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

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064)) #1 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064)) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getMinEdd(double noundef, double noundef) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getMaxEdd(double noundef, double noundef) #2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem22performDriftCorrectionEv(ptr noundef nonnull align 8 dereferenceable(1064) %0) unnamed_addr #3 align 2 {
  %2 = alloca ptr, align 8
  %3 = alloca i32, align 4
  %4 = alloca i32, align 4
  %5 = alloca i32, align 4
  store ptr %0, ptr %2, align 8, !tbaa !5
  %6 = load ptr, ptr %2, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %3) #4
  call void @llvm.lifetime.start.p0(i64 4, ptr %4) #4
  %7 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %6)
  store i32 %7, ptr %4, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #4
  %8 = call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %6)
  store i32 %8, ptr %5, align 4, !tbaa !9
  store i32 0, ptr %3, align 4, !tbaa !9
  br label %9

9:                                                ; preds = %174, %1
  %10 = load i32, ptr %3, align 4, !tbaa !9
  %11 = load i32, ptr %4, align 4, !tbaa !9
  %12 = icmp slt i32 %10, %11
  br i1 %12, label %13, label %177

13:                                               ; preds = %9
  %14 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 6
  %15 = load i32, ptr %3, align 4, !tbaa !9
  %16 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %14, i32 noundef %15)
  switch i32 %16, label %173 [
    i32 1, label %17
    i32 2, label %149
    i32 0, label %172
    i32 4, label %172
    i32 3, label %172
  ]

17:                                               ; preds = %13
  %18 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 6
  %19 = load i32, ptr %3, align 4, !tbaa !9
  %20 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %18, i32 noundef %19)
  switch i32 %20, label %148 [
    i32 -1, label %21
    i32 1, label %63
    i32 0, label %105
    i32 4, label %147
    i32 2, label %147
    i32 3, label %147
  ]

21:                                               ; preds = %17
  %22 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 9
  %23 = load ptr, ptr %22, align 8, !tbaa !11
  %24 = load i32, ptr %3, align 4, !tbaa !9
  %25 = sext i32 %24 to i64
  %26 = getelementptr inbounds double, ptr %23, i64 %25
  %27 = load double, ptr %26, align 8, !tbaa !26
  %28 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 4
  %29 = load ptr, ptr %28, align 8, !tbaa !27
  %30 = load i32, ptr %3, align 4, !tbaa !9
  %31 = sext i32 %30 to i64
  %32 = getelementptr inbounds double, ptr %29, i64 %31
  store double %27, ptr %32, align 8, !tbaa !26
  %33 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 5
  %34 = load ptr, ptr %33, align 8, !tbaa !28
  %35 = load i32, ptr %3, align 4, !tbaa !9
  %36 = sext i32 %35 to i64
  %37 = getelementptr inbounds double, ptr %34, i64 %36
  %38 = load double, ptr %37, align 8, !tbaa !26
  %39 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 9
  %40 = load ptr, ptr %39, align 8, !tbaa !11
  %41 = load i32, ptr %3, align 4, !tbaa !9
  %42 = sext i32 %41 to i64
  %43 = getelementptr inbounds double, ptr %40, i64 %42
  %44 = load double, ptr %43, align 8, !tbaa !26
  %45 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %38, double noundef %44)
  %46 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 5
  %47 = load ptr, ptr %46, align 8, !tbaa !28
  %48 = load i32, ptr %3, align 4, !tbaa !9
  %49 = sext i32 %48 to i64
  %50 = getelementptr inbounds double, ptr %47, i64 %49
  store double %45, ptr %50, align 8, !tbaa !26
  %51 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %52 = load ptr, ptr %51, align 8, !tbaa !29
  %53 = load i32, ptr %3, align 4, !tbaa !9
  %54 = sext i32 %53 to i64
  %55 = getelementptr inbounds double, ptr %52, i64 %54
  %56 = load double, ptr %55, align 8, !tbaa !26
  %57 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %56, double noundef 0.000000e+00)
  %58 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %59 = load ptr, ptr %58, align 8, !tbaa !29
  %60 = load i32, ptr %3, align 4, !tbaa !9
  %61 = sext i32 %60 to i64
  %62 = getelementptr inbounds double, ptr %59, i64 %61
  store double %57, ptr %62, align 8, !tbaa !26
  br label %148

63:                                               ; preds = %17
  %64 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 4
  %65 = load ptr, ptr %64, align 8, !tbaa !27
  %66 = load i32, ptr %3, align 4, !tbaa !9
  %67 = sext i32 %66 to i64
  %68 = getelementptr inbounds double, ptr %65, i64 %67
  %69 = load double, ptr %68, align 8, !tbaa !26
  %70 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 9
  %71 = load ptr, ptr %70, align 8, !tbaa !11
  %72 = load i32, ptr %3, align 4, !tbaa !9
  %73 = sext i32 %72 to i64
  %74 = getelementptr inbounds double, ptr %71, i64 %73
  %75 = load double, ptr %74, align 8, !tbaa !26
  %76 = call noundef double @_ZN7qpOASES6getMinEdd(double noundef %69, double noundef %75)
  %77 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 4
  %78 = load ptr, ptr %77, align 8, !tbaa !27
  %79 = load i32, ptr %3, align 4, !tbaa !9
  %80 = sext i32 %79 to i64
  %81 = getelementptr inbounds double, ptr %78, i64 %80
  store double %76, ptr %81, align 8, !tbaa !26
  %82 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 9
  %83 = load ptr, ptr %82, align 8, !tbaa !11
  %84 = load i32, ptr %3, align 4, !tbaa !9
  %85 = sext i32 %84 to i64
  %86 = getelementptr inbounds double, ptr %83, i64 %85
  %87 = load double, ptr %86, align 8, !tbaa !26
  %88 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 5
  %89 = load ptr, ptr %88, align 8, !tbaa !28
  %90 = load i32, ptr %3, align 4, !tbaa !9
  %91 = sext i32 %90 to i64
  %92 = getelementptr inbounds double, ptr %89, i64 %91
  store double %87, ptr %92, align 8, !tbaa !26
  %93 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %94 = load ptr, ptr %93, align 8, !tbaa !29
  %95 = load i32, ptr %3, align 4, !tbaa !9
  %96 = sext i32 %95 to i64
  %97 = getelementptr inbounds double, ptr %94, i64 %96
  %98 = load double, ptr %97, align 8, !tbaa !26
  %99 = call noundef double @_ZN7qpOASES6getMinEdd(double noundef %98, double noundef 0.000000e+00)
  %100 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %101 = load ptr, ptr %100, align 8, !tbaa !29
  %102 = load i32, ptr %3, align 4, !tbaa !9
  %103 = sext i32 %102 to i64
  %104 = getelementptr inbounds double, ptr %101, i64 %103
  store double %99, ptr %104, align 8, !tbaa !26
  br label %148

