #11
  %138 = load i32, ptr %26, align 4, !tbaa !5
  %139 = load i32, ptr %25, align 4, !tbaa !5
  %140 = load i32, ptr %25, align 4, !tbaa !5
  %141 = load ptr, ptr %63, align 8, !tbaa !9
  invoke void @_ZN7qpOASES15SparseMatrixRowC1EiiiPKd(ptr noundef nonnull align 8 dereferenceable(48) %137, i32 noundef %138, i32 noundef %139, i32 noundef %140, ptr noundef %141)
          to label %142 unwind label %166

142:                                              ; preds = %136
  %143 = icmp eq ptr %137, null
  br i1 %143, label %149, label %144

144:                                              ; preds = %142
  %145 = load ptr, ptr %137, align 8, !tbaa !15
  %146 = getelementptr i8, ptr %145, i64 -24
  %147 = load i64, ptr %146, align 8
  %148 = getelementptr inbounds i8, ptr %137, i64 %147
  br label %149

149:                                              ; preds = %144, %142
  %150 = phi ptr [ %148, %144 ], [ null, %142 ]
  store ptr %150, ptr %61, align 8, !tbaa !9
  %151 = load ptr, ptr %64, align 8, !tbaa !9
  %152 = getelementptr inbounds i8, ptr %151, i64 8
  %153 = call noundef ptr @_ZN7qpOASES12SparseMatrix14createDiagInfoEv(ptr noundef nonnull align 8 dereferenceable(48) %152)
  %154 = load ptr, ptr %63, align 8, !tbaa !9
  %155 = icmp eq ptr %154, null
  br i1 %155, label %157, label %156

156:                                              ; preds = %149
  call void @_ZdaPv(ptr noundef %154) #12
  br label %157

157:                                              ; preds = %156, %149
  %158 = load ptr, ptr %62, align 8, !tbaa !9
  %159 = icmp eq ptr %158, null
  br i1 %159, label %161, label %160

160:                                              ; preds = %157
  call void @_ZdaPv(ptr noundef %158) #12
  br label %161

161:                                              ; preds = %160, %157
  call void @llvm.lifetime.end.p0(i64 8, ptr %64) #10
  br label %205

162:                                              ; preds = %130
  %163 = landingpad { ptr, i32 }
          cleanup
  %164 = extractvalue { ptr, i32 } %163, 0
  store ptr %164, ptr %65, align 8
  %165 = extractvalue { ptr, i32 } %163, 1
  store i32 %165, ptr %66, align 4
  call void @_ZdlPvm(ptr noundef %131, i64 noundef 72) #12
  br label %170

166:                                              ; preds = %136
  %167 = landingpad { ptr, i32 }
          cleanup
  %168 = extractvalue { ptr, i32 } %167, 0
  store ptr %168, ptr %65, align 8
  %169 = extractvalue { ptr, i32 } %167, 1
  store i32 %169, ptr %66, align 4
  call void @_ZdlPvm(ptr noundef %137, i64 noundef 64) #12
  br label %170

170:                                              ; preds = %166, %162
  call void @llvm.lifetime.end.p0(i64 8, ptr %64) #10
  br label %463

171:                                              ; preds = %22
  %172 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 56) #11
  %173 = load i32, ptr %25, align 4, !tbaa !5
  %174 = load i32, ptr %25, align 4, !tbaa !5
  %175 = load i32, ptr %25, align 4, !tbaa !5
  %176 = load ptr, ptr %62, align 8, !tbaa !9
  invoke void @_ZN7qpOASES11SymDenseMatC1EiiiPd(ptr noundef nonnull align 8 dereferenceable(40) %172, i32 noundef %173, i32 noundef %174, i32 noundef %175, ptr noundef %176)
          to label %177 unwind label %197

177:                                              ; preds = %171
  %178 = icmp eq ptr %172, null
  br i1 %178, label %181, label %179

179:                                              ; preds = %177
  %180 = getelementptr inbounds i8, ptr %172, i64 32
  br label %181

181:                                              ; preds = %179, %177
  %182 = phi ptr [ %180, %179 ], [ null, %177 ]
  store ptr %182, ptr %60, align 8, !tbaa !9
  %183 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 48) #11
  %184 = load i32, ptr %26, align 4, !tbaa !5
  %185 = load i32, ptr %25, align 4, !tbaa !5
  %186 = load i32, ptr %25, align 4, !tbaa !5
  %187 = load ptr, ptr %63, align 8, !tbaa !9
  invoke void @_ZN7qpOASES11DenseMatrixC1EiiiPd(ptr noundef nonnull align 8 dereferenceable(32) %183, i32 noundef %184, i32 noundef %185, i32 noundef %186, ptr noundef %187)
          to label %188 unwind label %201

188:                                              ; preds = %181
  %189 = icmp eq ptr %183, null
  br i1 %189, label %195, label %190

190:                                              ; preds = %188
  %191 = load ptr, ptr %183, align 8, !tbaa !15
  %192 = getelementptr i8, ptr %191, i64 -24
  %193 = load i64, ptr %192, align 8
  %194 = getelementptr inbounds i8, ptr %183, i64 %193
  br label %195

195:                                              ; preds = %190, %188
  %196 = phi ptr [ %194, %190 ], [ null, %188 ]
  store ptr %196, ptr %61, align 8, !tbaa !9
  br label %205

197:                                              ; preds = %171
  %198 = landingpad { ptr, i32 }
          cleanup
  %199 = extractvalue { ptr, i32 } %198, 0
  store ptr %199, ptr %65, align 8
  %200 = extractvalue { ptr, i32 } %198, 1
  store i32 %200, ptr %66, align 4
  call void @_ZdlPvm(ptr noundef %172, i64 noundef 56) #12
  br label %463

201:                                              ; preds = %181
  %202 = landingpad { ptr, i32 }
          cleanup
  %203 = extractvalue { ptr, i32 } %202, 0
  store ptr %203, ptr %65, align 8
  %204 = extractvalue { ptr, i32 } %202, 1
  store i32 %204, ptr %66, align 4
  call void @_ZdlPvm(ptr noundef %183, i64 noundef 48) #12
  br label %463

205:                                              ; preds = %195, %161
  %206 = load ptr, ptr %60, align 8, !tbaa !9
  %207 = load ptr, ptr %206, align 8, !tbaa !15
  %208 = getelementptr i8, ptr %207, i64 -24
  %209 = load i64, ptr %208, align 8
  %210 = getelementptr inbounds i8, ptr %206, i64 %209
  call void @_ZN7qpOASES6Matrix12doFreeMemoryEv(ptr noundef nonnull align 8 dereferenceable(12) %210)
  %211 = load ptr, ptr %61, align 8, !tbaa !9
  call void @_ZN7qpOASES6Matrix12doFreeMemoryEv(ptr noundef nonnull align 8 dereferenceable(12) %211)
  call void @llvm.lifetime.start.p0(i64 1064, ptr %67) #10
  %212 = load i32, ptr %25, align 4, !tbaa !5
  %213 = load i32, ptr %26, align 4, !tbaa !5
  call void @_ZN7qpOASES8QProblemC1EiiNS_11HessianTypeENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064) %67, i32 noundef %212, i32 noundef %213, i32 noundef 6, i32 noundef 1)
  %214 = load ptr, ptr %37, align 8, !tbaa !9
  %215 = invoke noundef i32 @_ZN7qpOASES9QProblemB10setOptionsERKNS_7OptionsE(ptr noundef nonnull align 8 dereferenceable(800) %67, ptr noundef nonnull align 8 dereferenceable(220) %214)
          to label %216 unwind label %302

