; 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: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064) %0) #2 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) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %4) #5
  %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) #5
  %8 = call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %6)
  store i32 %8, ptr %5, align 4, !tbaa !9
  %9 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 15
  %10 = load i32, ptr %9, align 4, !tbaa !11
  switch i32 %10, label %95 [
    i32 0, label %11
    i32 1, label %67
  ]

11:                                               ; preds = %1
  %12 = call noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800) %6)
  %13 = icmp eq i32 %12, 0
  br i1 %13, label %14, label %35

14:                                               ; preds = %11
  store i32 0, ptr %3, align 4, !tbaa !9
  br label %15

15:                                               ; preds = %31, %14
  %16 = load i32, ptr %3, align 4, !tbaa !9
  %17 = load i32, ptr %4, align 4, !tbaa !9
  %18 = icmp slt i32 %16, %17
  br i1 %18, label %19, label %34

19:                                               ; preds = %15
  %20 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %21 = load ptr, ptr %20, align 8, !tbaa !26
  %22 = load i32, ptr %3, align 4, !tbaa !9
  %23 = sext i32 %22 to i64
  %24 = getelementptr inbounds double, ptr %21, i64 %23
  %25 = load double, ptr %24, align 8, !tbaa !27
  %26 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 3
  %27 = load ptr, ptr %26, align 8, !tbaa !28
  %28 = load i32, ptr %3, align 4, !tbaa !9
  %29 = sext i32 %28 to i64
  %30 = getelementptr inbounds double, ptr %27, i64 %29
  store double %25, ptr %30, align 8, !tbaa !27
  br label %31

31:                                               ; preds = %19
  %32 = load i32, ptr %3, align 4, !tbaa !9
  %33 = add nsw i32 %32, 1
  store i32 %33, ptr %3, align 4, !tbaa !9
  br label %15, !llvm.loop !29

34:                                               ; preds = %15
  br label %66

35:                                               ; preds = %11
  store i32 0, ptr %3, align 4, !tbaa !9
  br label %36

36:                                               ; preds = %62, %35
  %37 = load i32, ptr %3, align 4, !tbaa !9
  %38 = load i32, ptr %4, align 4, !tbaa !9
  %39 = icmp slt i32 %37, %38
  br i1 %39, label %40, label %65

40:                                               ; preds = %36
  %41 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %42 = load ptr, ptr %41, align 8, !tbaa !26
  %43 = load i32, ptr %3, align 4, !tbaa !9
  %44 = sext i32 %43 to i64
  %45 = getelementptr inbounds double, ptr %42, i64 %44
  %46 = load double, ptr %45, align 8, !tbaa !27
  %47 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 16
  %48 = load double, ptr %47, align 8, !tbaa !31
  %49 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 9
  %50 = load ptr, ptr %49, align 8, !tbaa !32
  %51 = load i32, ptr %3, align 4, !tbaa !9
  %52 = sext i32 %51 to i64
  %53 = getelementptr inbounds double, ptr %50, i64 %52
  %54 = load double, ptr %53, align 8, !tbaa !27
  %55 = fneg double %48
  %56 = call double @llvm.fmuladd.f64(double %55, double %54, double %46)
  %57 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 3
  %58 = load ptr, ptr %57, align 8, !tbaa !28
  %59 = load i32, ptr %3, align 4, !tbaa !9
  %60 = sext i32 %59 to i64
  %61 = getelementptr inbounds double, ptr %58, i64 %60
  store double %56, ptr %61, align 8, !tbaa !27
  br label %62

62:                                               ; preds = %40
  %63 = load i32, ptr %3, align 4, !tbaa !9
  %64 = add nsw i32 %63, 1
  store i32 %64, ptr %3, align 4, !tbaa !9
  br label %36, !llvm.loop !33

65:                                               ; preds = %36
  br label %66

66:                                               ; preds = %65, %34
  br label %132

67:                                               ; preds = %1
  store i32 0, ptr %3, align 4, !tbaa !9
  br label %68

68:                                               ; preds = %91, %67
  %69 = load i32, ptr %3, align 4, !tbaa !9
  %70 = load i32, ptr %4, align 4, !tbaa !9
  %71 = icmp slt i32 %69, %70
  br i1 %71, label %72, label %94