105:                                              ; preds = %17
  %106 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 4
  %107 = load ptr, ptr %106, align 8, !tbaa !27
  %108 = load i32, ptr %3, align 4, !tbaa !9
  %109 = sext i32 %108 to i64
  %110 = getelementptr inbounds double, ptr %107, i64 %109
  %111 = load double, ptr %110, align 8, !tbaa !26
  %112 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 9
  %113 = load ptr, ptr %112, align 8, !tbaa !11
  %114 = load i32, ptr %3, align 4, !tbaa !9
  %115 = sext i32 %114 to i64
  %116 = getelementptr inbounds double, ptr %113, i64 %115
  %117 = load double, ptr %116, align 8, !tbaa !26
  %118 = call noundef double @_ZN7qpOASES6getMinEdd(double noundef %111, double noundef %117)
  %119 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 4
  %120 = load ptr, ptr %119, align 8, !tbaa !27
  %121 = load i32, ptr %3, align 4, !tbaa !9
  %122 = sext i32 %121 to i64
  %123 = getelementptr inbounds double, ptr %120, i64 %122
  store double %118, ptr %123, align 8, !tbaa !26
  %124 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 5
  %125 = load ptr, ptr %124, align 8, !tbaa !28
  %126 = load i32, ptr %3, align 4, !tbaa !9
  %127 = sext i32 %126 to i64
  %128 = getelementptr inbounds double, ptr %125, i64 %127
  %129 = load double, ptr %128, align 8, !tbaa !26
  %130 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 9
  %131 = load ptr, ptr %130, align 8, !tbaa !11
  %132 = load i32, ptr %3, align 4, !tbaa !9
  %133 = sext i32 %132 to i64
  %134 = getelementptr inbounds double, ptr %131, i64 %133
  %135 = load double, ptr %134, align 8, !tbaa !26
  %136 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %129, double noundef %135)
  %137 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 5
  %138 = load ptr, ptr %137, align 8, !tbaa !28
  %139 = load i32, ptr %3, align 4, !tbaa !9
  %140 = sext i32 %139 to i64
  %141 = getelementptr inbounds double, ptr %138, i64 %140
  store double %136, ptr %141, align 8, !tbaa !26
  %142 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %143 = load ptr, ptr %142, align 8, !tbaa !29
  %144 = load i32, ptr %3, align 4, !tbaa !9
  %145 = sext i32 %144 to i64
  %146 = getelementptr inbounds double, ptr %143, i64 %145
  store double 0.000000e+00, ptr %146, align 8, !tbaa !26
  br label %148

147:                                              ; preds = %17, %17, %17
  br label %148

148:                                              ; preds = %147, %105, %63, %21, %17
  br label %173

149:                                              ; preds = %13
  %150 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 9
  %151 = load ptr, ptr %150, align 8, !tbaa !11
  %152 = load i32, ptr %3, align 4, !tbaa !9
  %153 = sext i32 %152 to i64
  %154 = getelementptr inbounds double, ptr %151, i64 %153
  %155 = load double, ptr %154, align 8, !tbaa !26
  %156 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 4
  %157 = load ptr, ptr %156, align 8, !tbaa !27
  %158 = load i32, ptr %3, align 4, !tbaa !9
  %159 = sext i32 %158 to i64
  %160 = getelementptr inbounds double, ptr %157, i64 %159
  store double %155, ptr %160, align 8, !tbaa !26
  %161 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 9
  %162 = load ptr, ptr %161, align 8, !tbaa !11
  %163 = load i32, ptr %3, align 4, !tbaa !9
  %164 = sext i32 %163 to i64
  %165 = getelementptr inbounds double, ptr %162, i64 %164
  %166 = load double, ptr %165, align 8, !tbaa !26
  %167 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 5
  %168 = load ptr, ptr %167, align 8, !tbaa !28
  %169 = load i32, ptr %3, align 4, !tbaa !9
  %170 = sext i32 %169 to i64
  %171 = getelementptr inbounds double, ptr %168, i64 %170
  store double %166, ptr %171, align 8, !tbaa !26
  br label %173

172:                                              ; preds = %13, %13, %13
  br label %173

173:                                              ; preds = %172, %149, %148, %13
  br label %174

174:                                              ; preds = %173
  %175 = load i32, ptr %3, align 4, !tbaa !9
  %176 = add nsw i32 %175, 1
  store i32 %176, ptr %3, align 4, !tbaa !9
  br label %9, !llvm.loop !30

177:                                              ; preds = %9
  store i32 0, ptr %3, align 4, !tbaa !9
  br label %178

178:                                              ; preds = %445, %177
  %179 = load i32, ptr %3, align 4, !tbaa !9
  %180 = load i32, ptr %5, align 4, !tbaa !9
  %181 = icmp slt i32 %179, %180
  br i1 %181, label %182, label %448

182:                                              ; preds = %178
  %183 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 5
  %184 = load i32, ptr %3, align 4, !tbaa !9
  %185 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %183, i32 noundef %184)
  switch i32 %185, label %444 [
    i32 1, label %186
    i32 2, label %410
    i32 0, label %443
    i32 4, label %443
    i32 3, label %443
  ]

186:                                              ; preds = %182
  %187 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 5
  %188 = load i32, ptr %3, align 4, !tbaa !9
  %189 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %187, i32 noundef %188)
  switch i32 %189, label %409 [
    i32 -1, label %190
    i32 1, label %259
    i32 0, label %328
    i32 4, label %408
    i32 2, label %408
    i32 3, label %408
  ]