216:                                              ; preds = %205
  call void @llvm.lifetime.start.p0(i64 4, ptr %68) #10
  store i32 0, ptr %46, align 4, !tbaa !5
  br label %217

217:                                              ; preds = %424, %216
  %218 = load i32, ptr %46, align 4, !tbaa !5
  %219 = load i32, ptr %24, align 4, !tbaa !5
  %220 = icmp slt i32 %218, %219
  br i1 %220, label %221, label %427

221:                                              ; preds = %217
  %222 = load ptr, ptr %29, align 8, !tbaa !9
  %223 = load i32, ptr %46, align 4, !tbaa !5
  %224 = load i32, ptr %25, align 4, !tbaa !5
  %225 = mul nsw i32 %223, %224
  %226 = sext i32 %225 to i64
  %227 = getelementptr inbounds double, ptr %222, i64 %226
  store ptr %227, ptr %53, align 8, !tbaa !9
  %228 = load ptr, ptr %31, align 8, !tbaa !9
  %229 = load i32, ptr %46, align 4, !tbaa !5
  %230 = load i32, ptr %25, align 4, !tbaa !5
  %231 = mul nsw i32 %229, %230
  %232 = sext i32 %231 to i64
  %233 = getelementptr inbounds double, ptr %228, i64 %232
  store ptr %233, ptr %54, align 8, !tbaa !9
  %234 = load ptr, ptr %32, align 8, !tbaa !9
  %235 = load i32, ptr %46, align 4, !tbaa !5
  %236 = load i32, ptr %25, align 4, !tbaa !5
  %237 = mul nsw i32 %235, %236
  %238 = sext i32 %237 to i64
  %239 = getelementptr inbounds double, ptr %234, i64 %238
  store ptr %239, ptr %55, align 8, !tbaa !9
  %240 = load ptr, ptr %33, align 8, !tbaa !9
  %241 = load i32, ptr %46, align 4, !tbaa !5
  %242 = load i32, ptr %26, align 4, !tbaa !5
  %243 = mul nsw i32 %241, %242
  %244 = sext i32 %243 to i64
  %245 = getelementptr inbounds double, ptr %240, i64 %244
  store ptr %245, ptr %56, align 8, !tbaa !9
  %246 = load ptr, ptr %34, align 8, !tbaa !9
  %247 = load i32, ptr %46, align 4, !tbaa !5
  %248 = load i32, ptr %26, align 4, !tbaa !5
  %249 = mul nsw i32 %247, %248
  %250 = sext i32 %249 to i64
  %251 = getelementptr inbounds double, ptr %246, i64 %250
  store ptr %251, ptr %57, align 8, !tbaa !9
  %252 = load i32, ptr %38, align 4, !tbaa !5
  store i32 %252, ptr %47, align 4, !tbaa !5
  %253 = load double, ptr %48, align 8, !tbaa !13
  store double %253, ptr %49, align 8, !tbaa !13
  %254 = load i32, ptr %46, align 4, !tbaa !5
  %255 = icmp eq i32 %254, 0
  br i1 %255, label %259, label %256

256:                                              ; preds = %221
  %257 = load i32, ptr %36, align 4, !tbaa !11
  %258 = icmp eq i32 %257, 0
  br i1 %258, label %259, label %311

259:                                              ; preds = %256, %221
  %260 = load ptr, ptr %60, align 8, !tbaa !9
  %261 = load ptr, ptr %53, align 8, !tbaa !9
  %262 = load ptr, ptr %61, align 8, !tbaa !9
  %263 = load ptr, ptr %54, align 8, !tbaa !9
  %264 = load ptr, ptr %55, align 8, !tbaa !9
  %265 = load ptr, ptr %56, align 8, !tbaa !9
  %266 = load ptr, ptr %57, align 8, !tbaa !9
  %267 = invoke noundef i32 @_ZN7qpOASES8QProblem4initEPNS_15SymmetricMatrixEPKdPNS_6MatrixES4_S4_S4_S4_RiPdS4_S4_PKNS_6BoundsEPKNS_11ConstraintsES4_(ptr noundef nonnull align 8 dereferenceable(1064) %67, ptr noundef %260, ptr noundef %261, ptr noundef %262, ptr noundef %263, ptr noundef %264, ptr noundef %265, ptr noundef %266, ptr noundef nonnull align 4 dereferenceable(4) %47, ptr noundef %49, ptr noundef null, ptr noundef null, ptr noundef null, ptr noundef null, ptr noundef null)
          to label %268 unwind label %306

268:                                              ; preds = %259
  store i32 %267, ptr %68, align 4, !tbaa !17
  %269 = load i32, ptr %68, align 4, !tbaa !17
  %270 = icmp ne i32 %269, 0
  br i1 %270, label %271, label %310

271:                                              ; preds = %268
  %272 = load i32, ptr %68, align 4, !tbaa !17
  %273 = icmp ne i32 %272, 64
  br i1 %273, label %274, label %310

274:                                              ; preds = %271
  %275 = load ptr, ptr %61, align 8, !tbaa !9
  %276 = icmp eq ptr %275, null
  br i1 %276, label %281, label %277

277:                                              ; preds = %274
  %278 = load ptr, ptr %275, align 8, !tbaa !15
  %279 = getelementptr inbounds ptr, ptr %278, i64 1
  %280 = load ptr, ptr %279, align 8
  call void %280(ptr noundef nonnull align 8 dereferenceable(12) %275) #10
  br label %281

281:                                              ; preds = %277, %274
  %282 = load ptr, ptr %60, align 8, !tbaa !9
  %283 = icmp eq ptr %282, null
  br i1 %283, label %288, label %284

284:                                              ; preds = %281
  %285 = load ptr, ptr %282, align 8, !tbaa !15
  %286 = getelementptr inbounds ptr, ptr %285, i64 1
  %287 = load ptr, ptr %286, align 8
  call void %287(ptr noundef nonnull align 8 dereferenceable(8) %282) #10
  br label %288

288:                                              ; preds = %284, %281
  %289 = load ptr, ptr %59, align 8, !tbaa !9
  %290 = icmp eq ptr %289, null
  br i1 %290, label %292, label %291

291:                                              ; preds = %288
  call void @_ZdaPv(ptr noundef %289) #12
  br label %292

292:                                              ; preds = %291, %288
  %293 = load ptr, ptr %58, align 8, !tbaa !9
  %294 = icmp eq ptr %293, null
  br i1 %294, label %296, label %295

295:                                              ; preds = %292
  call void @_ZdaPv(ptr noundef %293) #12
  br label %296

296:                                              ; preds = %295, %292
  %297 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %298 unwind label %306

298:                                              ; preds = %296
  %299 = load i32, ptr %68, align 4, !tbaa !17
  %300 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %297, i32 noundef %299, ptr noundef null, ptr noundef @.str.1, ptr noundef @.str.2, i64 noundef 360, i32 noundef 1)
          to label %301 unwind label %306

301:                                              ; preds = %298
  store i32 %300, ptr %23, align 4
  store i32 1, ptr %69, align 4
  br label %460

302:                                              ; preds = %205
  %303 = landingpad { ptr, i32 }
          cleanup
  %304 = extractvalue { ptr, i32 } %303, 0
  store ptr %304, ptr %65, align 8
  %305 = extractvalue { ptr, i32 } %303, 1
  store i32 %305, ptr %66, align 4
  br label %462