72:                                               ; preds = %68
  %73 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %74 = load ptr, ptr %73, align 8, !tbaa !26
  %75 = load i32, ptr %3, align 4, !tbaa !9
  %76 = sext i32 %75 to i64
  %77 = getelementptr inbounds double, ptr %74, i64 %76
  %78 = load double, ptr %77, align 8, !tbaa !27
  %79 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 9
  %80 = load ptr, ptr %79, align 8, !tbaa !32
  %81 = load i32, ptr %3, align 4, !tbaa !9
  %82 = sext i32 %81 to i64
  %83 = getelementptr inbounds double, ptr %80, i64 %82
  %84 = load double, ptr %83, align 8, !tbaa !27
  %85 = fsub double %78, %84
  %86 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 3
  %87 = load ptr, ptr %86, align 8, !tbaa !28
  %88 = load i32, ptr %3, align 4, !tbaa !9
  %89 = sext i32 %88 to i64
  %90 = getelementptr inbounds double, ptr %87, i64 %89
  store double %85, ptr %90, align 8, !tbaa !27
  br label %91

91:                                               ; preds = %72
  %92 = load i32, ptr %3, align 4, !tbaa !9
  %93 = add nsw i32 %92, 1
  store i32 %93, ptr %3, align 4, !tbaa !9
  br label %68, !llvm.loop !34

94:                                               ; preds = %68
  br label %132

95:                                               ; preds = %1
  store i32 0, ptr %3, align 4, !tbaa !9
  br label %96

96:                                               ; preds = %112, %95
  %97 = load i32, ptr %3, align 4, !tbaa !9
  %98 = load i32, ptr %4, align 4, !tbaa !9
  %99 = icmp slt i32 %97, %98
  br i1 %99, label %100, label %115

100:                                              ; preds = %96
  %101 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %102 = load ptr, ptr %101, align 8, !tbaa !26
  %103 = load i32, ptr %3, align 4, !tbaa !9
  %104 = sext i32 %103 to i64
  %105 = getelementptr inbounds double, ptr %102, i64 %104
  %106 = load double, ptr %105, align 8, !tbaa !27
  %107 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 3
  %108 = load ptr, ptr %107, align 8, !tbaa !28
  %109 = load i32, ptr %3, align 4, !tbaa !9
  %110 = sext i32 %109 to i64
  %111 = getelementptr inbounds double, ptr %108, i64 %110
  store double %106, ptr %111, align 8, !tbaa !27
  br label %112

112:                                              ; preds = %100
  %113 = load i32, ptr %3, align 4, !tbaa !9
  %114 = add nsw i32 %113, 1
  store i32 %114, ptr %3, align 4, !tbaa !9
  br label %96, !llvm.loop !35

115:                                              ; preds = %96
  %116 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 2
  %117 = load ptr, ptr %116, align 8, !tbaa !36
  %118 = load ptr, ptr %117, align 8, !tbaa !37
  %119 = getelementptr i8, ptr %118, i64 -24
  %120 = load i64, ptr %119, align 8
  %121 = getelementptr inbounds i8, ptr %117, i64 %120
  %122 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 9
  %123 = load ptr, ptr %122, align 8, !tbaa !32
  %124 = load i32, ptr %4, align 4, !tbaa !9
  %125 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 3
  %126 = load ptr, ptr %125, align 8, !tbaa !28
  %127 = load i32, ptr %4, align 4, !tbaa !9
  %128 = load ptr, ptr %121, align 8, !tbaa !37
  %129 = getelementptr inbounds ptr, ptr %128, i64 15
  %130 = load ptr, ptr %129, align 8
  %131 = call noundef i32 %130(ptr noundef nonnull align 8 dereferenceable(12) %121, i32 noundef 1, double noundef -1.000000e+00, ptr noundef %123, i32 noundef %124, double noundef 1.000000e+00, ptr noundef %126, i32 noundef %127)
  br label %132

132:                                              ; preds = %115, %94, %66
  %133 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %6, i32 0, i32 2
  %134 = load ptr, ptr %133, align 8, !tbaa !39
  %135 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 10
  %136 = load ptr, ptr %135, align 8, !tbaa !26
  %137 = load i32, ptr %4, align 4, !tbaa !9
  %138 = sext i32 %137 to i64
  %139 = getelementptr inbounds double, ptr %136, i64 %138
  %140 = load i32, ptr %5, align 4, !tbaa !9
  %141 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %6, i32 0, i32 3
  %142 = load ptr, ptr %141, align 8, !tbaa !28
  %143 = load i32, ptr %4, align 4, !tbaa !9
  %144 = load ptr, ptr %134, align 8, !tbaa !37
  %145 = getelementptr inbounds ptr, ptr %144, i64 16
  %146 = load ptr, ptr %145, align 8
  %147 = call noundef i32 %146(ptr noundef nonnull align 8 dereferenceable(12) %134, i32 noundef 1, double noundef 1.000000e+00, ptr noundef %139, i32 noundef %140, double noundef 1.000000e+00, ptr noundef %142, i32 noundef %143)
  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
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800)) #3 align 2