190:                                              ; preds = %186
  %191 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 9
  %192 = load ptr, ptr %191, align 8, !tbaa !32
  %193 = load i32, ptr %3, align 4, !tbaa !9
  %194 = sext i32 %193 to i64
  %195 = getelementptr inbounds double, ptr %192, i64 %194
  %196 = load double, ptr %195, align 8, !tbaa !26
  %197 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 3
  %198 = load ptr, ptr %197, align 8, !tbaa !34
  %199 = load i32, ptr %3, align 4, !tbaa !9
  %200 = sext i32 %199 to i64
  %201 = getelementptr inbounds double, ptr %198, i64 %200
  store double %196, ptr %201, align 8, !tbaa !26
  %202 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 10
  %203 = load ptr, ptr %202, align 8, !tbaa !35
  %204 = load i32, ptr %3, align 4, !tbaa !9
  %205 = sext i32 %204 to i64
  %206 = getelementptr inbounds double, ptr %203, i64 %205
  store double 0.000000e+00, ptr %206, align 8, !tbaa !26
  %207 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 4
  %208 = load ptr, ptr %207, align 8, !tbaa !36
  %209 = load i32, ptr %3, align 4, !tbaa !9
  %210 = sext i32 %209 to i64
  %211 = getelementptr inbounds double, ptr %208, i64 %210
  %212 = load double, ptr %211, align 8, !tbaa !26
  %213 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 9
  %214 = load ptr, ptr %213, align 8, !tbaa !32
  %215 = load i32, ptr %3, align 4, !tbaa !9
  %216 = sext i32 %215 to i64
  %217 = getelementptr inbounds double, ptr %214, i64 %216
  %218 = load double, ptr %217, align 8, !tbaa !26
  %219 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %212, double noundef %218)
  %220 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 4
  %221 = load ptr, ptr %220, align 8, !tbaa !36
  %222 = load i32, ptr %3, align 4, !tbaa !9
  %223 = sext i32 %222 to i64
  %224 = getelementptr inbounds double, ptr %221, i64 %223
  store double %219, ptr %224, align 8, !tbaa !26
  %225 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 4
  %226 = load ptr, ptr %225, align 8, !tbaa !36
  %227 = load i32, ptr %3, align 4, !tbaa !9
  %228 = sext i32 %227 to i64
  %229 = getelementptr inbounds double, ptr %226, i64 %228
  %230 = load double, ptr %229, align 8, !tbaa !26
  %231 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 9
  %232 = load ptr, ptr %231, align 8, !tbaa !32
  %233 = load i32, ptr %3, align 4, !tbaa !9
  %234 = sext i32 %233 to i64
  %235 = getelementptr inbounds double, ptr %232, i64 %234
  %236 = load double, ptr %235, align 8, !tbaa !26
  %237 = fsub double %230, %236
  %238 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 11
  %239 = load ptr, ptr %238, align 8, !tbaa !37
  %240 = load i32, ptr %3, align 4, !tbaa !9
  %241 = sext i32 %240 to i64
  %242 = getelementptr inbounds double, ptr %239, i64 %241
  store double %237, ptr %242, align 8, !tbaa !26
  %243 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %244 = load ptr, ptr %243, align 8, !tbaa !29
  %245 = load i32, ptr %3, align 4, !tbaa !9
  %246 = load i32, ptr %4, align 4, !tbaa !9
  %247 = add nsw i32 %245, %246
  %248 = sext i32 %247 to i64
  %249 = getelementptr inbounds double, ptr %244, i64 %248
  %250 = load double, ptr %249, align 8, !tbaa !26
  %251 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %250, double noundef 0.000000e+00)
  %252 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %253 = load ptr, ptr %252, align 8, !tbaa !29
  %254 = load i32, ptr %3, align 4, !tbaa !9
  %255 = load i32, ptr %4, align 4, !tbaa !9
  %256 = add nsw i32 %254, %255
  %257 = sext i32 %256 to i64
  %258 = getelementptr inbounds double, ptr %253, i64 %257
  store double %251, ptr %258, align 8, !tbaa !26
  br label %409

259:                                              ; preds = %186
  %260 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 3
  %261 = load ptr, ptr %260, align 8, !tbaa !34
  %262 = load i32, ptr %3, align 4, !tbaa !9
  %263 = sext i32 %262 to i64
  %264 = getelementptr inbounds double, ptr %261, i64 %263
  %265 = load double, ptr %264, align 8, !tbaa !26
  %266 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 9
  %267 = load ptr, ptr %266, align 8, !tbaa !32
  %268 = load i32, ptr %3, align 4, !tbaa !9
  %269 = sext i32 %268 to i64
  %270 = getelementptr inbounds double, ptr %267, i64 %269
  %271 = load double, ptr %270, align 8, !tbaa !26
  %272 = call noundef double @_ZN7qpOASES6getMinEdd(double noundef %265, double noundef %271)
  %273 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 3
  %274 = load ptr, ptr %273, align 8, !tbaa !34
  %275 = load i32, ptr %3, align 4, !tbaa !9
  %276 = sext i32 %275 to i64
  %277 = getelementptr inbounds double, ptr %274, i64 %276
  store double %272, ptr %277, align 8, !tbaa !26
  %278 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 9
  %279 = load ptr, ptr %278, align 8, !tbaa !32
  %280 = load i32, ptr %3, align 4, !tbaa !9
  %281 = sext i32 %280 to i64
  %282 = getelementptr inbounds double, ptr %279, i64 %281
  %283 = load double, ptr %282, align 8, !tbaa !26
  %284 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 3
  %285 = load ptr, ptr %284, align 8, !tbaa !34
  %286 = load i32, ptr %3, align 4, !tbaa !9
  %287 = sext i32 %286 to i64
  %288 = getelementptr inbounds double, ptr %285, i64 %287
  %289 = load double, ptr %288, align 8, !tbaa !26
  %290 = fsub double %283, %289
  %291 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 10
  %292 = load ptr, ptr %291, align 8, !tbaa !35
  %293 = load i32, ptr %3, align 4, !tbaa !9
  %294 = sext i32 %293 to i64
  %295 = getelementptr inbounds double, ptr %292, i64 %294
  store double %290, ptr %295, align 8, !tbaa !26
  %296 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 9
  %297 = load ptr, ptr %296, align 8, !tbaa !32
  %298 = load i32, ptr %3, align 4, !tbaa !9
  %299 = sext i32 %298 to i64
  %300 = getelementptr inbounds double, ptr %297, i64 %299
  %301 = load double, ptr %300, align 8, !tbaa !26
  %302 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 4
  %303 = load ptr, ptr %302, align 8, !tbaa !36
  %304 = load i32, ptr %3, align 4, !tbaa !9
  %305 = sext i32 %304 to i64
  %306 = getelementptr inbounds double, ptr %303, i64 %305
  store double %301, ptr %306, align 8, !tbaa !26
  %307 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 11
  %308 = load ptr, ptr %307, align 8, !tbaa !37
  %309 = load i32, ptr %3, align 4, !tbaa !9
  %310 = sext i32 %309 to i64
  %311 = getelementptr inbounds double, ptr %308, i64 %310
  store double 0.000000e+00, ptr %311, align 8, !tbaa !26
  %312 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %313 = load ptr, ptr %312, align 8, !tbaa !29
  %314 = load i32, ptr %3, align 4, !tbaa !9
  %315 = load i32, ptr %4, align 4, !tbaa !9
  %316 = add nsw i32 %314, %315
  %317 = sext i32 %316 to i64
  %318 = getelementptr inbounds double, ptr %313, i64 %317
  %319 = load double, ptr %318, align 8, !tbaa !26
  %320 = call noundef double @_ZN7qpOASES6getMinEdd(double noundef %319, double noundef 0.000000e+00)
  %321 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %322 = load ptr, ptr %321, align 8, !tbaa !29
  %323 = load i32, ptr %3, align 4, !tbaa !9
  %324 = load i32, ptr %4, align 4, !tbaa !9
  %325 = add nsw i32 %323, %324
  %326 = sext i32 %325 to i64
  %327 = getelementptr inbounds double, ptr %322, i64 %326
  store double %320, ptr %327, align 8, !tbaa !26
  br label %409