306:                                              ; preds = %359, %356, %353, %348, %346, %311, %298, %296, %259
  %307 = landingpad { ptr, i32 }
          cleanup
  %308 = extractvalue { ptr, i32 } %307, 0
  store ptr %308, ptr %65, align 8
  %309 = extractvalue { ptr, i32 } %307, 1
  store i32 %309, ptr %66, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %68) #10
  br label %462

310:                                              ; preds = %271, %268
  br label %353

311:                                              ; preds = %256
  %312 = load ptr, ptr %53, align 8, !tbaa !9
  %313 = load ptr, ptr %54, align 8, !tbaa !9
  %314 = load ptr, ptr %55, align 8, !tbaa !9
  %315 = load ptr, ptr %56, align 8, !tbaa !9
  %316 = load ptr, ptr %57, align 8, !tbaa !9
  %317 = invoke noundef i32 @_ZN7qpOASES8QProblem8hotstartEPKdS2_S2_S2_S2_RiPdPKNS_6BoundsEPKNS_11ConstraintsE(ptr noundef nonnull align 8 dereferenceable(1064) %67, ptr noundef %312, ptr noundef %313, ptr noundef %314, ptr noundef %315, ptr noundef %316, ptr noundef nonnull align 4 dereferenceable(4) %47, ptr noundef %49, ptr noundef null, ptr noundef null)
          to label %318 unwind label %306

318:                                              ; preds = %311
  store i32 %317, ptr %68, align 4, !tbaa !17
  %319 = load i32, ptr %68, align 4, !tbaa !17
  %320 = icmp ne i32 %319, 0
  br i1 %320, label %321, label %352

321:                                              ; preds = %318
  %322 = load i32, ptr %68, align 4, !tbaa !17
  %323 = icmp ne i32 %322, 64
  br i1 %323, label %324, label %352

324:                                              ; preds = %321
  %325 = load ptr, ptr %61, align 8, !tbaa !9
  %326 = icmp eq ptr %325, null
  br i1 %326, label %331, label %327

327:                                              ; preds = %324
  %328 = load ptr, ptr %325, align 8, !tbaa !15
  %329 = getelementptr inbounds ptr, ptr %328, i64 1
  %330 = load ptr, ptr %329, align 8
  call void %330(ptr noundef nonnull align 8 dereferenceable(12) %325) #10
  br label %331

331:                                              ; preds = %327, %324
  %332 = load ptr, ptr %60, align 8, !tbaa !9
  %333 = icmp eq ptr %332, null
  br i1 %333, label %338, label %334

334:                                              ; preds = %331
  %335 = load ptr, ptr %332, align 8, !tbaa !15
  %336 = getelementptr inbounds ptr, ptr %335, i64 1
  %337 = load ptr, ptr %336, align 8
  call void %337(ptr noundef nonnull align 8 dereferenceable(8) %332) #10
  br label %338

338:                                              ; preds = %334, %331
  %339 = load ptr, ptr %59, align 8, !tbaa !9
  %340 = icmp eq ptr %339, null
  br i1 %340, label %342, label %341

341:                                              ; preds = %338
  call void @_ZdaPv(ptr noundef %339) #12
  br label %342

342:                                              ; preds = %341, %338
  %343 = load ptr, ptr %58, align 8, !tbaa !9
  %344 = icmp eq ptr %343, null
  br i1 %344, label %346, label %345

345:                                              ; preds = %342
  call void @_ZdaPv(ptr noundef %343) #12
  br label %346

346:                                              ; preds = %345, %342
  %347 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %348 unwind label %306

348:                                              ; preds = %346
  %349 = load i32, ptr %68, align 4, !tbaa !17
  %350 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %347, i32 noundef %349, ptr noundef null, ptr noundef @.str.1, ptr noundef @.str.2, i64 noundef 370, i32 noundef 1)
          to label %351 unwind label %306

351:                                              ; preds = %348
  store i32 %350, ptr %23, align 4
  store i32 1, ptr %69, align 4
  br label %460

352:                                              ; preds = %321, %318
  br label %353

353:                                              ; preds = %352, %310
  %354 = load ptr, ptr %58, align 8, !tbaa !9
  %355 = invoke noundef i32 @_ZNK7qpOASES9QProblemB17getPrimalSolutionEPd(ptr noundef nonnull align 8 dereferenceable(800) %67, ptr noundef %354)
          to label %356 unwind label %306

356:                                              ; preds = %353
  %357 = load ptr, ptr %59, align 8, !tbaa !9
  %358 = invoke noundef i32 @_ZNK7qpOASES8QProblem15getDualSolutionEPd(ptr noundef nonnull align 8 dereferenceable(1064) %67, ptr noundef %357)
          to label %359 unwind label %306

359:                                              ; preds = %356
  %360 = load i32, ptr %25, align 4, !tbaa !5
  %361 = load i32, ptr %26, align 4, !tbaa !5
  %362 = load ptr, ptr %28, align 8, !tbaa !9
  %363 = load ptr, ptr %53, align 8, !tbaa !9
  %364 = load ptr, ptr %30, align 8, !tbaa !9
  %365 = load ptr, ptr %54, align 8, !tbaa !9
  %366 = load ptr, ptr %55, align 8, !tbaa !9
  %367 = load ptr, ptr %56, align 8, !tbaa !9
  %368 = load ptr, ptr %57, align 8, !tbaa !9
  %369 = load ptr, ptr %58, align 8, !tbaa !9
  %370 = load ptr, ptr %59, align 8, !tbaa !9
  %371 = invoke noundef i32 @_ZN7qpOASES15getKktViolationEiiPKdS1_S1_S1_S1_S1_S1_S1_S1_RdS2_S2_S1_S1_NS_11BooleanTypeE(i32 noundef %360, i32 noundef %361, ptr noundef %362, ptr noundef %363, ptr noundef %364, ptr noundef %365, ptr noundef %366, ptr noundef %367, ptr noundef %368, ptr noundef %369, ptr noundef %370, ptr noundef nonnull align 8 dereferenceable(8) %50, ptr noundef nonnull align 8 dereferenceable(8) %51, ptr noundef nonnull align 8 dereferenceable(8) %52, ptr noundef null, ptr noundef null, i32 noundef 0)
          to label %372 unwind label %306

372:                                              ; preds = %359
  %373 = load i32, ptr %47, align 4, !tbaa !5
  %374 = sitofp i32 %373 to double
  %375 = load ptr, ptr %39, align 8, !tbaa !9
  %376 = load double, ptr %375, align 8, !tbaa !13
  %377 = fcmp ogt double %374, %376
  br i1 %377, label %378, label %382

378:                                              ; preds = %372
  %379 = load i32, ptr %47, align 4, !tbaa !5
  %380 = sitofp i32 %379 to double
  %381 = load ptr, ptr %39, align 8, !tbaa !9
  store double %380, ptr %381, align 8, !tbaa !13
  br label %382

382:                                              ; preds = %378, %372
  %383 = load double, ptr %50, align 8, !tbaa !13
  %384 = load ptr, ptr %43, align 8, !tbaa !9
  %385 = load double, ptr %384, align 8, !tbaa !13
  %386 = fcmp ogt double %383, %385
  br i1 %386, label %387, label %390

387:                                              ; preds = %382
  %388 = load double, ptr %50, align 8, !tbaa !13
  %389 = load ptr, ptr %43, align 8, !tbaa !9
  store double %388, ptr %389, align 8, !tbaa !13
  br label %390

390:                                              ; preds = %387, %382
  %391 = load double, ptr %51, align 8, !tbaa !13
  %392 = load ptr, ptr %44, align 8, !tbaa !9
  %393 = load double, ptr %392, align 8, !tbaa !13
  %394 = fcmp ogt double %391, %393
  br i1 %394, label %395, label %398

