; LLVM IR from Tencent-RoboticsX/jbdl :: src/jbdl/experimental/qpoases/src/QProblem.ll (ZN7qpOASES8QProblem14performRampingEv)

; 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: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getAbsEd(double noundef) #2

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

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #4

; 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 @_ZN7qpOASES6getMaxEdd(double noundef, double noundef) #2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem14performRampingEv(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
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca double, align 8
  %10 = alloca double, align 8
  %11 = alloca double, align 8
  %12 = alloca double, align 8
  %13 = alloca double, align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  %14 = load ptr, ptr %2, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %3) #5
  %15 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %14)
  store i32 %15, ptr %3, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %4) #5
  %16 = call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %14)
  store i32 %16, ptr %4, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #5
  %17 = load i32, ptr %3, align 4, !tbaa !9
  %18 = load i32, ptr %4, align 4, !tbaa !9
  %19 = add nsw i32 %17, %18
  %20 = load i32, ptr %4, align 4, !tbaa !9
  %21 = add nsw i32 %19, %20
  %22 = load i32, ptr %3, align 4, !tbaa !9
  %23 = add nsw i32 %21, %22
  store i32 %23, ptr %8, align 4, !tbaa !9
  store i32 0, ptr %7, align 4, !tbaa !9
  br label %24

24:                                               ; preds = %213, %1
  %25 = load i32, ptr %7, align 4, !tbaa !9
  %26 = load i32, ptr %3, align 4, !tbaa !9
  %27 = icmp slt i32 %25, %26
  br i1 %27, label %28, label %216

28:                                               ; preds = %24
  %29 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 6
  %30 = load i32, ptr %7, align 4, !tbaa !9
  %31 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %29, i32 noundef %30)
  switch i32 %31, label %211 [
    i32 2, label %32
    i32 1, label %55
    i32 0, label %210
    i32 3, label %210
  ]

32:                                               ; preds = %28
  %33 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %34 = load ptr, ptr %33, align 8, !tbaa !11
  %35 = load i32, ptr %7, 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 %14, i32 0, i32 4
  %40 = load ptr, ptr %39, align 8, !tbaa !27
  %41 = load i32, ptr %7, align 4, !tbaa !9
  %42 = sext i32 %41 to i64
  %43 = getelementptr inbounds double, ptr %40, i64 %42
  store double %38, ptr %43, align 8, !tbaa !26
  %44 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %45 = load ptr, ptr %44, align 8, !tbaa !11
  %46 = load i32, ptr %7, align 4, !tbaa !9
  %47 = sext i32 %46 to i64
  %48 = getelementptr inbounds double, ptr %45, i64 %47
  %49 = load double, ptr %48, align 8, !tbaa !26
  %50 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 5
  %51 = load ptr, ptr %50, align 8, !tbaa !28
  %52 = load i32, ptr %7, align 4, !tbaa !9
  %53 = sext i32 %52 to i64
  %54 = getelementptr inbounds double, ptr %51, i64 %53
  store double %49, ptr %54, align 8, !tbaa !26
  br label %213

55:                                               ; preds = %28
  %56 = load i32, ptr %7, align 4, !tbaa !9
  %57 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 21
  %58 = load i32, ptr %57, align 8, !tbaa !29
  %59 = add nsw i32 %56, %58
  %60 = load i32, ptr %8, align 4, !tbaa !9
  %61 = srem i32 %59, %60
  %62 = sitofp i32 %61 to double
  %63 = load i32, ptr %8, align 4, !tbaa !9
  %64 = sub nsw i32 %63, 1
  %65 = sitofp i32 %64 to double
  %66 = fdiv double %62, %65
  store double %66, ptr %9, align 8, !tbaa !26
  %67 = load double, ptr %9, align 8, !tbaa !26
  %68 = fsub double 1.000000e+00, %67
  %69 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 19
  %70 = load double, ptr %69, align 8, !tbaa !30
  %71 = load double, ptr %9, align 8, !tbaa !26
  %72 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 20
  %73 = load double, ptr %72, align 8, !tbaa !31
  %74 = fmul double %71, %73
  %75 = call double @llvm.fmuladd.f64(double %68, double %70, double %74)
  store double %75, ptr %10, align 8, !tbaa !26
  %76 = load i32, ptr %3, align 4, !tbaa !9
  %77 = load i32, ptr %4, align 4, !tbaa !9
  %78 = add nsw i32 %76, %77
  %79 = load i32, ptr %4, align 4, !tbaa !9
  %80 = add nsw i32 %78, %79
  %81 = load i32, ptr %7, align 4, !tbaa !9
  %82 = add nsw i32 %80, %81
  %83 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 21
  %84 = load i32, ptr %83, align 8, !tbaa !29
  %85 = add nsw i32 %82, %84
  %86 = load i32, ptr %8, align 4, !tbaa !9
  %87 = srem i32 %85, %86
  %88 = sitofp i32 %87 to double
  %89 = load i32, ptr %8, align 4, !tbaa !9
  %90 = sub nsw i32 %89, 1
  %91 = sitofp i32 %90 to double
  %92 = fdiv double %88, %91
  store double %92, ptr %11, align 8, !tbaa !26
  %93 = load double, ptr %11, align 8, !tbaa !26
  %94 = fsub double 1.000000e+00, %93
  %95 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 19
  %96 = load double, ptr %95, align 8, !tbaa !30
  %97 = load double, ptr %11, align 8, !tbaa !26
  %98 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 20
  %99 = load double, ptr %98, align 8, !tbaa !31
  %100 = fmul double %97, %99
  %101 = call double @llvm.fmuladd.f64(double %94, double %96, double %100)
  store double %101, ptr %12, align 8, !tbaa !26
  %102 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 6
  %103 = load i32, ptr %7, align 4, !tbaa !9
  %104 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %102, i32 noundef %103)
  store i32 %104, ptr %5, align 4, !tbaa !9
  %105 = load i32, ptr %5, align 4, !tbaa !9
  %106 = icmp ne i32 %105, -1
  br i1 %106, label %107, label %131

