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

; 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"

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [104 x i8], align 1

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #0

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

declare noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) #0

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

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB13isInitialisedEv(ptr noundef nonnull align 8 dereferenceable(800)) #3 align 2

declare noundef i32 @_ZN7qpOASES15MessageHandling12throwWarningENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) #0

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES9QProblemB14solveInitialQPEPKdS2_PKNS_6BoundsES2_RiPd(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef) #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES9QProblemB4initEPKdS2_S2_S2_RiPdS2_S2_PKNS_6BoundsES2_(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef nonnull align 4 dereferenceable(4) %5, ptr noundef %6, ptr noundef %7, ptr noundef %8, ptr noundef %9, ptr noundef %10) #4 align 2 {
  %12 = alloca i32, align 4
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca ptr, align 8
  %21 = alloca ptr, align 8
  %22 = alloca ptr, align 8
  %23 = alloca ptr, align 8
  %24 = alloca i32, align 4
  %25 = alloca i32, align 4
  %26 = alloca i32, align 4
  store ptr %0, ptr %13, align 8, !tbaa !5
  store ptr %1, ptr %14, align 8, !tbaa !5
  store ptr %2, ptr %15, align 8, !tbaa !5
  store ptr %3, ptr %16, align 8, !tbaa !5
  store ptr %4, ptr %17, align 8, !tbaa !5
  store ptr %5, ptr %18, align 8, !tbaa !5
  store ptr %6, ptr %19, align 8, !tbaa !5
  store ptr %7, ptr %20, align 8, !tbaa !5
  store ptr %8, ptr %21, align 8, !tbaa !5
  store ptr %9, ptr %22, align 8, !tbaa !5
  store ptr %10, ptr %23, align 8, !tbaa !5
  %27 = load ptr, ptr %13, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #5
  %28 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %27)
  store i32 %28, ptr %25, align 4, !tbaa !9
  %29 = load i32, ptr %25, align 4, !tbaa !9
  %30 = icmp eq i32 %29, 0
  br i1 %30, label %31, label %34

31:                                               ; preds = %11
  %32 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %33 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %32, i32 noundef 29, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 314, i32 noundef 1)
  store i32 %33, ptr %12, align 4
  store i32 1, ptr %26, align 4
  br label %110

34:                                               ; preds = %11
  %35 = call noundef i32 @_ZNK7qpOASES9QProblemB13isInitialisedEv(ptr noundef nonnull align 8 dereferenceable(800) %27)
  %36 = icmp eq i32 %35, 1
  br i1 %36, label %37, label %44

37:                                               ; preds = %34
  %38 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %39 = call noundef i32 @_ZN7qpOASES15MessageHandling12throwWarningENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %38, i32 noundef 30, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 319, i32 noundef 1)
  %40 = load ptr, ptr %27, align 8, !tbaa !11
  %41 = getelementptr inbounds ptr, ptr %40, i64 3
  %42 = load ptr, ptr %41, align 8
  %43 = call noundef i32 %42(ptr noundef nonnull align 8 dereferenceable(800) %27)
  br label %44

44:                                               ; preds = %37, %34
  %45 = load ptr, ptr %22, align 8, !tbaa !5
  %46 = icmp ne ptr %45, null
  br i1 %46, label %47, label %65

47:                                               ; preds = %44
  store i32 0, ptr %24, align 4, !tbaa !9
  br label %48

48:                                               ; preds = %61, %47
  %49 = load i32, ptr %24, align 4, !tbaa !9
  %50 = load i32, ptr %25, align 4, !tbaa !9
  %51 = icmp slt i32 %49, %50
  br i1 %51, label %52, label %64

52:                                               ; preds = %48
  %53 = load ptr, ptr %22, align 8, !tbaa !5
  %54 = load i32, ptr %24, align 4, !tbaa !9
  %55 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %53, i32 noundef %54)
  %56 = icmp eq i32 %55, 4
  br i1 %56, label %57, label %60

57:                                               ; preds = %52
  %58 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %59 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %58, i32 noundef 3, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 328, i32 noundef 1)
  store i32 %59, ptr %12, align 4
  store i32 1, ptr %26, align 4
  br label %110

60:                                               ; preds = %52
  br label %61

61:                                               ; preds = %60
  %62 = load i32, ptr %24, align 4, !tbaa !9
  %63 = add nsw i32 %62, 1
  store i32 %63, ptr %24, align 4, !tbaa !9
  br label %48, !llvm.loop !13