395:                                              ; preds = %390
  %396 = load double, ptr %51, align 8, !tbaa !13
  %397 = load ptr, ptr %44, align 8, !tbaa !9
  store double %396, ptr %397, align 8, !tbaa !13
  br label %398

398:                                              ; preds = %395, %390
  %399 = load double, ptr %52, align 8, !tbaa !13
  %400 = load ptr, ptr %45, align 8, !tbaa !9
  %401 = load double, ptr %400, align 8, !tbaa !13
  %402 = fcmp ogt double %399, %401
  br i1 %402, label %403, label %406

403:                                              ; preds = %398
  %404 = load double, ptr %52, align 8, !tbaa !13
  %405 = load ptr, ptr %45, align 8, !tbaa !9
  store double %404, ptr %405, align 8, !tbaa !13
  br label %406

406:                                              ; preds = %403, %398
  %407 = load double, ptr %49, align 8, !tbaa !13
  %408 = load ptr, ptr %41, align 8, !tbaa !9
  %409 = load double, ptr %408, align 8, !tbaa !13
  %410 = fcmp ogt double %407, %409
  br i1 %410, label %411, label %414

411:                                              ; preds = %406
  %412 = load double, ptr %49, align 8, !tbaa !13
  %413 = load ptr, ptr %41, align 8, !tbaa !9
  store double %412, ptr %413, align 8, !tbaa !13
  br label %414

414:                                              ; preds = %411, %406
  %415 = load i32, ptr %47, align 4, !tbaa !5
  %416 = sitofp i32 %415 to double
  %417 = load ptr, ptr %40, align 8, !tbaa !9
  %418 = load double, ptr %417, align 8, !tbaa !13
  %419 = fadd double %418, %416
  store double %419, ptr %417, align 8, !tbaa !13
  %420 = load double, ptr %49, align 8, !tbaa !13
  %421 = load ptr, ptr %42, align 8, !tbaa !9
  %422 = load double, ptr %421, align 8, !tbaa !13
  %423 = fadd double %422, %420
  store double %423, ptr %421, align 8, !tbaa !13
  br label %424

424:                                              ; preds = %414
  %425 = load i32, ptr %46, align 4, !tbaa !5
  %426 = add nsw i32 %425, 1
  store i32 %426, ptr %46, align 4, !tbaa !5
  br label %217, !llvm.loop !19

427:                                              ; preds = %217
  %428 = load i32, ptr %24, align 4, !tbaa !5
  %429 = sitofp i32 %428 to double
  %430 = load ptr, ptr %40, align 8, !tbaa !9
  %431 = load double, ptr %430, align 8, !tbaa !13
  %432 = fdiv double %431, %429
  store double %432, ptr %430, align 8, !tbaa !13
  %433 = load i32, ptr %24, align 4, !tbaa !5
  %434 = sitofp i32 %433 to double
  %435 = load ptr, ptr %42, align 8, !tbaa !9
  %436 = load double, ptr %435, align 8, !tbaa !13
  %437 = fdiv double %436, %434
  store double %437, ptr %435, align 8, !tbaa !13
  %438 = load ptr, ptr %61, align 8, !tbaa !9
  %439 = icmp eq ptr %438, null
  br i1 %439, label %444, label %440

440:                                              ; preds = %427
  %441 = load ptr, ptr %438, align 8, !tbaa !15
  %442 = getelementptr inbounds ptr, ptr %441, i64 1
  %443 = load ptr, ptr %442, align 8
  call void %443(ptr noundef nonnull align 8 dereferenceable(12) %438) #10
  br label %444

444:                                              ; preds = %440, %427
  %445 = load ptr, ptr %60, align 8, !tbaa !9
  %446 = icmp eq ptr %445, null
  br i1 %446, label %451, label %447

447:                                              ; preds = %444
  %448 = load ptr, ptr %445, align 8, !tbaa !15
  %449 = getelementptr inbounds ptr, ptr %448, i64 1
  %450 = load ptr, ptr %449, align 8
  call void %450(ptr noundef nonnull align 8 dereferenceable(8) %445) #10
  br label %451

451:                                              ; preds = %447, %444
  %452 = load ptr, ptr %59, align 8, !tbaa !9
  %453 = icmp eq ptr %452, null
  br i1 %453, label %455, label %454

454:                                              ; preds = %451
  call void @_ZdaPv(ptr noundef %452) #12
  br label %455

455:                                              ; preds = %454, %451
  %456 = load ptr, ptr %58, align 8, !tbaa !9
  %457 = icmp eq ptr %456, null
  br i1 %457, label %459, label %458

458:                                              ; preds = %455
  call void @_ZdaPv(ptr noundef %456) #12
  br label %459

459:                                              ; preds = %458, %455
  store i32 0, ptr %23, align 4
  store i32 1, ptr %69, align 4
  br label %460

460:                                              ; preds = %459, %351, %301
  call void @llvm.lifetime.end.p0(i64 4, ptr %68) #10
  call void @_ZN7qpOASES8QProblemD1Ev(ptr noundef nonnull align 8 dereferenceable(1064) %67) #10
  call void @llvm.lifetime.end.p0(i64 1064, ptr %67) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %63) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %62) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %61) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %60) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %59) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %58) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %56) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %53) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %47) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %46) #10
  %461 = load i32, ptr %23, align 4
  ret i32 %461

462:                                              ; preds = %306, %302
  call void @_ZN7qpOASES8QProblemD1Ev(ptr noundef nonnull align 8 dereferenceable(1064) %67) #10
  call void @llvm.lifetime.end.p0(i64 1064, ptr %67) #10
  br label %463

463:                                              ; preds = %462, %201, %197, %170
  call void @llvm.lifetime.end.p0(i64 8, ptr %63) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %62) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %61) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %60) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %59) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %58) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %56) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %53) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %47) #10
  call void @llvm.lifetime.end.p0(i64 4, ptr %46) #10
  br label %464

464:                                              ; preds = %463
  %465 = load ptr, ptr %65, align 8
  %466 = load i32, ptr %66, align 4
  %467 = insertvalue { ptr, i32 } poison, ptr %465, 0
  %468 = insertvalue { ptr, i32 } %467, i32 %466, 1
  resume { ptr, i32 } %468
}

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #6

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7qpOASES12SymSparseMatC1EiiiPKd(ptr noundef nonnull align 8 dereferenceable(56), i32 noundef, i32 noundef, i32 noundef, ptr noundef) unnamed_addr #5 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #4

declare void @_ZN7qpOASES15SparseMatrixRowC1EiiiPKd(ptr noundef nonnull align 8 dereferenceable(48), i32 noundef, i32 noundef, i32 noundef, ptr noundef) unnamed_addr #1

declare noundef ptr @_ZN7qpOASES12SparseMatrix14createDiagInfoEv(ptr noundef nonnull align 8 dereferenceable(48)) #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7qpOASES11SymDenseMatC1EiiiPd(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef, i32 noundef, i32 noundef, ptr noundef) unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7qpOASES11DenseMatrixC1EiiiPd(ptr noundef nonnull align 8 dereferenceable(32), i32 noundef, i32 noundef, i32 noundef, ptr noundef) unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN7qpOASES6Matrix12doFreeMemoryEv(ptr noundef nonnull align 8 dereferenceable(12)) #7 align 2