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

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 = { 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 = { 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, !19, i64 220}
!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 = !{!12, !6, i64 192}
!27 = !{!17, !17, i64 0}
!28 = !{!12, !6, i64 24}
!29 = distinct !{!29, !30}
!30 = !{!"llvm.loop.mustprogress"}
!31 = !{!12, !17, i64 224}
!32 = !{!12, !6, i64 184}
!33 = distinct !{!33, !30}
!34 = distinct !{!34, !30}
!35 = distinct !{!35, !30}
!36 = !{!12, !6, i64 16}
!37 = !{!38, !38, i64 0}
!38 = !{!"vtable pointer", !8, i64 0}
!39 = !{!40, !6, i64 808}
!40 = !{!"_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}


; 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: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064) %0) local_unnamed_addr #1 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 = getelementptr inbounds i8, ptr %0, i64 220
  %5 = load i32, ptr %4, align 4, !tbaa !5
  switch i32 %5, label %.preheader [
    i32 0, label %53
    i32 1, label %.preheader31
  ]

.preheader31:                                     ; preds = %1
  %6 = icmp sgt i32 %2, 0
  br i1 %6, label %.lr.ph, label %.loopexit

.lr.ph:                                           ; preds = %.preheader31
  %7 = getelementptr inbounds i8, ptr %0, i64 192
  %8 = load ptr, ptr %7, align 8, !tbaa !24
  %9 = getelementptr inbounds i8, ptr %0, i64 184
  %10 = load ptr, ptr %9, align 8, !tbaa !25
  %11 = getelementptr inbounds i8, ptr %0, i64 24
  %12 = load ptr, ptr %11, align 8, !tbaa !26
  %wide.trip.count = zext nneg i32 %2 to i64
  %min.iters.check = icmp ult i32 %2, 8
  br i1 %min.iters.check, label %scalar.ph.preheader, label %vector.memcheck

scalar.ph.preheader:                              ; preds = %middle.block, %vector.memcheck, %.lr.ph
  %indvars.iv.ph = phi i64 [ 0, %vector.memcheck ], [ 0, %.lr.ph ], [ %n.vec, %middle.block ]
  %xtraiter = and i64 %wide.trip.count, 3
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %scalar.ph.prol.loopexit, label %scalar.ph.prol

scalar.ph.prol:                                   ; preds = %scalar.ph.preheader, %scalar.ph.prol
  %indvars.iv.prol = phi i64 [ %indvars.iv.next.prol, %scalar.ph.prol ], [ %indvars.iv.ph, %scalar.ph.preheader ]
  %prol.iter = phi i64 [ %prol.iter.next, %scalar.ph.prol ], [ 0, %scalar.ph.preheader ]
  %13 = getelementptr inbounds double, ptr %8, i64 %indvars.iv.prol
  %14 = load double, ptr %13, align 8, !tbaa !27
  %15 = getelementptr inbounds double, ptr %10, i64 %indvars.iv.prol
  %16 = load double, ptr %15, align 8, !tbaa !27
  %17 = fsub double %14, %16
  %18 = getelementptr inbounds double, ptr %12, i64 %indvars.iv.prol
  store double %17, ptr %18, align 8, !tbaa !27
  %indvars.iv.next.prol = add nuw nsw i64 %indvars.iv.prol, 1
  %prol.iter.next = add i64 %prol.iter, 1
  %prol.iter.cmp.not = icmp eq i64 %prol.iter.next, %xtraiter
  br i1 %prol.iter.cmp.not, label %scalar.ph.prol.loopexit, label %scalar.ph.prol, !llvm.loop !28

scalar.ph.prol.loopexit:                          ; preds = %scalar.ph.prol, %scalar.ph.preheader
  %indvars.iv.unr = phi i64 [ %indvars.iv.ph, %scalar.ph.preheader ], [ %indvars.iv.next.prol, %scalar.ph.prol ]
  %19 = sub nsw i64 %indvars.iv.ph, %wide.trip.count
  %20 = icmp ugt i64 %19, -4
  br i1 %20, label %.loopexit, label %scalar.ph

vector.memcheck:                                  ; preds = %.lr.ph
  %21 = ptrtoint ptr %12 to i64
  %22 = ptrtoint ptr %10 to i64
  %23 = ptrtoint ptr %8 to i64
  %24 = sub i64 %21, %23
  %diff.check = icmp ult i64 %24, 32
  %25 = sub i64 %21, %22
  %diff.check62 = icmp ult i64 %25, 32
  %conflict.rdx = or i1 %diff.check, %diff.check62
  br i1 %conflict.rdx, label %scalar.ph.preheader, label %vector.ph

vector.ph:                                        ; preds = %vector.memcheck
  %n.vec = and i64 %wide.trip.count, 2147483644
  br label %vector.body