107:                                              ; preds = %55
  %108 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %109 = load ptr, ptr %108, align 8, !tbaa !11
  %110 = load i32, ptr %7, align 4, !tbaa !9
  %111 = sext i32 %110 to i64
  %112 = getelementptr inbounds double, ptr %109, i64 %111
  %113 = load double, ptr %112, align 8, !tbaa !26
  %114 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %113)
  %115 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %114, double noundef 1.000000e+00)
  store double %115, ptr %13, align 8, !tbaa !26
  %116 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %117 = load ptr, ptr %116, align 8, !tbaa !11
  %118 = load i32, ptr %7, align 4, !tbaa !9
  %119 = sext i32 %118 to i64
  %120 = getelementptr inbounds double, ptr %117, i64 %119
  %121 = load double, ptr %120, align 8, !tbaa !26
  %122 = load double, ptr %13, align 8, !tbaa !26
  %123 = load double, ptr %10, align 8, !tbaa !26
  %124 = fneg double %122
  %125 = call double @llvm.fmuladd.f64(double %124, double %123, double %121)
  %126 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 4
  %127 = load ptr, ptr %126, align 8, !tbaa !27
  %128 = load i32, ptr %7, align 4, !tbaa !9
  %129 = sext i32 %128 to i64
  %130 = getelementptr inbounds double, ptr %127, i64 %129
  store double %125, ptr %130, align 8, !tbaa !26
  br label %131

131:                                              ; preds = %107, %55
  %132 = load i32, ptr %5, align 4, !tbaa !9
  %133 = icmp ne i32 %132, 1
  br i1 %133, label %134, label %157

134:                                              ; preds = %131
  %135 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %136 = load ptr, ptr %135, align 8, !tbaa !11
  %137 = load i32, ptr %7, align 4, !tbaa !9
  %138 = sext i32 %137 to i64
  %139 = getelementptr inbounds double, ptr %136, i64 %138
  %140 = load double, ptr %139, align 8, !tbaa !26
  %141 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %140)
  %142 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %141, double noundef 1.000000e+00)
  store double %142, ptr %13, align 8, !tbaa !26
  %143 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %144 = load ptr, ptr %143, align 8, !tbaa !11
  %145 = load i32, ptr %7, align 4, !tbaa !9
  %146 = sext i32 %145 to i64
  %147 = getelementptr inbounds double, ptr %144, i64 %146
  %148 = load double, ptr %147, align 8, !tbaa !26
  %149 = load double, ptr %13, align 8, !tbaa !26
  %150 = load double, ptr %10, align 8, !tbaa !26
  %151 = call double @llvm.fmuladd.f64(double %149, double %150, double %148)
  %152 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 5
  %153 = load ptr, ptr %152, align 8, !tbaa !28
  %154 = load i32, ptr %7, align 4, !tbaa !9
  %155 = sext i32 %154 to i64
  %156 = getelementptr inbounds double, ptr %153, i64 %155
  store double %151, ptr %156, align 8, !tbaa !26
  br label %157

157:                                              ; preds = %134, %131
  %158 = load i32, ptr %5, align 4, !tbaa !9
  %159 = icmp eq i32 %158, -1
  br i1 %159, label %160, label %178

160:                                              ; preds = %157
  %161 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %162 = load ptr, ptr %161, align 8, !tbaa !11
  %163 = load i32, ptr %7, 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 %14, i32 0, i32 4
  %168 = load ptr, ptr %167, align 8, !tbaa !27
  %169 = load i32, ptr %7, 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
  %172 = load double, ptr %12, align 8, !tbaa !26
  %173 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 10
  %174 = load ptr, ptr %173, align 8, !tbaa !32
  %175 = load i32, ptr %7, align 4, !tbaa !9
  %176 = sext i32 %175 to i64
  %177 = getelementptr inbounds double, ptr %174, i64 %176
  store double %172, ptr %177, align 8, !tbaa !26
  br label %178

178:                                              ; preds = %160, %157
  %179 = load i32, ptr %5, align 4, !tbaa !9
  %180 = icmp eq i32 %179, 1
  br i1 %180, label %181, label %200

181:                                              ; preds = %178
  %182 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %183 = load ptr, ptr %182, align 8, !tbaa !11
  %184 = load i32, ptr %7, align 4, !tbaa !9
  %185 = sext i32 %184 to i64
  %186 = getelementptr inbounds double, ptr %183, i64 %185
  %187 = load double, ptr %186, align 8, !tbaa !26
  %188 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 5
  %189 = load ptr, ptr %188, align 8, !tbaa !28
  %190 = load i32, ptr %7, align 4, !tbaa !9
  %191 = sext i32 %190 to i64
  %192 = getelementptr inbounds double, ptr %189, i64 %191
  store double %187, ptr %192, align 8, !tbaa !26
  %193 = load double, ptr %12, align 8, !tbaa !26
  %194 = fneg double %193
  %195 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 10
  %196 = load ptr, ptr %195, align 8, !tbaa !32
  %197 = load i32, ptr %7, align 4, !tbaa !9
  %198 = sext i32 %197 to i64
  %199 = getelementptr inbounds double, ptr %196, i64 %198
  store double %194, ptr %199, align 8, !tbaa !26
  br label %200