declare void @_ZN7qpOASES8QProblemC1EiiNS_11HessianTypeENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064), i32 noundef, i32 noundef, i32 noundef, i32 noundef) unnamed_addr #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES9QProblemB10setOptionsERKNS_7OptionsE(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef nonnull align 8 dereferenceable(220)) #8 align 2

declare noundef i32 @_ZN7qpOASES8QProblem4initEPNS_15SymmetricMatrixEPKdPNS_6MatrixES4_S4_S4_S4_RiPdS4_S4_PKNS_6BoundsEPKNS_11ConstraintsES4_(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) #1

declare noundef i32 @_ZN7qpOASES8QProblem8hotstartEPKdS2_S2_S2_S2_RiPdPKNS_6BoundsEPKNS_11ConstraintsE(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef, ptr noundef, ptr noundef) #1

declare noundef i32 @_ZNK7qpOASES9QProblemB17getPrimalSolutionEPd(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef) #1

declare noundef i32 @_ZNK7qpOASES8QProblem15getDualSolutionEPd(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef) unnamed_addr #1

declare noundef i32 @_ZN7qpOASES15getKktViolationEiiPKdS1_S1_S1_S1_S1_S1_S1_S1_RdS2_S2_S1_S1_NS_11BooleanTypeE(i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef, ptr noundef, i32 noundef) #1

; Function Attrs: nounwind
declare void @_ZN7qpOASES8QProblemD1Ev(ptr noundef nonnull align 8 dereferenceable(1064)) unnamed_addr #9

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 = { 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 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #7 = { 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 = { 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 #9 = { 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 #10 = { nounwind }
attributes #11 = { builtin allocsize(0) }
attributes #12 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"int", !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 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"double", !7, i64 0}
!15 = !{!16, !16, i64 0}
!16 = !{!"vtable pointer", !8, i64 0}
!17 = !{!18, !18, i64 0}
!18 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!19 = distinct !{!19, !20}
!20 = !{!"llvm.loop.mustprogress"}


; 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"

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

@.str.1 = external hidden unnamed_addr constant [28 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [107 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: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

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

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

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES17solveOqpBenchmarkEiiiiPKdS1_S1_S1_S1_S1_S1_NS_11BooleanTypeES2_RKNS_7OptionsEiRdS6_S6_S6_S6_S6_S6_(i32 noundef %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, ptr noundef %4, ptr noundef %5, ptr noundef %6, ptr noundef %7, ptr noundef %8, ptr noundef %9, ptr noundef %10, i32 noundef %11, i32 noundef %12, ptr noundef nonnull align 8 dereferenceable(220) %13, i32 noundef %14, ptr nocapture noundef nonnull align 8 dereferenceable(8) %15, ptr nocapture noundef nonnull align 8 dereferenceable(8) %16, ptr nocapture noundef nonnull align 8 dereferenceable(8) %17, ptr nocapture noundef nonnull align 8 dereferenceable(8) %18, ptr nocapture noundef nonnull align 8 dereferenceable(8) %19, ptr nocapture noundef nonnull align 8 dereferenceable(8) %20, ptr nocapture noundef nonnull align 8 dereferenceable(8) %21) local_unnamed_addr #4 personality ptr @__gxx_personality_v0 {
  %23 = alloca i32, align 4
  %24 = alloca double, align 8
  %25 = alloca double, align 8
  %26 = alloca double, align 8
  %27 = alloca double, align 8
  %28 = alloca %"class.qpOASES::QProblem", align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %23) #9
  %29 = load double, ptr %17, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %24) #9
  store double %29, ptr %24, align 8, !tbaa !5
  store double 0.000000e+00, ptr %15, align 8, !tbaa !5
  store double 0.000000e+00, ptr %16, align 8, !tbaa !5
  store double 0.000000e+00, ptr %17, align 8, !tbaa !5
  store double 0.000000e+00, ptr %18, align 8, !tbaa !5
  store double 0.000000e+00, ptr %19, align 8, !tbaa !5
  store double 0.000000e+00, ptr %20, align 8, !tbaa !5
  store double 0.000000e+00, ptr %21, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %27) #9
  %30 = zext nneg i32 %1 to i64
  %31 = icmp slt i32 %1, 0
  %32 = shl nuw nsw i64 %30, 3
  %33 = select i1 %31, i64 -1, i64 %32
  %34 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %33) #10
  %35 = add nsw i32 %2, %1
  %36 = zext nneg i32 %35 to i64
  %37 = icmp slt i32 %35, 0
  %38 = shl nuw nsw i64 %36, 3
  %39 = select i1 %37, i64 -1, i64 %38
  %40 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %39) #10
  %41 = mul nsw i32 %1, %1
  %42 = zext nneg i32 %41 to i64
  %43 = shl nuw nsw i64 %42, 3
  %44 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %43) #10
  tail call void @llvm.memcpy.p0.p0.i64(ptr nonnull align 8 %44, ptr align 8 %4, i64 %43, i1 false)
  %45 = mul nsw i32 %2, %1
  %46 = zext i32 %45 to i64
  %47 = icmp slt i32 %45, 0
  %48 = shl nuw nsw i64 %46, 3
  %49 = select i1 %47, i64 -1, i64 %48
  %50 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %49) #10
  tail call void @llvm.memcpy.p0.p0.i64(ptr nonnull align 8 %50, ptr align 8 %6, i64 %48, i1 false)
  %51 = icmp eq i32 %11, 1
  br i1 %51, label %52, label %67

52:                                               ; preds = %22
  %53 = tail call noalias noundef nonnull dereferenceable(72) ptr @_Znwm(i64 noundef 72) #10
  invoke void @_ZN7qpOASES12SymSparseMatC1EiiiPKd(ptr noundef nonnull align 8 dereferenceable(56) %53, i32 noundef %1, i32 noundef %1, i32 noundef %1, ptr noundef nonnull %44)
          to label %54 unwind label %63

54:                                               ; preds = %52
  %55 = tail call noalias noundef nonnull dereferenceable(64) ptr @_Znwm(i64 noundef 64) #10
  invoke void @_ZN7qpOASES15SparseMatrixRowC1EiiiPKd(ptr noundef nonnull align 8 dereferenceable(48) %55, i32 noundef %2, i32 noundef %1, i32 noundef %1, ptr noundef nonnull %50)
          to label %56 unwind label %65

56:                                               ; preds = %54
  %57 = load ptr, ptr %55, align 8, !tbaa !9
  %58 = getelementptr i8, ptr %57, i64 -24
  %59 = load i64, ptr %58, align 8
  %60 = getelementptr inbounds i8, ptr %55, i64 %59
  %61 = getelementptr inbounds i8, ptr %53, i64 8
  %62 = tail call noundef ptr @_ZN7qpOASES12SparseMatrix14createDiagInfoEv(ptr noundef nonnull align 8 dereferenceable(48) %61)
  tail call void @_ZdaPv(ptr noundef nonnull %50) #11
  tail call void @_ZdaPv(ptr noundef nonnull %44) #11
  br label %81

63:                                               ; preds = %52
  %64 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %53, i64 noundef 72) #11
  br label %213

65:                                               ; preds = %54
  %66 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %55, i64 noundef 64) #11
  br label %213

67:                                               ; preds = %22
  %68 = tail call noalias noundef nonnull dereferenceable(56) ptr @_Znwm(i64 noundef 56) #10
  invoke void @_ZN7qpOASES11SymDenseMatC1EiiiPd(ptr noundef nonnull align 8 dereferenceable(40) %68, i32 noundef %1, i32 noundef %1, i32 noundef %1, ptr noundef nonnull %44)
          to label %69 unwind label %77