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %26 = getelementptr inbounds double, ptr %8, i64 %index
  %27 = getelementptr inbounds i8, ptr %26, i64 16
  %wide.load = load <2 x double>, ptr %26, align 8, !tbaa !27
  %wide.load63 = load <2 x double>, ptr %27, align 8, !tbaa !27
  %28 = getelementptr inbounds double, ptr %10, i64 %index
  %29 = getelementptr inbounds i8, ptr %28, i64 16
  %wide.load64 = load <2 x double>, ptr %28, align 8, !tbaa !27
  %wide.load65 = load <2 x double>, ptr %29, align 8, !tbaa !27
  %30 = fsub <2 x double> %wide.load, %wide.load64
  %31 = fsub <2 x double> %wide.load63, %wide.load65
  %32 = getelementptr inbounds double, ptr %12, i64 %index
  %33 = getelementptr inbounds i8, ptr %32, i64 16
  store <2 x double> %30, ptr %32, align 8, !tbaa !27
  store <2 x double> %31, ptr %33, align 8, !tbaa !27
  %index.next = add nuw i64 %index, 4
  %34 = icmp eq i64 %index.next, %n.vec
  br i1 %34, label %middle.block, label %vector.body, !llvm.loop !30

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %wide.trip.count
  br i1 %cmp.n, label %.loopexit, label %scalar.ph.preheader

.preheader:                                       ; preds = %1
  %35 = icmp sgt i32 %2, 0
  br i1 %35, label %.lr.ph39, label %.preheader.._crit_edge_crit_edge

.preheader.._crit_edge_crit_edge:                 ; preds = %.preheader
  %.phi.trans.insert = getelementptr inbounds i8, ptr %0, i64 24
  %.pre = load ptr, ptr %.phi.trans.insert, align 8, !tbaa !26
  br label %._crit_edge

.lr.ph39:                                         ; preds = %.preheader
  %36 = getelementptr inbounds i8, ptr %0, i64 192
  %37 = load ptr, ptr %36, align 8, !tbaa !24
  %38 = getelementptr inbounds i8, ptr %0, i64 24
  %39 = load ptr, ptr %38, align 8, !tbaa !26
  %wide.trip.count56 = zext nneg i32 %2 to i64
  %min.iters.check114 = icmp ult i32 %2, 6
  %40 = ptrtoint ptr %39 to i64
  %41 = ptrtoint ptr %37 to i64
  %42 = sub i64 %40, %41
  %diff.check111 = icmp ult i64 %42, 32
  %or.cond = select i1 %min.iters.check114, i1 true, i1 %diff.check111
  br i1 %or.cond, label %scalar.ph113.preheader, label %vector.ph115

scalar.ph113.preheader:                           ; preds = %middle.block112, %.lr.ph39
  %indvars.iv53.ph = phi i64 [ 0, %.lr.ph39 ], [ %n.vec117, %middle.block112 ]
  %xtraiter138 = and i64 %wide.trip.count56, 3
  %lcmp.mod139.not = icmp eq i64 %xtraiter138, 0
  br i1 %lcmp.mod139.not, label %scalar.ph113.prol.loopexit, label %scalar.ph113.prol

scalar.ph113.prol:                                ; preds = %scalar.ph113.preheader, %scalar.ph113.prol
  %indvars.iv53.prol = phi i64 [ %indvars.iv.next54.prol, %scalar.ph113.prol ], [ %indvars.iv53.ph, %scalar.ph113.preheader ]
  %prol.iter140 = phi i64 [ %prol.iter140.next, %scalar.ph113.prol ], [ 0, %scalar.ph113.preheader ]
  %43 = getelementptr inbounds double, ptr %37, i64 %indvars.iv53.prol
  %44 = load double, ptr %43, align 8, !tbaa !27
  %45 = getelementptr inbounds double, ptr %39, i64 %indvars.iv53.prol
  store double %44, ptr %45, align 8, !tbaa !27
  %indvars.iv.next54.prol = add nuw nsw i64 %indvars.iv53.prol, 1
  %prol.iter140.next = add i64 %prol.iter140, 1
  %prol.iter140.cmp.not = icmp eq i64 %prol.iter140.next, %xtraiter138
  br i1 %prol.iter140.cmp.not, label %scalar.ph113.prol.loopexit, label %scalar.ph113.prol, !llvm.loop !34

scalar.ph113.prol.loopexit:                       ; preds = %scalar.ph113.prol, %scalar.ph113.preheader
  %indvars.iv53.unr = phi i64 [ %indvars.iv53.ph, %scalar.ph113.preheader ], [ %indvars.iv.next54.prol, %scalar.ph113.prol ]
  %46 = sub nsw i64 %indvars.iv53.ph, %wide.trip.count56
  %47 = icmp ugt i64 %46, -4
  br i1 %47, label %._crit_edge, label %scalar.ph113