328:                                              ; preds = %186
  %329 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 3
  %330 = load ptr, ptr %329, align 8, !tbaa !34
  %331 = load i32, ptr %3, align 4, !tbaa !9
  %332 = sext i32 %331 to i64
  %333 = getelementptr inbounds double, ptr %330, i64 %332
  %334 = load double, ptr %333, align 8, !tbaa !26
  %335 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 9
  %336 = load ptr, ptr %335, align 8, !tbaa !32
  %337 = load i32, ptr %3, align 4, !tbaa !9
  %338 = sext i32 %337 to i64
  %339 = getelementptr inbounds double, ptr %336, i64 %338
  %340 = load double, ptr %339, align 8, !tbaa !26
  %341 = call noundef double @_ZN7qpOASES6getMinEdd(double noundef %334, double noundef %340)
  %342 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 3
  %343 = load ptr, ptr %342, align 8, !tbaa !34
  %344 = load i32, ptr %3, align 4, !tbaa !9
  %345 = sext i32 %344 to i64
  %346 = getelementptr inbounds double, ptr %343, i64 %345
  store double %341, ptr %346, align 8, !tbaa !26
  %347 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 9
  %348 = load ptr, ptr %347, align 8, !tbaa !32
  %349 = load i32, ptr %3, align 4, !tbaa !9
  %350 = sext i32 %349 to i64
  %351 = getelementptr inbounds double, ptr %348, i64 %350
  %352 = load double, ptr %351, align 8, !tbaa !26
  %353 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 3
  %354 = load ptr, ptr %353, align 8, !tbaa !34
  %355 = load i32, ptr %3, align 4, !tbaa !9
  %356 = sext i32 %355 to i64
  %357 = getelementptr inbounds double, ptr %354, i64 %356
  %358 = load double, ptr %357, align 8, !tbaa !26
  %359 = fsub double %352, %358
  %360 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 10
  %361 = load ptr, ptr %360, align 8, !tbaa !35
  %362 = load i32, ptr %3, align 4, !tbaa !9
  %363 = sext i32 %362 to i64
  %364 = getelementptr inbounds double, ptr %361, i64 %363
  store double %359, ptr %364, align 8, !tbaa !26
  %365 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 4
  %366 = load ptr, ptr %365, align 8, !tbaa !36
  %367 = load i32, ptr %3, align 4, !tbaa !9
  %368 = sext i32 %367 to i64
  %369 = getelementptr inbounds double, ptr %366, i64 %368
  %370 = load double, ptr %369, align 8, !tbaa !26
  %371 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 9
  %372 = load ptr, ptr %371, align 8, !tbaa !32
  %373 = load i32, ptr %3, align 4, !tbaa !9
  %374 = sext i32 %373 to i64
  %375 = getelementptr inbounds double, ptr %372, i64 %374
  %376 = load double, ptr %375, align 8, !tbaa !26
  %377 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %370, double noundef %376)
  %378 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 4
  %379 = load ptr, ptr %378, align 8, !tbaa !36
  %380 = load i32, ptr %3, align 4, !tbaa !9
  %381 = sext i32 %380 to i64
  %382 = getelementptr inbounds double, ptr %379, i64 %381
  store double %377, ptr %382, align 8, !tbaa !26
  %383 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 4
  %384 = load ptr, ptr %383, align 8, !tbaa !36
  %385 = load i32, ptr %3, align 4, !tbaa !9
  %386 = sext i32 %385 to i64
  %387 = getelementptr inbounds double, ptr %384, i64 %386
  %388 = load double, ptr %387, align 8, !tbaa !26
  %389 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 9
  %390 = load ptr, ptr %389, align 8, !tbaa !32
  %391 = load i32, ptr %3, align 4, !tbaa !9
  %392 = sext i32 %391 to i64
  %393 = getelementptr inbounds double, ptr %390, i64 %392
  %394 = load double, ptr %393, align 8, !tbaa !26
  %395 = fsub double %388, %394
  %396 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 11
  %397 = load ptr, ptr %396, align 8, !tbaa !37
  %398 = load i32, ptr %3, align 4, !tbaa !9
  %399 = sext i32 %398 to i64
  %400 = getelementptr inbounds double, ptr %397, i64 %399
  store double %395, ptr %400, align 8, !tbaa !26
  %401 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %402 = load ptr, ptr %401, align 8, !tbaa !29
  %403 = load i32, ptr %3, align 4, !tbaa !9
  %404 = load i32, ptr %4, align 4, !tbaa !9
  %405 = add nsw i32 %403, %404
  %406 = sext i32 %405 to i64
  %407 = getelementptr inbounds double, ptr %402, i64 %406
  store double 0.000000e+00, ptr %407, align 8, !tbaa !26
  br label %409

408:                                              ; preds = %186, %186, %186
  br label %409

409:                                              ; preds = %408, %328, %259, %190, %186
  br label %444