69:                                               ; preds = %67
  %70 = tail call noalias noundef nonnull dereferenceable(48) ptr @_Znwm(i64 noundef 48) #10
  invoke void @_ZN7qpOASES11DenseMatrixC1EiiiPd(ptr noundef nonnull align 8 dereferenceable(32) %70, i32 noundef %2, i32 noundef %1, i32 noundef %1, ptr noundef nonnull %50)
          to label %71 unwind label %79

71:                                               ; preds = %69
  %72 = getelementptr inbounds i8, ptr %68, i64 32
  %73 = load ptr, ptr %70, align 8, !tbaa !9
  %74 = getelementptr i8, ptr %73, i64 -24
  %75 = load i64, ptr %74, align 8
  %76 = getelementptr inbounds i8, ptr %70, i64 %75
  br label %81

77:                                               ; preds = %67
  %78 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %68, i64 noundef 56) #11
  br label %213

79:                                               ; preds = %69
  %80 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %70, i64 noundef 48) #11
  br label %213

81:                                               ; preds = %71, %56
  %.0143 = phi ptr [ %60, %56 ], [ %76, %71 ]
  %.0142 = phi ptr [ %53, %56 ], [ %72, %71 ]
  %82 = load ptr, ptr %.0142, align 8, !tbaa !9
  %83 = getelementptr i8, ptr %82, i64 -24
  %84 = load i64, ptr %83, align 8
  %85 = getelementptr inbounds i8, ptr %.0142, i64 %84
  tail call void @_ZN7qpOASES6Matrix12doFreeMemoryEv(ptr noundef nonnull align 8 dereferenceable(12) %85)
  tail call void @_ZN7qpOASES6Matrix12doFreeMemoryEv(ptr noundef nonnull align 8 dereferenceable(12) %.0143)
  call void @llvm.lifetime.start.p0(i64 1064, ptr nonnull %28) #9
  call void @_ZN7qpOASES8QProblemC1EiiNS_11HessianTypeENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064) %28, i32 noundef %1, i32 noundef %2, i32 noundef 6, i32 noundef 1)
  %86 = invoke noundef i32 @_ZN7qpOASES9QProblemB10setOptionsERKNS_7OptionsE(ptr noundef nonnull align 8 dereferenceable(800) %28, ptr noundef nonnull align 8 dereferenceable(220) %13)
          to label %.preheader unwind label %154

.preheader:                                       ; preds = %81
  %87 = icmp sgt i32 %0, 0
  br i1 %87, label %88, label %._crit_edge

88:                                               ; preds = %.preheader
  %89 = icmp eq i32 %12, 0
  %90 = sext i32 %1 to i64
  %91 = sext i32 %2 to i64
  %wide.trip.count = zext nneg i32 %0 to i64
  store i32 %14, ptr %23, align 4, !tbaa !11
  store double %29, ptr %24, align 8, !tbaa !5
  %92 = invoke noundef i32 @_ZN7qpOASES8QProblem4initEPNS_15SymmetricMatrixEPKdPNS_6MatrixES4_S4_S4_S4_RiPdS4_S4_PKNS_6BoundsEPKNS_11ConstraintsES4_(ptr noundef nonnull align 8 dereferenceable(1064) %28, ptr noundef nonnull %.0142, ptr noundef %5, ptr noundef nonnull %.0143, ptr noundef %7, ptr noundef %8, ptr noundef %9, ptr noundef %10, ptr noundef nonnull align 4 dereferenceable(4) %23, ptr noundef nonnull %24, ptr noundef null, ptr noundef null, ptr noundef null, ptr noundef null, ptr noundef null)
          to label %93 unwind label %.loopexit.loopexit.split-lp

93:                                               ; preds = %88
  %94 = and i32 %92, -65
  %or.cond3.not.peel = icmp eq i32 %94, 0
  br i1 %or.cond3.not.peel, label %95, label %.loopexit164

95:                                               ; preds = %93
  %96 = invoke noundef i32 @_ZNK7qpOASES9QProblemB17getPrimalSolutionEPd(ptr noundef nonnull align 8 dereferenceable(800) %28, ptr noundef nonnull %34)
          to label %97 unwind label %.loopexit.loopexit.split-lp

97:                                               ; preds = %95
  %98 = invoke noundef i32 @_ZNK7qpOASES8QProblem15getDualSolutionEPd(ptr noundef nonnull align 8 dereferenceable(1064) %28, ptr noundef nonnull %40)
          to label %99 unwind label %.loopexit.loopexit.split-lp

99:                                               ; preds = %97
  %100 = invoke noundef i32 @_ZN7qpOASES15getKktViolationEiiPKdS1_S1_S1_S1_S1_S1_S1_S1_RdS2_S2_S1_S1_NS_11BooleanTypeE(i32 noundef %1, i32 noundef %2, ptr noundef %4, ptr noundef %5, ptr noundef %6, ptr noundef %7, ptr noundef %8, ptr noundef %9, ptr noundef %10, ptr noundef nonnull %34, ptr noundef nonnull %40, ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull align 8 dereferenceable(8) %26, ptr noundef nonnull align 8 dereferenceable(8) %27, ptr noundef null, ptr noundef null, i32 noundef 0)
          to label %101 unwind label %.loopexit.loopexit.split-lp

101:                                              ; preds = %99
  %102 = load i32, ptr %23, align 4, !tbaa !11
  %103 = sitofp i32 %102 to double
  %104 = load double, ptr %15, align 8, !tbaa !5
  %105 = fcmp olt double %104, %103
  br i1 %105, label %106, label %107

106:                                              ; preds = %101
  store double %103, ptr %15, align 8, !tbaa !5
  br label %107

107:                                              ; preds = %106, %101
  %108 = load double, ptr %25, align 8, !tbaa !5
  %109 = load double, ptr %19, align 8, !tbaa !5
  %110 = fcmp ogt double %108, %109
  br i1 %110, label %111, label %112

111:                                              ; preds = %107
  store double %108, ptr %19, align 8, !tbaa !5
  br label %112

112:                                              ; preds = %111, %107
  %113 = load double, ptr %26, align 8, !tbaa !5
  %114 = load double, ptr %20, align 8, !tbaa !5
  %115 = fcmp ogt double %113, %114
  br i1 %115, label %116, label %117

116:                                              ; preds = %112
  store double %113, ptr %20, align 8, !tbaa !5
  br label %117

117:                                              ; preds = %116, %112
  %118 = load double, ptr %27, align 8, !tbaa !5
  %119 = load double, ptr %21, align 8, !tbaa !5
  %120 = fcmp ogt double %118, %119
  br i1 %120, label %121, label %122

121:                                              ; preds = %117
  store double %118, ptr %21, align 8, !tbaa !5
  br label %122

122:                                              ; preds = %121, %117
  %123 = load double, ptr %24, align 8, !tbaa !5
  %124 = load double, ptr %17, align 8, !tbaa !5
  %125 = fcmp ogt double %123, %124
  br i1 %125, label %126, label %127

126:                                              ; preds = %122
  store double %123, ptr %17, align 8, !tbaa !5
  br label %127

127:                                              ; preds = %126, %122
  %128 = load double, ptr %16, align 8, !tbaa !5
  %129 = fadd double %128, %103
  store double %129, ptr %16, align 8, !tbaa !5
  %130 = load double, ptr %18, align 8, !tbaa !5
  %131 = fadd double %123, %130
  store double %131, ptr %18, align 8, !tbaa !5
  %exitcond.peel.not = icmp eq i32 %0, 1
  br i1 %exitcond.peel.not, label %._crit_edge, label %.peel.next