vector.ph115:                                     ; preds = %.lr.ph39
  %n.vec117 = and i64 %wide.trip.count56, 2147483644
  br label %vector.body119

vector.body119:                                   ; preds = %vector.body119, %vector.ph115
  %index120 = phi i64 [ 0, %vector.ph115 ], [ %index.next123, %vector.body119 ]
  %48 = getelementptr inbounds double, ptr %37, i64 %index120
  %49 = getelementptr inbounds i8, ptr %48, i64 16
  %wide.load121 = load <2 x double>, ptr %48, align 8, !tbaa !27
  %wide.load122 = load <2 x double>, ptr %49, align 8, !tbaa !27
  %50 = getelementptr inbounds double, ptr %39, i64 %index120
  %51 = getelementptr inbounds i8, ptr %50, i64 16
  store <2 x double> %wide.load121, ptr %50, align 8, !tbaa !27
  store <2 x double> %wide.load122, ptr %51, align 8, !tbaa !27
  %index.next123 = add nuw i64 %index120, 4
  %52 = icmp eq i64 %index.next123, %n.vec117
  br i1 %52, label %middle.block112, label %vector.body119, !llvm.loop !35

middle.block112:                                  ; preds = %vector.body119
  %cmp.n124 = icmp eq i64 %n.vec117, %wide.trip.count56
  br i1 %cmp.n124, label %._crit_edge, label %scalar.ph113.preheader

53:                                               ; preds = %1
  %54 = tail call noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %55 = icmp eq i32 %54, 0
  %56 = icmp sgt i32 %2, 0
  br i1 %55, label %.preheader28, label %.preheader29

.preheader29:                                     ; preds = %53
  br i1 %56, label %.lr.ph35, label %.loopexit

.lr.ph35:                                         ; preds = %.preheader29
  %57 = getelementptr inbounds i8, ptr %0, i64 192
  %58 = load ptr, ptr %57, align 8, !tbaa !24
  %59 = getelementptr inbounds i8, ptr %0, i64 224
  %60 = getelementptr inbounds i8, ptr %0, i64 184
  %61 = load ptr, ptr %60, align 8, !tbaa !25
  %62 = getelementptr inbounds i8, ptr %0, i64 24
  %63 = load ptr, ptr %62, align 8, !tbaa !26
  %wide.trip.count46 = zext nneg i32 %2 to i64
  %min.iters.check80 = icmp ult i32 %2, 12
  br i1 %min.iters.check80, label %scalar.ph79.preheader, label %vector.memcheck66

scalar.ph79.preheader:                            ; preds = %middle.block78, %vector.memcheck66, %.lr.ph35
  %indvars.iv43.ph = phi i64 [ 0, %vector.memcheck66 ], [ 0, %.lr.ph35 ], [ %n.vec83, %middle.block78 ]
  %xtraiter132 = and i64 %wide.trip.count46, 1
  %lcmp.mod133.not = icmp eq i64 %xtraiter132, 0
  br i1 %lcmp.mod133.not, label %scalar.ph79.prol.loopexit, label %scalar.ph79.prol

scalar.ph79.prol:                                 ; preds = %scalar.ph79.preheader
  %64 = getelementptr inbounds double, ptr %58, i64 %indvars.iv43.ph
  %65 = load double, ptr %64, align 8, !tbaa !27
  %66 = load double, ptr %59, align 8, !tbaa !36
  %67 = getelementptr inbounds double, ptr %61, i64 %indvars.iv43.ph
  %68 = load double, ptr %67, align 8, !tbaa !27
  %69 = fneg double %66
  %70 = tail call double @llvm.fmuladd.f64(double %69, double %68, double %65)
  %71 = getelementptr inbounds double, ptr %63, i64 %indvars.iv43.ph
  store double %70, ptr %71, align 8, !tbaa !27
  %indvars.iv.next44.prol = or disjoint i64 %indvars.iv43.ph, 1
  br label %scalar.ph79.prol.loopexit

scalar.ph79.prol.loopexit:                        ; preds = %scalar.ph79.prol, %scalar.ph79.preheader
  %indvars.iv43.unr = phi i64 [ %indvars.iv43.ph, %scalar.ph79.preheader ], [ %indvars.iv.next44.prol, %scalar.ph79.prol ]
  %72 = add nsw i64 %wide.trip.count46, -1
  %73 = icmp eq i64 %indvars.iv43.ph, %72
  br i1 %73, label %.loopexit, label %scalar.ph79