200:                                              ; preds = %181, %178
  %201 = load i32, ptr %5, align 4, !tbaa !9
  %202 = icmp eq i32 %201, 0
  br i1 %202, label %203, label %209

203:                                              ; preds = %200
  %204 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 10
  %205 = load ptr, ptr %204, align 8, !tbaa !32
  %206 = load i32, ptr %7, align 4, !tbaa !9
  %207 = sext i32 %206 to i64
  %208 = getelementptr inbounds double, ptr %205, i64 %207
  store double 0.000000e+00, ptr %208, align 8, !tbaa !26
  br label %209

209:                                              ; preds = %203, %200
  br label %212

210:                                              ; preds = %28, %28
  br label %211

211:                                              ; preds = %210, %28
  br label %213

212:                                              ; preds = %209
  br label %213

213:                                              ; preds = %212, %211, %32
  %214 = load i32, ptr %7, align 4, !tbaa !9
  %215 = add nsw i32 %214, 1
  store i32 %215, ptr %7, align 4, !tbaa !9
  br label %24, !llvm.loop !33

216:                                              ; preds = %24
  store i32 0, ptr %7, align 4, !tbaa !9
  br label %217

217:                                              ; preds = %448, %216
  %218 = load i32, ptr %7, align 4, !tbaa !9
  %219 = load i32, ptr %4, align 4, !tbaa !9
  %220 = icmp slt i32 %218, %219
  br i1 %220, label %221, label %451

221:                                              ; preds = %217
  %222 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 5
  %223 = load i32, ptr %7, align 4, !tbaa !9
  %224 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %222, i32 noundef %223)
  switch i32 %224, label %446 [
    i32 2, label %225
    i32 1, label %248
    i32 0, label %445
    i32 3, label %445
  ]

225:                                              ; preds = %221
  %226 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 9
  %227 = load ptr, ptr %226, align 8, !tbaa !35
  %228 = load i32, ptr %7, align 4, !tbaa !9
  %229 = sext i32 %228 to i64
  %230 = getelementptr inbounds double, ptr %227, i64 %229
  %231 = load double, ptr %230, align 8, !tbaa !26
  %232 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 3
  %233 = load ptr, ptr %232, align 8, !tbaa !37
  %234 = load i32, ptr %7, align 4, !tbaa !9
  %235 = sext i32 %234 to i64
  %236 = getelementptr inbounds double, ptr %233, i64 %235
  store double %231, ptr %236, align 8, !tbaa !26
  %237 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 9
  %238 = load ptr, ptr %237, align 8, !tbaa !35
  %239 = load i32, ptr %7, align 4, !tbaa !9
  %240 = sext i32 %239 to i64
  %241 = getelementptr inbounds double, ptr %238, i64 %240
  %242 = load double, ptr %241, align 8, !tbaa !26
  %243 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 4
  %244 = load ptr, ptr %243, align 8, !tbaa !38
  %245 = load i32, ptr %7, align 4, !tbaa !9
  %246 = sext i32 %245 to i64
  %247 = getelementptr inbounds double, ptr %244, i64 %246
  store double %242, ptr %247, align 8, !tbaa !26
  br label %448

248:                                              ; preds = %221
  %249 = load i32, ptr %3, align 4, !tbaa !9
  %250 = load i32, ptr %7, align 4, !tbaa !9
  %251 = add nsw i32 %249, %250
  %252 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 21
  %253 = load i32, ptr %252, align 8, !tbaa !29
  %254 = add nsw i32 %251, %253
  %255 = load i32, ptr %8, align 4, !tbaa !9
  %256 = srem i32 %254, %255
  %257 = sitofp i32 %256 to double
  %258 = load i32, ptr %8, align 4, !tbaa !9
  %259 = sub nsw i32 %258, 1
  %260 = sitofp i32 %259 to double
  %261 = fdiv double %257, %260
  store double %261, ptr %9, align 8, !tbaa !26
  %262 = load double, ptr %9, align 8, !tbaa !26
  %263 = fsub double 1.000000e+00, %262
  %264 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 19
  %265 = load double, ptr %264, align 8, !tbaa !30
  %266 = load double, ptr %9, align 8, !tbaa !26
  %267 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 20
  %268 = load double, ptr %267, align 8, !tbaa !31
  %269 = fmul double %266, %268
  %270 = call double @llvm.fmuladd.f64(double %263, double %265, double %269)
  store double %270, ptr %10, align 8, !tbaa !26
  %271 = load i32, ptr %3, align 4, !tbaa !9
  %272 = load i32, ptr %4, align 4, !tbaa !9
  %273 = add nsw i32 %271, %272
  %274 = load i32, ptr %7, align 4, !tbaa !9
  %275 = add nsw i32 %273, %274
  %276 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 21
  %277 = load i32, ptr %276, align 8, !tbaa !29
  %278 = add nsw i32 %275, %277
  %279 = load i32, ptr %8, align 4, !tbaa !9
  %280 = srem i32 %278, %279
  %281 = sitofp i32 %280 to double
  %282 = load i32, ptr %8, align 4, !tbaa !9
  %283 = sub nsw i32 %282, 1
  %284 = sitofp i32 %283 to double
  %285 = fdiv double %281, %284
  store double %285, ptr %11, align 8, !tbaa !26
  %286 = load double, ptr %11, align 8, !tbaa !26
  %287 = fsub double 1.000000e+00, %286
  %288 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 19
  %289 = load double, ptr %288, align 8, !tbaa !30
  %290 = load double, ptr %11, align 8, !tbaa !26
  %291 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 20
  %292 = load double, ptr %291, align 8, !tbaa !31
  %293 = fmul double %290, %292
  %294 = call double @llvm.fmuladd.f64(double %287, double %289, double %293)
  store double %294, ptr %12, align 8, !tbaa !26
  %295 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 5
  %296 = load i32, ptr %7, align 4, !tbaa !9
  %297 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %295, i32 noundef %296)
  store i32 %297, ptr %6, align 4, !tbaa !9
  %298 = load i32, ptr %6, align 4, !tbaa !9
  %299 = icmp ne i32 %298, -1
  br i1 %299, label %300, label %324