64:                                               ; preds = %48
  br label %65

65:                                               ; preds = %64, %44
  %66 = load ptr, ptr %20, align 8, !tbaa !5
  %67 = icmp eq ptr %66, null
  br i1 %67, label %68, label %77

68:                                               ; preds = %65
  %69 = load ptr, ptr %21, align 8, !tbaa !5
  %70 = icmp ne ptr %69, null
  br i1 %70, label %71, label %77

71:                                               ; preds = %68
  %72 = load ptr, ptr %22, align 8, !tbaa !5
  %73 = icmp ne ptr %72, null
  br i1 %73, label %74, label %77

74:                                               ; preds = %71
  %75 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %76 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %75, i32 noundef 3, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 334, i32 noundef 1)
  store i32 %76, ptr %12, align 4
  store i32 1, ptr %26, align 4
  br label %110

77:                                               ; preds = %71, %68, %65
  %78 = load ptr, ptr %23, align 8, !tbaa !5
  %79 = icmp ne ptr %78, null
  br i1 %79, label %80, label %92

80:                                               ; preds = %77
  %81 = load ptr, ptr %20, align 8, !tbaa !5
  %82 = icmp ne ptr %81, null
  br i1 %82, label %89, label %83

83:                                               ; preds = %80
  %84 = load ptr, ptr %21, align 8, !tbaa !5
  %85 = icmp ne ptr %84, null
  br i1 %85, label %89, label %86

86:                                               ; preds = %83
  %87 = load ptr, ptr %22, align 8, !tbaa !5
  %88 = icmp ne ptr %87, null
  br i1 %88, label %89, label %92

89:                                               ; preds = %86, %83, %80
  %90 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %91 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %90, i32 noundef 44, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 337, i32 noundef 1)
  store i32 %91, ptr %12, align 4
  store i32 1, ptr %26, align 4
  br label %110

92:                                               ; preds = %86, %77
  %93 = load ptr, ptr %14, align 8, !tbaa !5
  %94 = load ptr, ptr %15, align 8, !tbaa !5
  %95 = load ptr, ptr %16, align 8, !tbaa !5
  %96 = load ptr, ptr %17, align 8, !tbaa !5
  %97 = call noundef i32 @_ZN7qpOASES9QProblemB11setupQPdataEPKdS2_S2_S2_(ptr noundef nonnull align 8 dereferenceable(800) %27, ptr noundef %93, ptr noundef %94, ptr noundef %95, ptr noundef %96)
  %98 = icmp ne i32 %97, 0
  br i1 %98, label %99, label %102

99:                                               ; preds = %92
  %100 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %101 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %100, i32 noundef 3, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 341, i32 noundef 1)
  store i32 %101, ptr %12, align 4
  store i32 1, ptr %26, align 4
  br label %110

102:                                              ; preds = %92
  %103 = load ptr, ptr %20, align 8, !tbaa !5
  %104 = load ptr, ptr %21, align 8, !tbaa !5
  %105 = load ptr, ptr %22, align 8, !tbaa !5
  %106 = load ptr, ptr %23, align 8, !tbaa !5
  %107 = load ptr, ptr %18, align 8, !tbaa !5
  %108 = load ptr, ptr %19, align 8, !tbaa !5
  %109 = call noundef i32 @_ZN7qpOASES9QProblemB14solveInitialQPEPKdS2_PKNS_6BoundsES2_RiPd(ptr noundef nonnull align 8 dereferenceable(800) %27, ptr noundef %103, ptr noundef %104, ptr noundef %105, ptr noundef %106, ptr noundef nonnull align 4 dereferenceable(4) %107, ptr noundef %108)
  store i32 %109, ptr %12, align 4
  store i32 1, ptr %26, align 4
  br label %110

110:                                              ; preds = %102, %99, %89, %74, %57, %31
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #5
  %111 = load i32, ptr %12, align 4
  ret i32 %111
}

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES9QProblemB11setupQPdataEPKdS2_S2_S2_(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef, ptr noundef, ptr noundef, ptr noundef) #4 align 2

attributes #0 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { 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 #3 = { 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 #4 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"vtable pointer", !8, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}


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

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [104 x i8], align 1

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #0

declare noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) local_unnamed_addr #0

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB13isInitialisedEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #2 align 2

declare noundef i32 @_ZN7qpOASES15MessageHandling12throwWarningENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) local_unnamed_addr #0