410:                                              ; preds = %182
  %411 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 9
  %412 = load ptr, ptr %411, align 8, !tbaa !32
  %413 = load i32, ptr %3, align 4, !tbaa !9
  %414 = sext i32 %413 to i64
  %415 = getelementptr inbounds double, ptr %412, i64 %414
  %416 = load double, ptr %415, align 8, !tbaa !26
  %417 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 3
  %418 = load ptr, ptr %417, align 8, !tbaa !34
  %419 = load i32, ptr %3, align 4, !tbaa !9
  %420 = sext i32 %419 to i64
  %421 = getelementptr inbounds double, ptr %418, i64 %420
  store double %416, ptr %421, align 8, !tbaa !26
  %422 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 10
  %423 = load ptr, ptr %422, align 8, !tbaa !35
  %424 = load i32, ptr %3, align 4, !tbaa !9
  %425 = sext i32 %424 to i64
  %426 = getelementptr inbounds double, ptr %423, i64 %425
  store double 0.000000e+00, ptr %426, align 8, !tbaa !26
  %427 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 9
  %428 = load ptr, ptr %427, align 8, !tbaa !32
  %429 = load i32, ptr %3, align 4, !tbaa !9
  %430 = sext i32 %429 to i64
  %431 = getelementptr inbounds double, ptr %428, i64 %430
  %432 = load double, ptr %431, align 8, !tbaa !26
  %433 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 4
  %434 = load ptr, ptr %433, align 8, !tbaa !36
  %435 = load i32, ptr %3, align 4, !tbaa !9
  %436 = sext i32 %435 to i64
  %437 = getelementptr inbounds double, ptr %434, i64 %436
  store double %432, ptr %437, align 8, !tbaa !26
  %438 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 11
  %439 = load ptr, ptr %438, align 8, !tbaa !37
  %440 = load i32, ptr %3, align 4, !tbaa !9
  %441 = sext i32 %440 to i64
  %442 = getelementptr inbounds double, ptr %439, i64 %441
  store double 0.000000e+00, ptr %442, align 8, !tbaa !26
  br label %444

443:                                              ; preds = %182, %182, %182
  br label %444

444:                                              ; preds = %443, %410, %409, %182
  br label %445

445:                                              ; preds = %444
  %446 = load i32, ptr %3, align 4, !tbaa !9
  %447 = add nsw i32 %446, 1
  store i32 %447, ptr %3, align 4, !tbaa !9
  br label %178, !llvm.loop !38

448:                                              ; preds = %178
  %449 = call noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064) %6)
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %4) #4
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #4
  ret i32 %449
}

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { 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 #3 = { 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 #4 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !6, i64 184}
!12 = !{!"_ZTSN7qpOASES9QProblemBE", !13, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !14, i64 48, !6, i64 168, !13, i64 176, !6, i64 184, !6, i64 192, !17, i64 200, !18, i64 208, !13, i64 212, !13, i64 216, !19, i64 220, !17, i64 224, !10, i64 232, !6, i64 240, !17, i64 248, !17, i64 256, !10, i64 264, !20, i64 272, !23, i64 496, !25, i64 768}
!13 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!14 = !{!"_ZTSN7qpOASES6BoundsE", !15, i64 0, !16, i64 40, !16, i64 80}
!15 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !13, i64 32, !13, i64 36}
!16 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!17 = !{!"double", !7, i64 0}
!18 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!19 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!20 = !{!"_ZTSN7qpOASES7OptionsE", !21, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !13, i64 24, !10, i64 28, !10, i64 32, !13, i64 36, !17, i64 40, !17, i64 48, !17, i64 56, !17, i64 64, !17, i64 72, !17, i64 80, !17, i64 88, !17, i64 96, !17, i64 104, !17, i64 112, !17, i64 120, !22, i64 128, !17, i64 136, !10, i64 144, !17, i64 152, !10, i64 160, !17, i64 168, !17, i64 176, !17, i64 184, !17, i64 192, !13, i64 200, !13, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!21 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!22 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !14, i64 8, !24, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!24 = !{!"_ZTSN7qpOASES11ConstraintsE", !15, i64 0, !16, i64 40, !16, i64 80}
!25 = !{!"_ZTSN7qpOASES13TabularOutputE", !10, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28}
!26 = !{!17, !17, i64 0}
!27 = !{!12, !6, i64 32}
!28 = !{!12, !6, i64 40}
!29 = !{!12, !6, i64 192}
!30 = distinct !{!30, !31}
!31 = !{!"llvm.loop.mustprogress"}
!32 = !{!33, !6, i64 976}
!33 = !{!"_ZTSN7qpOASES8QProblemE", !12, i64 0, !13, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !24, i64 832, !6, i64 952, !6, i64 960, !10, i64 968, !6, i64 976, !6, i64 984, !6, i64 992, !6, i64 1000, !6, i64 1008, !6, i64 1016, !6, i64 1024, !6, i64 1032, !6, i64 1040, !6, i64 1048, !6, i64 1056}
!34 = !{!33, !6, i64 816}
!35 = !{!33, !6, i64 984}
!36 = !{!33, !6, i64 824}
!37 = !{!33, !6, i64 992}
!38 = distinct !{!38, !31}


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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #0 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 #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getMinEdd(double noundef, double noundef) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getMaxEdd(double noundef, double noundef) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem22performDriftCorrectionEv(ptr noundef nonnull align 8 dereferenceable(1064) %0) unnamed_addr #2 align 2 {
  %2 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %3 = tail call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %4 = icmp sgt i32 %2, 0
  br i1 %4, label %.lr.ph, label %.preheader

.lr.ph:                                           ; preds = %1
  %5 = getelementptr inbounds i8, ptr %0, i64 48
  %6 = getelementptr inbounds i8, ptr %0, i64 184
  %7 = getelementptr inbounds i8, ptr %0, i64 32
  %8 = getelementptr inbounds i8, ptr %0, i64 40
  %9 = getelementptr inbounds i8, ptr %0, i64 192
  %wide.trip.count = zext nneg i32 %2 to i64
  br label %19

.preheader:                                       ; preds = %86, %1
  %10 = icmp sgt i32 %3, 0
  br i1 %10, label %.lr.ph84, label %._crit_edge

.lr.ph84:                                         ; preds = %.preheader
  %11 = getelementptr inbounds i8, ptr %0, i64 832
  %12 = getelementptr inbounds i8, ptr %0, i64 976
  %13 = getelementptr inbounds i8, ptr %0, i64 816
  %14 = getelementptr inbounds i8, ptr %0, i64 984
  %15 = getelementptr inbounds i8, ptr %0, i64 824
  %16 = getelementptr inbounds i8, ptr %0, i64 992
  %17 = getelementptr inbounds i8, ptr %0, i64 192
  %18 = sext i32 %2 to i64
  %wide.trip.count89 = zext nneg i32 %3 to i64
  br label %87