300:                                              ; preds = %248
  %301 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 9
  %302 = load ptr, ptr %301, align 8, !tbaa !35
  %303 = load i32, ptr %7, align 4, !tbaa !9
  %304 = sext i32 %303 to i64
  %305 = getelementptr inbounds double, ptr %302, i64 %304
  %306 = load double, ptr %305, align 8, !tbaa !26
  %307 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %306)
  %308 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %307, double noundef 1.000000e+00)
  store double %308, ptr %13, align 8, !tbaa !26
  %309 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 9
  %310 = load ptr, ptr %309, align 8, !tbaa !35
  %311 = load i32, ptr %7, align 4, !tbaa !9
  %312 = sext i32 %311 to i64
  %313 = getelementptr inbounds double, ptr %310, i64 %312
  %314 = load double, ptr %313, align 8, !tbaa !26
  %315 = load double, ptr %13, align 8, !tbaa !26
  %316 = load double, ptr %10, align 8, !tbaa !26
  %317 = fneg double %315
  %318 = call double @llvm.fmuladd.f64(double %317, double %316, double %314)
  %319 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 3
  %320 = load ptr, ptr %319, align 8, !tbaa !37
  %321 = load i32, ptr %7, align 4, !tbaa !9
  %322 = sext i32 %321 to i64
  %323 = getelementptr inbounds double, ptr %320, i64 %322
  store double %318, ptr %323, align 8, !tbaa !26
  br label %324

324:                                              ; preds = %300, %248
  %325 = load i32, ptr %6, align 4, !tbaa !9
  %326 = icmp ne i32 %325, 1
  br i1 %326, label %327, label %350

327:                                              ; preds = %324
  %328 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 9
  %329 = load ptr, ptr %328, align 8, !tbaa !35
  %330 = load i32, ptr %7, align 4, !tbaa !9
  %331 = sext i32 %330 to i64
  %332 = getelementptr inbounds double, ptr %329, i64 %331
  %333 = load double, ptr %332, align 8, !tbaa !26
  %334 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %333)
  %335 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %334, double noundef 1.000000e+00)
  store double %335, ptr %13, align 8, !tbaa !26
  %336 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 9
  %337 = load ptr, ptr %336, align 8, !tbaa !35
  %338 = load i32, ptr %7, align 4, !tbaa !9
  %339 = sext i32 %338 to i64
  %340 = getelementptr inbounds double, ptr %337, i64 %339
  %341 = load double, ptr %340, align 8, !tbaa !26
  %342 = load double, ptr %13, align 8, !tbaa !26
  %343 = load double, ptr %10, align 8, !tbaa !26
  %344 = call double @llvm.fmuladd.f64(double %342, double %343, double %341)
  %345 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 4
  %346 = load ptr, ptr %345, align 8, !tbaa !38
  %347 = load i32, ptr %7, align 4, !tbaa !9
  %348 = sext i32 %347 to i64
  %349 = getelementptr inbounds double, ptr %346, i64 %348
  store double %344, ptr %349, align 8, !tbaa !26
  br label %350

350:                                              ; preds = %327, %324
  %351 = load i32, ptr %6, align 4, !tbaa !9
  %352 = icmp eq i32 %351, -1
  br i1 %352, label %353, label %373

353:                                              ; preds = %350
  %354 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 9
  %355 = load ptr, ptr %354, align 8, !tbaa !35
  %356 = load i32, ptr %7, align 4, !tbaa !9
  %357 = sext i32 %356 to i64
  %358 = getelementptr inbounds double, ptr %355, i64 %357
  %359 = load double, ptr %358, align 8, !tbaa !26
  %360 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 3
  %361 = load ptr, ptr %360, align 8, !tbaa !37
  %362 = load i32, ptr %7, 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 = load double, ptr %12, align 8, !tbaa !26
  %366 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 10
  %367 = load ptr, ptr %366, align 8, !tbaa !32
  %368 = load i32, ptr %3, align 4, !tbaa !9
  %369 = load i32, ptr %7, align 4, !tbaa !9
  %370 = add nsw i32 %368, %369
  %371 = sext i32 %370 to i64
  %372 = getelementptr inbounds double, ptr %367, i64 %371
  store double %365, ptr %372, align 8, !tbaa !26
  br label %373

373:                                              ; preds = %353, %350
  %374 = load i32, ptr %6, align 4, !tbaa !9
  %375 = icmp eq i32 %374, 1
  br i1 %375, label %376, label %397