.peel.next:                                       ; preds = %127, %196
  %indvars.iv = phi i64 [ %indvars.iv.next, %196 ], [ 1, %127 ]
  %132 = mul nsw i64 %indvars.iv, %90
  %133 = getelementptr inbounds double, ptr %5, i64 %132
  %134 = getelementptr inbounds double, ptr %7, i64 %132
  %135 = getelementptr inbounds double, ptr %8, i64 %132
  %136 = mul nsw i64 %indvars.iv, %91
  %137 = getelementptr inbounds double, ptr %9, i64 %136
  %138 = getelementptr inbounds double, ptr %10, i64 %136
  store i32 %14, ptr %23, align 4, !tbaa !11
  store double %29, ptr %24, align 8, !tbaa !5
  br i1 %89, label %139, label %156

139:                                              ; preds = %.peel.next
  %140 = invoke noundef i32 @_ZN7qpOASES8QProblem4initEPNS_15SymmetricMatrixEPKdPNS_6MatrixES4_S4_S4_S4_RiPdS4_S4_PKNS_6BoundsEPKNS_11ConstraintsES4_(ptr noundef nonnull align 8 dereferenceable(1064) %28, ptr noundef nonnull %.0142, ptr noundef %133, ptr noundef nonnull %.0143, ptr noundef %134, ptr noundef %135, ptr noundef %137, ptr noundef %138, ptr noundef nonnull align 4 dereferenceable(4) %23, ptr noundef nonnull %24, ptr noundef null, ptr noundef null, ptr noundef null, ptr noundef null, ptr noundef null)
          to label %141 unwind label %.loopexit.loopexit

141:                                              ; preds = %139
  %142 = and i32 %140, -65
  %or.cond3.not = icmp eq i32 %142, 0
  br i1 %or.cond3.not, label %164, label %.loopexit164

.loopexit164:                                     ; preds = %141, %93
  %.lcssa158 = phi i32 [ %92, %93 ], [ %140, %141 ]
  %143 = load ptr, ptr %.0143, align 8, !tbaa !9
  %144 = getelementptr inbounds i8, ptr %143, i64 8
  %145 = load ptr, ptr %144, align 8
  call void %145(ptr noundef nonnull align 8 dereferenceable(12) %.0143) #9
  %146 = load ptr, ptr %.0142, align 8, !tbaa !9
  %147 = getelementptr inbounds i8, ptr %146, i64 8
  %148 = load ptr, ptr %147, align 8
  call void %148(ptr noundef nonnull align 8 dereferenceable(8) %.0142) #9
  call void @_ZdaPv(ptr noundef nonnull %40) #11
  call void @_ZdaPv(ptr noundef nonnull %34) #11
  %149 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %.invoke unwind label %.loopexit.split-lp

.invoke:                                          ; preds = %.loopexit164, %.loopexit163
  %150 = phi ptr [ %163, %.loopexit163 ], [ %149, %.loopexit164 ]
  %151 = phi i32 [ %157, %.loopexit163 ], [ %.lcssa158, %.loopexit164 ]
  %152 = phi i64 [ 370, %.loopexit163 ], [ 360, %.loopexit164 ]
  %153 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %150, i32 noundef %151, ptr noundef null, ptr noundef nonnull @.str.1, ptr noundef nonnull @.str.2, i64 noundef %152, i32 noundef 1)
          to label %212 unwind label %.loopexit.split-lp

154:                                              ; preds = %81
  %155 = landingpad { ptr, i32 }
          cleanup
  br label %.loopexit

.loopexit.loopexit:                               ; preds = %168, %166, %164, %156, %139
  %lpad.loopexit161 = landingpad { ptr, i32 }
          cleanup
  br label %.loopexit

.loopexit.loopexit.split-lp:                      ; preds = %88, %95, %97, %99
  %lpad.loopexit.split-lp162 = landingpad { ptr, i32 }
          cleanup
  br label %.loopexit

.loopexit.split-lp:                               ; preds = %.invoke, %.loopexit164, %.loopexit163
  %lpad.loopexit.split-lp = landingpad { ptr, i32 }
          cleanup
  br label %.loopexit

156:                                              ; preds = %.peel.next
  %157 = invoke noundef i32 @_ZN7qpOASES8QProblem8hotstartEPKdS2_S2_S2_S2_RiPdPKNS_6BoundsEPKNS_11ConstraintsE(ptr noundef nonnull align 8 dereferenceable(1064) %28, ptr noundef %133, ptr noundef %134, ptr noundef %135, ptr noundef %137, ptr noundef %138, ptr noundef nonnull align 4 dereferenceable(4) %23, ptr noundef nonnull %24, ptr noundef null, ptr noundef null)
          to label %158 unwind label %.loopexit.loopexit

158:                                              ; preds = %156
  %159 = and i32 %157, -65
  %or.cond5.not = icmp eq i32 %159, 0
  br i1 %or.cond5.not, label %164, label %.loopexit163

.loopexit163:                                     ; preds = %158
  %.pre = load ptr, ptr %.0143, align 8, !tbaa !9
  %.phi.trans.insert = getelementptr inbounds i8, ptr %.pre, i64 8
  %.pre167 = load ptr, ptr %.phi.trans.insert, align 8
  call void %.pre167(ptr noundef nonnull align 8 dereferenceable(12) %.0143) #9
  %160 = load ptr, ptr %.0142, align 8, !tbaa !9
  %161 = getelementptr inbounds i8, ptr %160, i64 8
  %162 = load ptr, ptr %161, align 8
  call void %162(ptr noundef nonnull align 8 dereferenceable(8) %.0142) #9
  call void @_ZdaPv(ptr noundef nonnull %40) #11
  call void @_ZdaPv(ptr noundef nonnull %34) #11
  %163 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %.invoke unwind label %.loopexit.split-lp

164:                                              ; preds = %158, %141
  %165 = invoke noundef i32 @_ZNK7qpOASES9QProblemB17getPrimalSolutionEPd(ptr noundef nonnull align 8 dereferenceable(800) %28, ptr noundef nonnull %34)
          to label %166 unwind label %.loopexit.loopexit

166:                                              ; preds = %164
  %167 = invoke noundef i32 @_ZNK7qpOASES8QProblem15getDualSolutionEPd(ptr noundef nonnull align 8 dereferenceable(1064) %28, ptr noundef nonnull %40)
          to label %168 unwind label %.loopexit.loopexit

168:                                              ; preds = %166
  %169 = invoke noundef i32 @_ZN7qpOASES15getKktViolationEiiPKdS1_S1_S1_S1_S1_S1_S1_S1_RdS2_S2_S1_S1_NS_11BooleanTypeE(i32 noundef %1, i32 noundef %2, ptr noundef %4, ptr noundef %133, ptr noundef %6, ptr noundef %134, ptr noundef %135, ptr noundef %137, ptr noundef %138, ptr noundef nonnull %34, ptr noundef nonnull %40, ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef nonnull align 8 dereferenceable(8) %26, ptr noundef nonnull align 8 dereferenceable(8) %27, ptr noundef null, ptr noundef null, i32 noundef 0)
          to label %170 unwind label %.loopexit.loopexit

170:                                              ; preds = %168
  %171 = load i32, ptr %23, align 4, !tbaa !11
  %172 = sitofp i32 %171 to double
  %173 = load double, ptr %15, align 8, !tbaa !5
  %174 = fcmp olt double %173, %172
  br i1 %174, label %175, label %176