19:                                               ; preds = %.lr.ph, %86
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %86 ]
  %20 = trunc nuw nsw i64 %indvars.iv to i32
  %21 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %5, i32 noundef %20)
  switch i32 %21, label %86 [
    i32 1, label %22
    i32 2, label %78
  ]

22:                                               ; preds = %19
  %23 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %5, i32 noundef %20)
  switch i32 %23, label %86 [
    i32 -1, label %24
    i32 1, label %40
    i32 0, label %59
  ]

24:                                               ; preds = %22
  %25 = load ptr, ptr %6, align 8, !tbaa !5
  %26 = getelementptr inbounds double, ptr %25, i64 %indvars.iv
  %27 = load double, ptr %26, align 8, !tbaa !24
  %28 = load ptr, ptr %7, align 8, !tbaa !25
  %29 = getelementptr inbounds double, ptr %28, i64 %indvars.iv
  store double %27, ptr %29, align 8, !tbaa !24
  %30 = load ptr, ptr %8, align 8, !tbaa !26
  %31 = getelementptr inbounds double, ptr %30, i64 %indvars.iv
  %32 = load double, ptr %31, align 8, !tbaa !24
  %33 = tail call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %32, double noundef %27)
  %34 = load ptr, ptr %8, align 8, !tbaa !26
  %35 = getelementptr inbounds double, ptr %34, i64 %indvars.iv
  store double %33, ptr %35, align 8, !tbaa !24
  %36 = load ptr, ptr %9, align 8, !tbaa !27
  %37 = getelementptr inbounds double, ptr %36, i64 %indvars.iv
  %38 = load double, ptr %37, align 8, !tbaa !24
  %39 = tail call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %38, double noundef 0.000000e+00)
  br label %.sink.split

40:                                               ; preds = %22
  %41 = load ptr, ptr %7, align 8, !tbaa !25
  %42 = getelementptr inbounds double, ptr %41, i64 %indvars.iv
  %43 = load double, ptr %42, align 8, !tbaa !24
  %44 = load ptr, ptr %6, align 8, !tbaa !5
  %45 = getelementptr inbounds double, ptr %44, i64 %indvars.iv
  %46 = load double, ptr %45, align 8, !tbaa !24
  %47 = tail call noundef double @_ZN7qpOASES6getMinEdd(double noundef %43, double noundef %46)
  %48 = load ptr, ptr %7, align 8, !tbaa !25
  %49 = getelementptr inbounds double, ptr %48, i64 %indvars.iv
  store double %47, ptr %49, align 8, !tbaa !24
  %50 = load ptr, ptr %6, align 8, !tbaa !5
  %51 = getelementptr inbounds double, ptr %50, i64 %indvars.iv
  %52 = load double, ptr %51, align 8, !tbaa !24
  %53 = load ptr, ptr %8, align 8, !tbaa !26
  %54 = getelementptr inbounds double, ptr %53, i64 %indvars.iv
  store double %52, ptr %54, align 8, !tbaa !24
  %55 = load ptr, ptr %9, align 8, !tbaa !27
  %56 = getelementptr inbounds double, ptr %55, i64 %indvars.iv
  %57 = load double, ptr %56, align 8, !tbaa !24
  %58 = tail call noundef double @_ZN7qpOASES6getMinEdd(double noundef %57, double noundef 0.000000e+00)
  br label %.sink.split

59:                                               ; preds = %22
  %60 = load ptr, ptr %7, align 8, !tbaa !25
  %61 = getelementptr inbounds double, ptr %60, i64 %indvars.iv
  %62 = load double, ptr %61, align 8, !tbaa !24
  %63 = load ptr, ptr %6, align 8, !tbaa !5
  %64 = getelementptr inbounds double, ptr %63, i64 %indvars.iv
  %65 = load double, ptr %64, align 8, !tbaa !24
  %66 = tail call noundef double @_ZN7qpOASES6getMinEdd(double noundef %62, double noundef %65)
  %67 = load ptr, ptr %7, align 8, !tbaa !25
  %68 = getelementptr inbounds double, ptr %67, i64 %indvars.iv
  store double %66, ptr %68, align 8, !tbaa !24
  %69 = load ptr, ptr %8, align 8, !tbaa !26
  %70 = getelementptr inbounds double, ptr %69, i64 %indvars.iv
  %71 = load double, ptr %70, align 8, !tbaa !24
  %72 = load ptr, ptr %6, align 8, !tbaa !5
  %73 = getelementptr inbounds double, ptr %72, i64 %indvars.iv
  %74 = load double, ptr %73, align 8, !tbaa !24
  %75 = tail call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %71, double noundef %74)
  %76 = load ptr, ptr %8, align 8, !tbaa !26
  %77 = getelementptr inbounds double, ptr %76, i64 %indvars.iv
  store double %75, ptr %77, align 8, !tbaa !24
  br label %.sink.split

78:                                               ; preds = %19
  %79 = load ptr, ptr %6, align 8, !tbaa !5
  %80 = getelementptr inbounds double, ptr %79, i64 %indvars.iv
  %81 = load double, ptr %80, align 8, !tbaa !24
  %82 = load ptr, ptr %7, align 8, !tbaa !25
  %83 = getelementptr inbounds double, ptr %82, i64 %indvars.iv
  store double %81, ptr %83, align 8, !tbaa !24
  br label %.sink.split

.sink.split:                                      ; preds = %24, %40, %59, %78
  %.sink93 = phi ptr [ %8, %78 ], [ %9, %59 ], [ %9, %40 ], [ %9, %24 ]
  %.sink = phi double [ %81, %78 ], [ 0.000000e+00, %59 ], [ %58, %40 ], [ %39, %24 ]
  %84 = load ptr, ptr %.sink93, align 8, !tbaa !28
  %85 = getelementptr inbounds double, ptr %84, i64 %indvars.iv
  store double %.sink, ptr %85, align 8, !tbaa !24
  br label %86

86:                                               ; preds = %.sink.split, %19, %22
  %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 %.preheader, label %19, !llvm.loop !29

87:                                               ; preds = %.lr.ph84, %193
  %indvars.iv86 = phi i64 [ 0, %.lr.ph84 ], [ %indvars.iv.next87, %193 ]
  %88 = trunc nuw nsw i64 %indvars.iv86 to i32
  %89 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %11, i32 noundef %88)
  switch i32 %89, label %193 [
    i32 1, label %90
    i32 2, label %180
  ]