376:                                              ; preds = %373
  %377 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 9
  %378 = load ptr, ptr %377, align 8, !tbaa !35
  %379 = load i32, ptr %7, align 4, !tbaa !9
  %380 = sext i32 %379 to i64
  %381 = getelementptr inbounds double, ptr %378, i64 %380
  %382 = load double, ptr %381, align 8, !tbaa !26
  %383 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 4
  %384 = load ptr, ptr %383, align 8, !tbaa !38
  %385 = load i32, ptr %7, align 4, !tbaa !9
  %386 = sext i32 %385 to i64
  %387 = getelementptr inbounds double, ptr %384, i64 %386
  store double %382, ptr %387, align 8, !tbaa !26
  %388 = load double, ptr %12, align 8, !tbaa !26
  %389 = fneg double %388
  %390 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 10
  %391 = load ptr, ptr %390, align 8, !tbaa !32
  %392 = load i32, ptr %3, align 4, !tbaa !9
  %393 = load i32, ptr %7, align 4, !tbaa !9
  %394 = add nsw i32 %392, %393
  %395 = sext i32 %394 to i64
  %396 = getelementptr inbounds double, ptr %391, i64 %395
  store double %389, ptr %396, align 8, !tbaa !26
  br label %397

397:                                              ; preds = %376, %373
  %398 = load i32, ptr %6, align 4, !tbaa !9
  %399 = icmp eq i32 %398, 0
  br i1 %399, label %400, label %408

400:                                              ; preds = %397
  %401 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 10
  %402 = load ptr, ptr %401, align 8, !tbaa !32
  %403 = load i32, ptr %3, align 4, !tbaa !9
  %404 = load i32, ptr %7, 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 %408

408:                                              ; preds = %400, %397
  %409 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 9
  %410 = load ptr, ptr %409, align 8, !tbaa !35
  %411 = load i32, ptr %7, align 4, !tbaa !9
  %412 = sext i32 %411 to i64
  %413 = getelementptr inbounds double, ptr %410, i64 %412
  %414 = load double, ptr %413, align 8, !tbaa !26
  %415 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 3
  %416 = load ptr, ptr %415, align 8, !tbaa !37
  %417 = load i32, ptr %7, align 4, !tbaa !9
  %418 = sext i32 %417 to i64
  %419 = getelementptr inbounds double, ptr %416, i64 %418
  %420 = load double, ptr %419, align 8, !tbaa !26
  %421 = fsub double %414, %420
  %422 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 10
  %423 = load ptr, ptr %422, align 8, !tbaa !39
  %424 = load i32, ptr %7, align 4, !tbaa !9
  %425 = sext i32 %424 to i64
  %426 = getelementptr inbounds double, ptr %423, i64 %425
  store double %421, ptr %426, align 8, !tbaa !26
  %427 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 4
  %428 = load ptr, ptr %427, align 8, !tbaa !38
  %429 = load i32, ptr %7, 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 %14, i32 0, i32 9
  %434 = load ptr, ptr %433, align 8, !tbaa !35
  %435 = load i32, ptr %7, align 4, !tbaa !9
  %436 = sext i32 %435 to i64
  %437 = getelementptr inbounds double, ptr %434, i64 %436
  %438 = load double, ptr %437, align 8, !tbaa !26
  %439 = fsub double %432, %438
  %440 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 11
  %441 = load ptr, ptr %440, align 8, !tbaa !40
  %442 = load i32, ptr %7, align 4, !tbaa !9
  %443 = sext i32 %442 to i64
  %444 = getelementptr inbounds double, ptr %441, i64 %443
  store double %439, ptr %444, align 8, !tbaa !26
  br label %447

445:                                              ; preds = %221, %221
  br label %446

446:                                              ; preds = %445, %221
  br label %448

447:                                              ; preds = %408
  br label %448

448:                                              ; preds = %447, %446, %225
  %449 = load i32, ptr %7, align 4, !tbaa !9
  %450 = add nsw i32 %449, 1
  store i32 %450, ptr %7, align 4, !tbaa !9
  br label %217, !llvm.loop !41

451:                                              ; preds = %217
  %452 = call noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064) %14)
  %453 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 21
  %454 = load i32, ptr %453, align 8, !tbaa !29
  %455 = add nsw i32 %454, 1
  store i32 %455, ptr %453, align 8, !tbaa !29
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %4) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #5
  ret i32 0
}

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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #5 = { 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, !10, i64 264}
!30 = !{!12, !17, i64 248}
!31 = !{!12, !17, i64 256}
!32 = !{!12, !6, i64 192}
!33 = distinct !{!33, !34}
!34 = !{!"llvm.loop.mustprogress"}
!35 = !{!36, !6, i64 976}
!36 = !{!"_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}
!37 = !{!36, !6, i64 816}
!38 = !{!36, !6, i64 824}
!39 = !{!36, !6, i64 984}
!40 = !{!36, !6, i64 992}
!41 = distinct !{!41, !34}


; 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: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getAbsEd(double noundef) local_unnamed_addr #1

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

; 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 @_ZN7qpOASES6getMaxEdd(double noundef, double noundef) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem14performRampingEv(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 = add nsw i32 %3, %2
  %5 = add nsw i32 %4, %3
  %6 = add nsw i32 %5, %2
  %7 = icmp sgt i32 %2, 0
  br i1 %7, label %.lr.ph, label %.preheader