vector.memcheck66:                                ; preds = %.lr.ph35
  %74 = shl nuw nsw i64 %wide.trip.count46, 3
  %scevgep = getelementptr i8, ptr %63, i64 %74
  %scevgep67 = getelementptr i8, ptr %58, i64 %74
  %scevgep68 = getelementptr inbounds i8, ptr %0, i64 232
  %scevgep69 = getelementptr i8, ptr %61, i64 %74
  %bound0 = icmp ult ptr %63, %scevgep67
  %bound1 = icmp ult ptr %58, %scevgep
  %found.conflict = and i1 %bound0, %bound1
  %bound070 = icmp ult ptr %63, %scevgep68
  %bound171 = icmp ult ptr %59, %scevgep
  %found.conflict72 = and i1 %bound070, %bound171
  %conflict.rdx73 = or i1 %found.conflict, %found.conflict72
  %bound074 = icmp ult ptr %63, %scevgep69
  %bound175 = icmp ult ptr %61, %scevgep
  %found.conflict76 = and i1 %bound074, %bound175
  %conflict.rdx77 = or i1 %conflict.rdx73, %found.conflict76
  br i1 %conflict.rdx77, label %scalar.ph79.preheader, label %vector.ph81

vector.ph81:                                      ; preds = %vector.memcheck66
  %n.vec83 = and i64 %wide.trip.count46, 2147483644
  br label %vector.body85

vector.body85:                                    ; preds = %vector.body85, %vector.ph81
  %index86 = phi i64 [ 0, %vector.ph81 ], [ %index.next93, %vector.body85 ]
  %75 = getelementptr inbounds double, ptr %58, i64 %index86
  %76 = getelementptr inbounds i8, ptr %75, i64 16
  %wide.load87 = load <2 x double>, ptr %75, align 8, !tbaa !27, !alias.scope !37
  %wide.load88 = load <2 x double>, ptr %76, align 8, !tbaa !27, !alias.scope !37
  %77 = load <2 x double>, ptr %59, align 8
  %broadcast.splat92 = shufflevector <2 x double> %77, <2 x double> poison, <2 x i32> zeroinitializer
  %78 = getelementptr inbounds double, ptr %61, i64 %index86
  %79 = getelementptr inbounds i8, ptr %78, i64 16
  %wide.load89 = load <2 x double>, ptr %78, align 8, !tbaa !27, !alias.scope !40
  %wide.load90 = load <2 x double>, ptr %79, align 8, !tbaa !27, !alias.scope !40
  %80 = fneg <2 x double> %broadcast.splat92
  %81 = fneg <2 x double> %broadcast.splat92
  %82 = tail call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %80, <2 x double> %wide.load89, <2 x double> %wide.load87)
  %83 = tail call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %81, <2 x double> %wide.load90, <2 x double> %wide.load88)
  %84 = getelementptr inbounds double, ptr %63, i64 %index86
  %85 = getelementptr inbounds i8, ptr %84, i64 16
  store <2 x double> %82, ptr %84, align 8, !tbaa !27, !alias.scope !42, !noalias !44
  store <2 x double> %83, ptr %85, align 8, !tbaa !27, !alias.scope !42, !noalias !44
  %index.next93 = add nuw i64 %index86, 4
  %86 = icmp eq i64 %index.next93, %n.vec83
  br i1 %86, label %middle.block78, label %vector.body85, !llvm.loop !46

middle.block78:                                   ; preds = %vector.body85
  %cmp.n94 = icmp eq i64 %n.vec83, %wide.trip.count46
  br i1 %cmp.n94, label %.loopexit, label %scalar.ph79.preheader

.preheader28:                                     ; preds = %53
  br i1 %56, label %.lr.ph37, label %.loopexit

.lr.ph37:                                         ; preds = %.preheader28
  %87 = getelementptr inbounds i8, ptr %0, i64 192
  %88 = load ptr, ptr %87, align 8, !tbaa !24
  %89 = getelementptr inbounds i8, ptr %0, i64 24
  %90 = load ptr, ptr %89, align 8, !tbaa !26
  %wide.trip.count51 = zext nneg i32 %2 to i64
  %min.iters.check99 = icmp ult i32 %2, 6
  %91 = ptrtoint ptr %90 to i64
  %92 = ptrtoint ptr %88 to i64
  %93 = sub i64 %91, %92
  %diff.check96 = icmp ult i64 %93, 32
  %or.cond129 = select i1 %min.iters.check99, i1 true, i1 %diff.check96
  br i1 %or.cond129, label %scalar.ph98.preheader, label %vector.ph100

vector.ph100:                                     ; preds = %.lr.ph37
  %n.vec102 = and i64 %wide.trip.count51, 2147483644
  br label %vector.body104