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES9QProblemB14solveInitialQPEPKdS2_PKNS_6BoundsES2_RiPd(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES9QProblemB4initEPKdS2_S2_S2_RiPdS2_S2_PKNS_6BoundsES2_(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef nonnull align 4 dereferenceable(4) %5, ptr noundef %6, ptr noundef %7, ptr noundef %8, ptr noundef %9, ptr noundef %10) local_unnamed_addr #3 align 2 {
  %12 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %13 = icmp eq i32 %12, 0
  br i1 %13, label %14, label %17

14:                                               ; preds = %11
  %15 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %16 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %15, i32 noundef 29, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 314, i32 noundef 1)
  br label %57

17:                                               ; preds = %11
  %18 = tail call noundef i32 @_ZNK7qpOASES9QProblemB13isInitialisedEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %19 = icmp eq i32 %18, 1
  br i1 %19, label %20, label %27

20:                                               ; preds = %17
  %21 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %22 = tail call noundef i32 @_ZN7qpOASES15MessageHandling12throwWarningENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %21, i32 noundef 30, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 319, i32 noundef 1)
  %23 = load ptr, ptr %0, align 8, !tbaa !5
  %24 = getelementptr inbounds i8, ptr %23, i64 24
  %25 = load ptr, ptr %24, align 8
  %26 = tail call noundef i32 %25(ptr noundef nonnull align 8 dereferenceable(800) %0)
  br label %27

27:                                               ; preds = %20, %17
  %28 = icmp ne ptr %9, null
  br i1 %28, label %.preheader, label %.thread

.preheader:                                       ; preds = %27
  %29 = icmp sgt i32 %12, 0
  br i1 %29, label %.lr.ph, label %._crit_edge

.thread:                                          ; preds = %27
  %30 = icmp ne ptr %8, null
  br label %43

31:                                               ; preds = %.lr.ph
  %32 = add nuw nsw i32 %.03238, 1
  %exitcond.not = icmp eq i32 %32, %12
  br i1 %exitcond.not, label %._crit_edge, label %.lr.ph, !llvm.loop !8

.lr.ph:                                           ; preds = %.preheader, %31
  %.03238 = phi i32 [ %32, %31 ], [ 0, %.preheader ]
  %33 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %9, i32 noundef %.03238)
  %34 = icmp eq i32 %33, 4
  br i1 %34, label %35, label %31

35:                                               ; preds = %.lr.ph
  %36 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %37 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %36, i32 noundef 3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 328, i32 noundef 1)
  br label %57

._crit_edge:                                      ; preds = %31, %.preheader
  %38 = icmp eq ptr %7, null
  %39 = icmp ne ptr %8, null
  %or.cond = and i1 %38, %39
  br i1 %or.cond, label %40, label %43

40:                                               ; preds = %._crit_edge
  %41 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %42 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %41, i32 noundef 3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 334, i32 noundef 1)
  br label %57

43:                                               ; preds = %.thread, %._crit_edge
  %44 = phi i1 [ %30, %.thread ], [ %39, %._crit_edge ]
  %.not = icmp eq ptr %10, null
  br i1 %.not, label %50, label %45

45:                                               ; preds = %43
  %46 = icmp ne ptr %7, null
  %or.cond5 = or i1 %46, %44
  %or.cond7 = or i1 %28, %or.cond5
  br i1 %or.cond7, label %47, label %50

47:                                               ; preds = %45
  %48 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %49 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %48, i32 noundef 44, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 337, i32 noundef 1)
  br label %57

50:                                               ; preds = %45, %43
  %51 = tail call noundef i32 @_ZN7qpOASES9QProblemB11setupQPdataEPKdS2_S2_S2_(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4)
  %.not35 = icmp eq i32 %51, 0
  br i1 %.not35, label %55, label %52

52:                                               ; preds = %50
  %53 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %54 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %53, i32 noundef 3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 341, i32 noundef 1)
  br label %57

55:                                               ; preds = %50
  %56 = tail call noundef i32 @_ZN7qpOASES9QProblemB14solveInitialQPEPKdS2_PKNS_6BoundsES2_RiPd(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef %7, ptr noundef %8, ptr noundef %9, ptr noundef %10, ptr noundef nonnull align 4 dereferenceable(4) %5, ptr noundef %6)
  br label %57

57:                                               ; preds = %55, %52, %47, %40, %35, %14
  %.0 = phi i32 [ %16, %14 ], [ %37, %35 ], [ %42, %40 ], [ %49, %47 ], [ %54, %52 ], [ %56, %55 ]
  ret i32 %.0
}

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES9QProblemB11setupQPdataEPKdS2_S2_S2_(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #3 align 2

attributes #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 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" }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = distinct !{!8, !9}
!9 = !{!"llvm.loop.mustprogress"}


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