.lr.ph:                                           ; preds = %1
  %8 = getelementptr inbounds i8, ptr %0, i64 48
  %9 = getelementptr inbounds i8, ptr %0, i64 264
  %10 = add nsw i32 %6, -1
  %11 = sitofp i32 %10 to double
  %12 = getelementptr inbounds i8, ptr %0, i64 248
  %13 = getelementptr inbounds i8, ptr %0, i64 256
  %14 = getelementptr inbounds i8, ptr %0, i64 184
  %15 = getelementptr inbounds i8, ptr %0, i64 32
  %16 = getelementptr inbounds i8, ptr %0, i64 40
  %17 = getelementptr inbounds i8, ptr %0, i64 192
  %wide.trip.count = zext nneg i32 %2 to i64
  br label %32

.preheader:                                       ; preds = %99, %1
  %18 = icmp sgt i32 %3, 0
  br i1 %18, label %.lr.ph114, label %._crit_edge

.lr.ph114:                                        ; preds = %.preheader
  %19 = getelementptr inbounds i8, ptr %0, i64 832
  %20 = getelementptr inbounds i8, ptr %0, i64 264
  %21 = add nsw i32 %6, -1
  %22 = sitofp i32 %21 to double
  %23 = getelementptr inbounds i8, ptr %0, i64 248
  %24 = getelementptr inbounds i8, ptr %0, i64 256
  %25 = getelementptr inbounds i8, ptr %0, i64 976
  %26 = getelementptr inbounds i8, ptr %0, i64 816
  %27 = getelementptr inbounds i8, ptr %0, i64 824
  %28 = getelementptr inbounds i8, ptr %0, i64 192
  %29 = getelementptr inbounds i8, ptr %0, i64 984
  %30 = getelementptr inbounds i8, ptr %0, i64 992
  %31 = sext i32 %2 to i64
  %wide.trip.count119 = zext nneg i32 %3 to i64
  br label %100

32:                                               ; preds = %.lr.ph, %99
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %99 ]
  %33 = trunc nuw nsw i64 %indvars.iv to i32
  %34 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %8, i32 noundef %33)
  switch i32 %34, label %99 [
    i32 2, label %35
    i32 1, label %41
  ]

35:                                               ; preds = %32
  %36 = load ptr, ptr %14, align 8, !tbaa !5
  %37 = getelementptr inbounds double, ptr %36, i64 %indvars.iv
  %38 = load double, ptr %37, align 8, !tbaa !24
  %39 = load ptr, ptr %15, align 8, !tbaa !25
  %40 = getelementptr inbounds double, ptr %39, i64 %indvars.iv
  store double %38, ptr %40, align 8, !tbaa !24
  br label %.sink.split

41:                                               ; preds = %32
  %42 = load i32, ptr %9, align 8, !tbaa !26
  %43 = add nsw i32 %42, %33
  %44 = srem i32 %43, %6
  %45 = sitofp i32 %44 to double
  %46 = fdiv double %45, %11
  %47 = fsub double 1.000000e+00, %46
  %48 = load double, ptr %12, align 8, !tbaa !27
  %49 = load double, ptr %13, align 8, !tbaa !28
  %50 = fmul double %46, %49
  %51 = tail call double @llvm.fmuladd.f64(double %47, double %48, double %50)
  %52 = trunc i64 %indvars.iv to i32
  %53 = add i32 %5, %52
  %54 = add nsw i32 %53, %42
  %55 = srem i32 %54, %6
  %56 = sitofp i32 %55 to double
  %57 = fdiv double %56, %11
  %58 = fsub double 1.000000e+00, %57
  %59 = fmul double %49, %57
  %60 = tail call double @llvm.fmuladd.f64(double %58, double %48, double %59)
  %61 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %8, i32 noundef %33)
  %cond = icmp eq i32 %61, -1
  %.pre = load ptr, ptr %14, align 8, !tbaa !5
  br i1 %cond, label %74, label %62

62:                                               ; preds = %41
  %63 = getelementptr inbounds double, ptr %.pre, i64 %indvars.iv
  %64 = load double, ptr %63, align 8, !tbaa !24
  %65 = tail call noundef double @_ZN7qpOASES6getAbsEd(double noundef %64)
  %66 = tail call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %65, double noundef 1.000000e+00)
  %67 = load ptr, ptr %14, align 8, !tbaa !5
  %68 = getelementptr inbounds double, ptr %67, i64 %indvars.iv
  %69 = load double, ptr %68, align 8, !tbaa !24
  %70 = fneg double %66
  %71 = tail call double @llvm.fmuladd.f64(double %70, double %51, double %69)
  %72 = load ptr, ptr %15, align 8, !tbaa !25
  %73 = getelementptr inbounds double, ptr %72, i64 %indvars.iv
  store double %71, ptr %73, align 8, !tbaa !24
  %cond109 = icmp eq i32 %61, 1
  br i1 %cond109, label %._crit_edge121, label %74

._crit_edge121:                                   ; preds = %62
  %.pre122 = load ptr, ptr %16, align 8, !tbaa !29
  br label %90

74:                                               ; preds = %62, %41
  %75 = phi ptr [ %67, %62 ], [ %.pre, %41 ]
  %76 = getelementptr inbounds double, ptr %75, i64 %indvars.iv
  %77 = load double, ptr %76, align 8, !tbaa !24
  %78 = tail call noundef double @_ZN7qpOASES6getAbsEd(double noundef %77)
  %79 = tail call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %78, double noundef 1.000000e+00)
  %80 = load ptr, ptr %14, align 8, !tbaa !5
  %81 = getelementptr inbounds double, ptr %80, i64 %indvars.iv
  %82 = load double, ptr %81, align 8, !tbaa !24
  %83 = tail call double @llvm.fmuladd.f64(double %79, double %51, double %82)
  %84 = load ptr, ptr %16, align 8, !tbaa !29
  %85 = getelementptr inbounds double, ptr %84, i64 %indvars.iv
  store double %83, ptr %85, align 8, !tbaa !24
  switch i32 %61, label %99 [
    i32 -1, label %86
    i32 1, label %90
    i32 0, label %.sink.split
  ]