90:                                               ; preds = %87
  %91 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %11, i32 noundef %88)
  switch i32 %91, label %193 [
    i32 -1, label %92
    i32 1, label %120
    i32 0, label %148
  ]

92:                                               ; preds = %90
  %93 = load ptr, ptr %12, align 8, !tbaa !31
  %94 = getelementptr inbounds double, ptr %93, i64 %indvars.iv86
  %95 = load double, ptr %94, align 8, !tbaa !24
  %96 = load ptr, ptr %13, align 8, !tbaa !33
  %97 = getelementptr inbounds double, ptr %96, i64 %indvars.iv86
  store double %95, ptr %97, align 8, !tbaa !24
  %98 = load ptr, ptr %14, align 8, !tbaa !34
  %99 = getelementptr inbounds double, ptr %98, i64 %indvars.iv86
  store double 0.000000e+00, ptr %99, align 8, !tbaa !24
  %100 = load ptr, ptr %15, align 8, !tbaa !35
  %101 = getelementptr inbounds double, ptr %100, i64 %indvars.iv86
  %102 = load double, ptr %101, align 8, !tbaa !24
  %103 = load double, ptr %94, align 8, !tbaa !24
  %104 = tail call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %102, double noundef %103)
  %105 = load ptr, ptr %15, align 8, !tbaa !35
  %106 = getelementptr inbounds double, ptr %105, i64 %indvars.iv86
  store double %104, ptr %106, align 8, !tbaa !24
  %107 = load ptr, ptr %12, align 8, !tbaa !31
  %108 = getelementptr inbounds double, ptr %107, i64 %indvars.iv86
  %109 = load double, ptr %108, align 8, !tbaa !24
  %110 = fsub double %104, %109
  %111 = load ptr, ptr %16, align 8, !tbaa !36
  %112 = getelementptr inbounds double, ptr %111, i64 %indvars.iv86
  store double %110, ptr %112, align 8, !tbaa !24
  %113 = load ptr, ptr %17, align 8, !tbaa !27
  %114 = add nsw i64 %indvars.iv86, %18
  %115 = getelementptr inbounds double, ptr %113, i64 %114
  %116 = load double, ptr %115, align 8, !tbaa !24
  %117 = tail call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %116, double noundef 0.000000e+00)
  %118 = load ptr, ptr %17, align 8, !tbaa !27
  %119 = getelementptr inbounds double, ptr %118, i64 %114
  store double %117, ptr %119, align 8, !tbaa !24
  br label %193

120:                                              ; preds = %90
  %121 = load ptr, ptr %13, align 8, !tbaa !33
  %122 = getelementptr inbounds double, ptr %121, i64 %indvars.iv86
  %123 = load double, ptr %122, align 8, !tbaa !24
  %124 = load ptr, ptr %12, align 8, !tbaa !31
  %125 = getelementptr inbounds double, ptr %124, i64 %indvars.iv86
  %126 = load double, ptr %125, align 8, !tbaa !24
  %127 = tail call noundef double @_ZN7qpOASES6getMinEdd(double noundef %123, double noundef %126)
  %128 = load ptr, ptr %13, align 8, !tbaa !33
  %129 = getelementptr inbounds double, ptr %128, i64 %indvars.iv86
  store double %127, ptr %129, align 8, !tbaa !24
  %130 = load ptr, ptr %12, align 8, !tbaa !31
  %131 = getelementptr inbounds double, ptr %130, i64 %indvars.iv86
  %132 = load double, ptr %131, align 8, !tbaa !24
  %133 = fsub double %132, %127
  %134 = load ptr, ptr %14, align 8, !tbaa !34
  %135 = getelementptr inbounds double, ptr %134, i64 %indvars.iv86
  store double %133, ptr %135, align 8, !tbaa !24
  %136 = load double, ptr %131, align 8, !tbaa !24
  %137 = load ptr, ptr %15, align 8, !tbaa !35
  %138 = getelementptr inbounds double, ptr %137, i64 %indvars.iv86
  store double %136, ptr %138, align 8, !tbaa !24
  %139 = load ptr, ptr %16, align 8, !tbaa !36
  %140 = getelementptr inbounds double, ptr %139, i64 %indvars.iv86
  store double 0.000000e+00, ptr %140, align 8, !tbaa !24
  %141 = load ptr, ptr %17, align 8, !tbaa !27
  %142 = add nsw i64 %indvars.iv86, %18
  %143 = getelementptr inbounds double, ptr %141, i64 %142
  %144 = load double, ptr %143, align 8, !tbaa !24
  %145 = tail call noundef double @_ZN7qpOASES6getMinEdd(double noundef %144, double noundef 0.000000e+00)
  %146 = load ptr, ptr %17, align 8, !tbaa !27
  %147 = getelementptr inbounds double, ptr %146, i64 %142
  store double %145, ptr %147, align 8, !tbaa !24
  br label %193

148:                                              ; preds = %90
  %149 = load ptr, ptr %13, align 8, !tbaa !33
  %150 = getelementptr inbounds double, ptr %149, i64 %indvars.iv86
  %151 = load double, ptr %150, align 8, !tbaa !24
  %152 = load ptr, ptr %12, align 8, !tbaa !31
  %153 = getelementptr inbounds double, ptr %152, i64 %indvars.iv86
  %154 = load double, ptr %153, align 8, !tbaa !24
  %155 = tail call noundef double @_ZN7qpOASES6getMinEdd(double noundef %151, double noundef %154)
  %156 = load ptr, ptr %13, align 8, !tbaa !33
  %157 = getelementptr inbounds double, ptr %156, i64 %indvars.iv86
  store double %155, ptr %157, align 8, !tbaa !24
  %158 = load ptr, ptr %12, align 8, !tbaa !31
  %159 = getelementptr inbounds double, ptr %158, i64 %indvars.iv86
  %160 = load double, ptr %159, align 8, !tbaa !24
  %161 = fsub double %160, %155
  %162 = load ptr, ptr %14, align 8, !tbaa !34
  %163 = getelementptr inbounds double, ptr %162, i64 %indvars.iv86
  store double %161, ptr %163, align 8, !tbaa !24
  %164 = load ptr, ptr %15, align 8, !tbaa !35
  %165 = getelementptr inbounds double, ptr %164, i64 %indvars.iv86
  %166 = load double, ptr %165, align 8, !tbaa !24
  %167 = load double, ptr %159, align 8, !tbaa !24
  %168 = tail call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %166, double noundef %167)
  %169 = load ptr, ptr %15, align 8, !tbaa !35
  %170 = getelementptr inbounds double, ptr %169, i64 %indvars.iv86
  store double %168, ptr %170, align 8, !tbaa !24
  %171 = load ptr, ptr %12, align 8, !tbaa !31
  %172 = getelementptr inbounds double, ptr %171, i64 %indvars.iv86
  %173 = load double, ptr %172, align 8, !tbaa !24
  %174 = fsub double %168, %173
  %175 = load ptr, ptr %16, align 8, !tbaa !36
  %176 = getelementptr inbounds double, ptr %175, i64 %indvars.iv86
  store double %174, ptr %176, align 8, !tbaa !24
  %177 = load ptr, ptr %17, align 8, !tbaa !27
  %178 = getelementptr double, ptr %177, i64 %indvars.iv86
  %179 = getelementptr double, ptr %178, i64 %18
  store double 0.000000e+00, ptr %179, align 8, !tbaa !24
  br label %193