vector.body104:                                   ; preds = %vector.body104, %vector.ph100
  %index105 = phi i64 [ 0, %vector.ph100 ], [ %index.next108, %vector.body104 ]
  %94 = getelementptr inbounds double, ptr %88, i64 %index105
  %95 = getelementptr inbounds i8, ptr %94, i64 16
  %wide.load106 = load <2 x double>, ptr %94, align 8, !tbaa !27
  %wide.load107 = load <2 x double>, ptr %95, align 8, !tbaa !27
  %96 = getelementptr inbounds double, ptr %90, i64 %index105
  %97 = getelementptr inbounds i8, ptr %96, i64 16
  store <2 x double> %wide.load106, ptr %96, align 8, !tbaa !27
  store <2 x double> %wide.load107, ptr %97, align 8, !tbaa !27
  %index.next108 = add nuw i64 %index105, 4
  %98 = icmp eq i64 %index.next108, %n.vec102
  br i1 %98, label %middle.block97, label %vector.body104, !llvm.loop !47

middle.block97:                                   ; preds = %vector.body104
  %cmp.n109 = icmp eq i64 %n.vec102, %wide.trip.count51
  br i1 %cmp.n109, label %.loopexit, label %scalar.ph98.preheader

scalar.ph98.preheader:                            ; preds = %middle.block97, %.lr.ph37
  %indvars.iv48.ph = phi i64 [ 0, %.lr.ph37 ], [ %n.vec102, %middle.block97 ]
  %xtraiter135 = and i64 %wide.trip.count51, 3
  %lcmp.mod136.not = icmp eq i64 %xtraiter135, 0
  br i1 %lcmp.mod136.not, label %scalar.ph98.prol.loopexit, label %scalar.ph98.prol

scalar.ph98.prol:                                 ; preds = %scalar.ph98.preheader, %scalar.ph98.prol
  %indvars.iv48.prol = phi i64 [ %indvars.iv.next49.prol, %scalar.ph98.prol ], [ %indvars.iv48.ph, %scalar.ph98.preheader ]
  %prol.iter137 = phi i64 [ %prol.iter137.next, %scalar.ph98.prol ], [ 0, %scalar.ph98.preheader ]
  %99 = getelementptr inbounds double, ptr %88, i64 %indvars.iv48.prol
  %100 = load double, ptr %99, align 8, !tbaa !27
  %101 = getelementptr inbounds double, ptr %90, i64 %indvars.iv48.prol
  store double %100, ptr %101, align 8, !tbaa !27
  %indvars.iv.next49.prol = add nuw nsw i64 %indvars.iv48.prol, 1
  %prol.iter137.next = add i64 %prol.iter137, 1
  %prol.iter137.cmp.not = icmp eq i64 %prol.iter137.next, %xtraiter135
  br i1 %prol.iter137.cmp.not, label %scalar.ph98.prol.loopexit, label %scalar.ph98.prol, !llvm.loop !48

scalar.ph98.prol.loopexit:                        ; preds = %scalar.ph98.prol, %scalar.ph98.preheader
  %indvars.iv48.unr = phi i64 [ %indvars.iv48.ph, %scalar.ph98.preheader ], [ %indvars.iv.next49.prol, %scalar.ph98.prol ]
  %102 = sub nsw i64 %indvars.iv48.ph, %wide.trip.count51
  %103 = icmp ugt i64 %102, -4
  br i1 %103, label %.loopexit, label %scalar.ph98

scalar.ph98:                                      ; preds = %scalar.ph98.prol.loopexit, %scalar.ph98
  %indvars.iv48 = phi i64 [ %indvars.iv.next49.3, %scalar.ph98 ], [ %indvars.iv48.unr, %scalar.ph98.prol.loopexit ]
  %104 = getelementptr inbounds double, ptr %88, i64 %indvars.iv48
  %105 = load double, ptr %104, align 8, !tbaa !27
  %106 = getelementptr inbounds double, ptr %90, i64 %indvars.iv48
  store double %105, ptr %106, align 8, !tbaa !27
  %indvars.iv.next49 = add nuw nsw i64 %indvars.iv48, 1
  %107 = getelementptr inbounds double, ptr %88, i64 %indvars.iv.next49
  %108 = load double, ptr %107, align 8, !tbaa !27
  %109 = getelementptr inbounds double, ptr %90, i64 %indvars.iv.next49
  store double %108, ptr %109, align 8, !tbaa !27
  %indvars.iv.next49.1 = add nuw nsw i64 %indvars.iv48, 2
  %110 = getelementptr inbounds double, ptr %88, i64 %indvars.iv.next49.1
  %111 = load double, ptr %110, align 8, !tbaa !27
  %112 = getelementptr inbounds double, ptr %90, i64 %indvars.iv.next49.1
  store double %111, ptr %112, align 8, !tbaa !27
  %indvars.iv.next49.2 = add nuw nsw i64 %indvars.iv48, 3
  %113 = getelementptr inbounds double, ptr %88, i64 %indvars.iv.next49.2
  %114 = load double, ptr %113, align 8, !tbaa !27
  %115 = getelementptr inbounds double, ptr %90, i64 %indvars.iv.next49.2
  store double %114, ptr %115, align 8, !tbaa !27
  %indvars.iv.next49.3 = add nuw nsw i64 %indvars.iv48, 4
  %exitcond52.not.3 = icmp eq i64 %indvars.iv.next49.3, %wide.trip.count51
  br i1 %exitcond52.not.3, label %.loopexit, label %scalar.ph98, !llvm.loop !49