86:                                               ; preds = %74
  %87 = load double, ptr %81, align 8, !tbaa !24
  %88 = load ptr, ptr %15, align 8, !tbaa !25
  %89 = getelementptr inbounds double, ptr %88, i64 %indvars.iv
  store double %87, ptr %89, align 8, !tbaa !24
  br label %.sink.split

90:                                               ; preds = %._crit_edge121, %74
  %91 = phi ptr [ %.pre122, %._crit_edge121 ], [ %84, %74 ]
  %92 = phi ptr [ %67, %._crit_edge121 ], [ %80, %74 ]
  %93 = getelementptr inbounds double, ptr %92, i64 %indvars.iv
  %94 = load double, ptr %93, align 8, !tbaa !24
  %95 = getelementptr inbounds double, ptr %91, i64 %indvars.iv
  store double %94, ptr %95, align 8, !tbaa !24
  %96 = fneg double %60
  br label %.sink.split

.sink.split:                                      ; preds = %74, %35, %86, %90
  %.sink128 = phi ptr [ %17, %90 ], [ %17, %86 ], [ %16, %35 ], [ %17, %74 ]
  %.sink = phi double [ %96, %90 ], [ %60, %86 ], [ %38, %35 ], [ 0.000000e+00, %74 ]
  %97 = load ptr, ptr %.sink128, align 8, !tbaa !30
  %98 = getelementptr inbounds double, ptr %97, i64 %indvars.iv
  store double %.sink, ptr %98, align 8, !tbaa !24
  br label %99

99:                                               ; preds = %.sink.split, %74, %32
  %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 %32, !llvm.loop !31

100:                                              ; preds = %.lr.ph114, %186
  %indvars.iv116 = phi i64 [ 0, %.lr.ph114 ], [ %indvars.iv.next117, %186 ]
  %101 = trunc nuw nsw i64 %indvars.iv116 to i32
  %102 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %19, i32 noundef %101)
  switch i32 %102, label %186 [
    i32 2, label %103
    i32 1, label %109
  ]

103:                                              ; preds = %100
  %104 = load ptr, ptr %25, align 8, !tbaa !33
  %105 = getelementptr inbounds double, ptr %104, i64 %indvars.iv116
  %106 = load double, ptr %105, align 8, !tbaa !24
  %107 = load ptr, ptr %26, align 8, !tbaa !35
  %108 = getelementptr inbounds double, ptr %107, i64 %indvars.iv116
  store double %106, ptr %108, align 8, !tbaa !24
  br label %.sink.split134

109:                                              ; preds = %100
  %110 = add nsw i64 %indvars.iv116, %31
  %111 = load i32, ptr %20, align 8, !tbaa !26
  %112 = trunc nsw i64 %110 to i32
  %113 = add nsw i32 %111, %112
  %114 = srem i32 %113, %6
  %115 = sitofp i32 %114 to double
  %116 = fdiv double %115, %22
  %117 = fsub double 1.000000e+00, %116
  %118 = load double, ptr %23, align 8, !tbaa !27
  %119 = load double, ptr %24, align 8, !tbaa !28
  %120 = fmul double %116, %119
  %121 = tail call double @llvm.fmuladd.f64(double %117, double %118, double %120)
  %122 = trunc i64 %indvars.iv116 to i32
  %123 = add i32 %4, %122
  %124 = add nsw i32 %123, %111
  %125 = srem i32 %124, %6
  %126 = sitofp i32 %125 to double
  %127 = fdiv double %126, %22
  %128 = fsub double 1.000000e+00, %127
  %129 = fmul double %119, %127
  %130 = tail call double @llvm.fmuladd.f64(double %128, double %118, double %129)
  %131 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %19, i32 noundef %101)
  %cond110 = icmp eq i32 %131, -1
  %.pre123 = load ptr, ptr %25, align 8, !tbaa !33
  br i1 %cond110, label %144, label %132

132:                                              ; preds = %109
  %133 = getelementptr inbounds double, ptr %.pre123, i64 %indvars.iv116
  %134 = load double, ptr %133, align 8, !tbaa !24
  %135 = tail call noundef double @_ZN7qpOASES6getAbsEd(double noundef %134)
  %136 = tail call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %135, double noundef 1.000000e+00)
  %137 = load ptr, ptr %25, align 8, !tbaa !33
  %138 = getelementptr inbounds double, ptr %137, i64 %indvars.iv116
  %139 = load double, ptr %138, align 8, !tbaa !24
  %140 = fneg double %136
  %141 = tail call double @llvm.fmuladd.f64(double %140, double %121, double %139)
  %142 = load ptr, ptr %26, align 8, !tbaa !35
  %143 = getelementptr inbounds double, ptr %142, i64 %indvars.iv116
  store double %141, ptr %143, align 8, !tbaa !24
  %cond111 = icmp eq i32 %131, 1
  br i1 %cond111, label %._crit_edge124, label %144

._crit_edge124:                                   ; preds = %132
  %.pre125 = load ptr, ptr %27, align 8, !tbaa !36
  br label %160