180:                                              ; preds = %87
  %181 = load ptr, ptr %12, align 8, !tbaa !31
  %182 = getelementptr inbounds double, ptr %181, i64 %indvars.iv86
  %183 = load double, ptr %182, align 8, !tbaa !24
  %184 = load ptr, ptr %13, align 8, !tbaa !33
  %185 = getelementptr inbounds double, ptr %184, i64 %indvars.iv86
  store double %183, ptr %185, align 8, !tbaa !24
  %186 = load ptr, ptr %14, align 8, !tbaa !34
  %187 = getelementptr inbounds double, ptr %186, i64 %indvars.iv86
  store double 0.000000e+00, ptr %187, align 8, !tbaa !24
  %188 = load double, ptr %182, align 8, !tbaa !24
  %189 = load ptr, ptr %15, align 8, !tbaa !35
  %190 = getelementptr inbounds double, ptr %189, i64 %indvars.iv86
  store double %188, ptr %190, align 8, !tbaa !24
  %191 = load ptr, ptr %16, align 8, !tbaa !36
  %192 = getelementptr inbounds double, ptr %191, i64 %indvars.iv86
  store double 0.000000e+00, ptr %192, align 8, !tbaa !24
  br label %193

193:                                              ; preds = %87, %180, %148, %120, %92, %90
  %indvars.iv.next87 = add nuw nsw i64 %indvars.iv86, 1
  %exitcond90.not = icmp eq i64 %indvars.iv.next87, %wide.trip.count89
  br i1 %exitcond90.not, label %._crit_edge, label %87, !llvm.loop !37

._crit_edge:                                      ; preds = %193, %.preheader
  %194 = tail call noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  ret i32 %194
}

attributes #0 = { 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 #1 = { 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 #2 = { 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" }

!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, !10, i64 184}
!6 = !{!"_ZTSN7qpOASES9QProblemBE", !7, i64 8, !10, i64 16, !10, i64 24, !10, i64 32, !10, i64 40, !11, i64 48, !10, i64 168, !7, i64 176, !10, i64 184, !10, i64 192, !15, i64 200, !16, i64 208, !7, i64 212, !7, i64 216, !17, i64 220, !15, i64 224, !13, i64 232, !10, i64 240, !15, i64 248, !15, i64 256, !13, i64 264, !18, i64 272, !21, i64 496, !23, i64 768}
!7 = !{!"_ZTSN7qpOASES11BooleanTypeE", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"any pointer", !8, i64 0}
!11 = !{!"_ZTSN7qpOASES6BoundsE", !12, i64 0, !14, i64 40, !14, i64 80}
!12 = !{!"_ZTSN7qpOASES9SubjectToE", !13, i64 8, !10, i64 16, !10, i64 24, !7, i64 32, !7, i64 36}
!13 = !{!"int", !8, i64 0}
!14 = !{!"_ZTSN7qpOASES9IndexlistE", !10, i64 0, !10, i64 8, !13, i64 16, !13, i64 20, !13, i64 24, !13, i64 28, !13, i64 32}
!15 = !{!"double", !8, i64 0}
!16 = !{!"_ZTSN7qpOASES14QProblemStatusE", !8, i64 0}
!17 = !{!"_ZTSN7qpOASES11HessianTypeE", !8, i64 0}
!18 = !{!"_ZTSN7qpOASES7OptionsE", !19, i64 0, !7, i64 4, !7, i64 8, !7, i64 12, !7, i64 16, !7, i64 20, !7, i64 24, !13, i64 28, !13, i64 32, !7, i64 36, !15, i64 40, !15, i64 48, !15, i64 56, !15, i64 64, !15, i64 72, !15, i64 80, !15, i64 88, !15, i64 96, !15, i64 104, !15, i64 112, !15, i64 120, !20, i64 128, !15, i64 136, !13, i64 144, !15, i64 152, !13, i64 160, !15, i64 168, !15, i64 176, !15, i64 184, !15, i64 192, !7, i64 200, !7, i64 204, !13, i64 208, !13, i64 212, !13, i64 216}
!19 = !{!"_ZTSN7qpOASES10PrintLevelE", !8, i64 0}
!20 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !8, i64 0}
!21 = !{!"_ZTSN7qpOASES7FlipperE", !13, i64 0, !13, i64 4, !11, i64 8, !22, i64 128, !10, i64 248, !10, i64 256, !10, i64 264}
!22 = !{!"_ZTSN7qpOASES11ConstraintsE", !12, i64 0, !14, i64 40, !14, i64 80}
!23 = !{!"_ZTSN7qpOASES13TabularOutputE", !13, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !13, i64 24, !13, i64 28}
!24 = !{!15, !15, i64 0}
!25 = !{!6, !10, i64 32}
!26 = !{!6, !10, i64 40}
!27 = !{!6, !10, i64 192}
!28 = !{!10, !10, i64 0}
!29 = distinct !{!29, !30}
!30 = !{!"llvm.loop.mustprogress"}
!31 = !{!32, !10, i64 976}
!32 = !{!"_ZTSN7qpOASES8QProblemE", !6, i64 0, !7, i64 800, !10, i64 808, !10, i64 816, !10, i64 824, !22, i64 832, !10, i64 952, !10, i64 960, !13, 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 = !{!32, !10, i64 816}
!34 = !{!32, !10, i64 984}
!35 = !{!32, !10, i64 824}
!36 = !{!32, !10, i64 992}
!37 = distinct !{!37, !30}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,SROAPass,SimplifyCFGPass,TailCallElimPass