175:                                              ; preds = %170
  store double %172, ptr %15, align 8, !tbaa !5
  br label %176

176:                                              ; preds = %175, %170
  %177 = load double, ptr %25, align 8, !tbaa !5
  %178 = load double, ptr %19, align 8, !tbaa !5
  %179 = fcmp ogt double %177, %178
  br i1 %179, label %180, label %181

180:                                              ; preds = %176
  store double %177, ptr %19, align 8, !tbaa !5
  br label %181

181:                                              ; preds = %180, %176
  %182 = load double, ptr %26, align 8, !tbaa !5
  %183 = load double, ptr %20, align 8, !tbaa !5
  %184 = fcmp ogt double %182, %183
  br i1 %184, label %185, label %186

185:                                              ; preds = %181
  store double %182, ptr %20, align 8, !tbaa !5
  br label %186

186:                                              ; preds = %185, %181
  %187 = load double, ptr %27, align 8, !tbaa !5
  %188 = load double, ptr %21, align 8, !tbaa !5
  %189 = fcmp ogt double %187, %188
  br i1 %189, label %190, label %191

190:                                              ; preds = %186
  store double %187, ptr %21, align 8, !tbaa !5
  br label %191

191:                                              ; preds = %190, %186
  %192 = load double, ptr %24, align 8, !tbaa !5
  %193 = load double, ptr %17, align 8, !tbaa !5
  %194 = fcmp ogt double %192, %193
  br i1 %194, label %195, label %196

195:                                              ; preds = %191
  store double %192, ptr %17, align 8, !tbaa !5
  br label %196

196:                                              ; preds = %195, %191
  %197 = load double, ptr %16, align 8, !tbaa !5
  %198 = fadd double %197, %172
  store double %198, ptr %16, align 8, !tbaa !5
  %199 = load double, ptr %18, align 8, !tbaa !5
  %200 = fadd double %192, %199
  store double %200, ptr %18, align 8, !tbaa !5
  %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 %._crit_edge, label %.peel.next, !llvm.loop !13

._crit_edge:                                      ; preds = %196, %127, %.preheader
  %201 = sitofp i32 %0 to double
  %202 = load double, ptr %16, align 8, !tbaa !5
  %203 = fdiv double %202, %201
  store double %203, ptr %16, align 8, !tbaa !5
  %204 = load double, ptr %18, align 8, !tbaa !5
  %205 = fdiv double %204, %201
  store double %205, ptr %18, align 8, !tbaa !5
  %206 = load ptr, ptr %.0143, align 8, !tbaa !9
  %207 = getelementptr inbounds i8, ptr %206, i64 8
  %208 = load ptr, ptr %207, align 8
  call void %208(ptr noundef nonnull align 8 dereferenceable(12) %.0143) #9
  %209 = load ptr, ptr %.0142, align 8, !tbaa !9
  %210 = getelementptr inbounds i8, ptr %209, i64 8
  %211 = load ptr, ptr %210, align 8
  call void %211(ptr noundef nonnull align 8 dereferenceable(8) %.0142) #9
  call void @_ZdaPv(ptr noundef nonnull %40) #11
  call void @_ZdaPv(ptr noundef nonnull %34) #11
  br label %212

212:                                              ; preds = %.invoke, %._crit_edge
  %.0140 = phi i32 [ 0, %._crit_edge ], [ %153, %.invoke ]
  call void @_ZN7qpOASES8QProblemD1Ev(ptr noundef nonnull align 8 dereferenceable(1064) %28) #9
  call void @llvm.lifetime.end.p0(i64 1064, ptr nonnull %28) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %24) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %23) #9
  ret i32 %.0140

.loopexit:                                        ; preds = %.loopexit.loopexit, %.loopexit.loopexit.split-lp, %.loopexit.split-lp, %154
  %.pn153 = phi { ptr, i32 } [ %155, %154 ], [ %lpad.loopexit.split-lp, %.loopexit.split-lp ], [ %lpad.loopexit161, %.loopexit.loopexit ], [ %lpad.loopexit.split-lp162, %.loopexit.loopexit.split-lp ]
  call void @_ZN7qpOASES8QProblemD1Ev(ptr noundef nonnull align 8 dereferenceable(1064) %28) #9
  call void @llvm.lifetime.end.p0(i64 1064, ptr nonnull %28) #9
  br label %213

213:                                              ; preds = %63, %65, %.loopexit, %79, %77
  %.pn153.pn = phi { ptr, i32 } [ %.pn153, %.loopexit ], [ %80, %79 ], [ %78, %77 ], [ %66, %65 ], [ %64, %63 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %24) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %23) #9
  resume { ptr, i32 } %.pn153.pn
}

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #5

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7qpOASES12SymSparseMatC1EiiiPKd(ptr noundef nonnull align 8 dereferenceable(56), i32 noundef, i32 noundef, i32 noundef, ptr noundef) unnamed_addr #4 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) local_unnamed_addr #3

declare void @_ZN7qpOASES15SparseMatrixRowC1EiiiPKd(ptr noundef nonnull align 8 dereferenceable(48), i32 noundef, i32 noundef, i32 noundef, ptr noundef) unnamed_addr #1

declare noundef ptr @_ZN7qpOASES12SparseMatrix14createDiagInfoEv(ptr noundef nonnull align 8 dereferenceable(48)) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7qpOASES11SymDenseMatC1EiiiPd(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef, i32 noundef, i32 noundef, ptr noundef) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7qpOASES11DenseMatrixC1EiiiPd(ptr noundef nonnull align 8 dereferenceable(32), i32 noundef, i32 noundef, i32 noundef, ptr noundef) unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN7qpOASES6Matrix12doFreeMemoryEv(ptr noundef nonnull align 8 dereferenceable(12)) local_unnamed_addr #6 align 2

declare void @_ZN7qpOASES8QProblemC1EiiNS_11HessianTypeENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064), i32 noundef, i32 noundef, i32 noundef, i32 noundef) unnamed_addr #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES9QProblemB10setOptionsERKNS_7OptionsE(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef nonnull align 8 dereferenceable(220)) local_unnamed_addr #7 align 2

declare noundef i32 @_ZN7qpOASES8QProblem4initEPNS_15SymmetricMatrixEPKdPNS_6MatrixES4_S4_S4_S4_RiPdS4_S4_PKNS_6BoundsEPKNS_11ConstraintsES4_(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #1

declare noundef i32 @_ZN7qpOASES8QProblem8hotstartEPKdS2_S2_S2_S2_RiPdPKNS_6BoundsEPKNS_11ConstraintsE(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #1

declare noundef i32 @_ZNK7qpOASES9QProblemB17getPrimalSolutionEPd(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef) local_unnamed_addr #1

declare noundef i32 @_ZNK7qpOASES8QProblem15getDualSolutionEPd(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef) unnamed_addr #1

declare noundef i32 @_ZN7qpOASES15getKktViolationEiiPKdS1_S1_S1_S1_S1_S1_S1_S1_RdS2_S2_S1_S1_NS_11BooleanTypeE(i32 noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #1

; Function Attrs: nounwind
declare void @_ZN7qpOASES8QProblemD1Ev(ptr noundef nonnull align 8 dereferenceable(1064)) unnamed_addr #8

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 = { 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 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #6 = { 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 = { 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 #8 = { 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 #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 = !{!"vtable pointer", !8, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = distinct !{!13, !14, !15}
!14 = !{!"llvm.loop.mustprogress"}
!15 = !{!"llvm.loop.peeled.count", i32 1}


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