144:                                              ; preds = %132, %109
  %145 = phi ptr [ %137, %132 ], [ %.pre123, %109 ]
  %146 = getelementptr inbounds double, ptr %145, i64 %indvars.iv116
  %147 = load double, ptr %146, align 8, !tbaa !24
  %148 = tail call noundef double @_ZN7qpOASES6getAbsEd(double noundef %147)
  %149 = tail call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %148, double noundef 1.000000e+00)
  %150 = load ptr, ptr %25, align 8, !tbaa !33
  %151 = getelementptr inbounds double, ptr %150, i64 %indvars.iv116
  %152 = load double, ptr %151, align 8, !tbaa !24
  %153 = tail call double @llvm.fmuladd.f64(double %149, double %121, double %152)
  %154 = load ptr, ptr %27, align 8, !tbaa !36
  %155 = getelementptr inbounds double, ptr %154, i64 %indvars.iv116
  store double %153, ptr %155, align 8, !tbaa !24
  switch i32 %131, label %169 [
    i32 -1, label %156
    i32 1, label %160
    i32 0, label %.sink.split129
  ]

156:                                              ; preds = %144
  %157 = load double, ptr %151, align 8, !tbaa !24
  %158 = load ptr, ptr %26, align 8, !tbaa !35
  %159 = getelementptr inbounds double, ptr %158, i64 %indvars.iv116
  store double %157, ptr %159, align 8, !tbaa !24
  br label %.sink.split129

160:                                              ; preds = %._crit_edge124, %144
  %161 = phi ptr [ %.pre125, %._crit_edge124 ], [ %154, %144 ]
  %162 = phi ptr [ %137, %._crit_edge124 ], [ %150, %144 ]
  %163 = getelementptr inbounds double, ptr %162, i64 %indvars.iv116
  %164 = load double, ptr %163, align 8, !tbaa !24
  %165 = getelementptr inbounds double, ptr %161, i64 %indvars.iv116
  store double %164, ptr %165, align 8, !tbaa !24
  %166 = fneg double %130
  br label %.sink.split129

.sink.split129:                                   ; preds = %144, %156, %160
  %.sink131 = phi double [ %166, %160 ], [ %130, %156 ], [ 0.000000e+00, %144 ]
  %.ph = phi ptr [ %161, %160 ], [ %154, %156 ], [ %154, %144 ]
  %.ph130 = phi ptr [ %162, %160 ], [ %150, %156 ], [ %150, %144 ]
  %167 = load ptr, ptr %28, align 8, !tbaa !37
  %168 = getelementptr inbounds double, ptr %167, i64 %110
  store double %.sink131, ptr %168, align 8, !tbaa !24
  br label %169

169:                                              ; preds = %.sink.split129, %144
  %170 = phi ptr [ %154, %144 ], [ %.ph, %.sink.split129 ]
  %171 = phi ptr [ %150, %144 ], [ %.ph130, %.sink.split129 ]
  %172 = getelementptr inbounds double, ptr %171, i64 %indvars.iv116
  %173 = load double, ptr %172, align 8, !tbaa !24
  %174 = load ptr, ptr %26, align 8, !tbaa !35
  %175 = getelementptr inbounds double, ptr %174, i64 %indvars.iv116
  %176 = load double, ptr %175, align 8, !tbaa !24
  %177 = fsub double %173, %176
  %178 = load ptr, ptr %29, align 8, !tbaa !38
  %179 = getelementptr inbounds double, ptr %178, i64 %indvars.iv116
  store double %177, ptr %179, align 8, !tbaa !24
  %180 = getelementptr inbounds double, ptr %170, i64 %indvars.iv116
  %181 = load double, ptr %180, align 8, !tbaa !24
  %182 = load double, ptr %172, align 8, !tbaa !24
  %183 = fsub double %181, %182
  br label %.sink.split134

.sink.split134:                                   ; preds = %103, %169
  %.sink138 = phi ptr [ %30, %169 ], [ %27, %103 ]
  %.sink135 = phi double [ %183, %169 ], [ %106, %103 ]
  %184 = load ptr, ptr %.sink138, align 8, !tbaa !30
  %185 = getelementptr inbounds double, ptr %184, i64 %indvars.iv116
  store double %.sink135, ptr %185, align 8, !tbaa !24
  br label %186

186:                                              ; preds = %.sink.split134, %100
  %indvars.iv.next117 = add nuw nsw i64 %indvars.iv116, 1
  %exitcond120.not = icmp eq i64 %indvars.iv.next117, %wide.trip.count119
  br i1 %exitcond120.not, label %._crit_edge, label %100, !llvm.loop !39

._crit_edge:                                      ; preds = %186, %.preheader
  %187 = tail call noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %188 = getelementptr inbounds i8, ptr %0, i64 264
  %189 = load i32, ptr %188, align 8, !tbaa !26
  %190 = add nsw i32 %189, 1
  store i32 %190, ptr %188, align 8, !tbaa !26
  ret i32 0
}

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" }
attributes #3 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }

!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, !13, i64 264}
!27 = !{!6, !15, i64 248}
!28 = !{!6, !15, i64 256}
!29 = !{!6, !10, i64 40}
!30 = !{!10, !10, i64 0}
!31 = distinct !{!31, !32}
!32 = !{!"llvm.loop.mustprogress"}
!33 = !{!34, !10, i64 976}
!34 = !{!"_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}
!35 = !{!34, !10, i64 816}
!36 = !{!34, !10, i64 824}
!37 = !{!6, !10, i64 192}
!38 = !{!34, !10, i64 984}
!39 = distinct !{!39, !32}


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