scalar.ph79:                                      ; preds = %scalar.ph79.prol.loopexit, %scalar.ph79
  %indvars.iv43 = phi i64 [ %indvars.iv.next44.1, %scalar.ph79 ], [ %indvars.iv43.unr, %scalar.ph79.prol.loopexit ]
  %116 = getelementptr inbounds double, ptr %58, i64 %indvars.iv43
  %117 = load double, ptr %116, align 8, !tbaa !27
  %118 = load double, ptr %59, align 8, !tbaa !36
  %119 = getelementptr inbounds double, ptr %61, i64 %indvars.iv43
  %120 = load double, ptr %119, align 8, !tbaa !27
  %121 = fneg double %118
  %122 = tail call double @llvm.fmuladd.f64(double %121, double %120, double %117)
  %123 = getelementptr inbounds double, ptr %63, i64 %indvars.iv43
  store double %122, ptr %123, align 8, !tbaa !27
  %indvars.iv.next44 = add nuw nsw i64 %indvars.iv43, 1
  %124 = getelementptr inbounds double, ptr %58, i64 %indvars.iv.next44
  %125 = load double, ptr %124, align 8, !tbaa !27
  %126 = load double, ptr %59, align 8, !tbaa !36
  %127 = getelementptr inbounds double, ptr %61, i64 %indvars.iv.next44
  %128 = load double, ptr %127, align 8, !tbaa !27
  %129 = fneg double %126
  %130 = tail call double @llvm.fmuladd.f64(double %129, double %128, double %125)
  %131 = getelementptr inbounds double, ptr %63, i64 %indvars.iv.next44
  store double %130, ptr %131, align 8, !tbaa !27
  %indvars.iv.next44.1 = add nuw nsw i64 %indvars.iv43, 2
  %exitcond47.not.1 = icmp eq i64 %indvars.iv.next44.1, %wide.trip.count46
  br i1 %exitcond47.not.1, label %.loopexit, label %scalar.ph79, !llvm.loop !50

scalar.ph:                                        ; preds = %scalar.ph.prol.loopexit, %scalar.ph
  %indvars.iv = phi i64 [ %indvars.iv.next.3, %scalar.ph ], [ %indvars.iv.unr, %scalar.ph.prol.loopexit ]
  %132 = getelementptr inbounds double, ptr %8, i64 %indvars.iv
  %133 = load double, ptr %132, align 8, !tbaa !27
  %134 = getelementptr inbounds double, ptr %10, i64 %indvars.iv
  %135 = load double, ptr %134, align 8, !tbaa !27
  %136 = fsub double %133, %135
  %137 = getelementptr inbounds double, ptr %12, i64 %indvars.iv
  store double %136, ptr %137, align 8, !tbaa !27
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %138 = getelementptr inbounds double, ptr %8, i64 %indvars.iv.next
  %139 = load double, ptr %138, align 8, !tbaa !27
  %140 = getelementptr inbounds double, ptr %10, i64 %indvars.iv.next
  %141 = load double, ptr %140, align 8, !tbaa !27
  %142 = fsub double %139, %141
  %143 = getelementptr inbounds double, ptr %12, i64 %indvars.iv.next
  store double %142, ptr %143, align 8, !tbaa !27
  %indvars.iv.next.1 = add nuw nsw i64 %indvars.iv, 2
  %144 = getelementptr inbounds double, ptr %8, i64 %indvars.iv.next.1
  %145 = load double, ptr %144, align 8, !tbaa !27
  %146 = getelementptr inbounds double, ptr %10, i64 %indvars.iv.next.1
  %147 = load double, ptr %146, align 8, !tbaa !27
  %148 = fsub double %145, %147
  %149 = getelementptr inbounds double, ptr %12, i64 %indvars.iv.next.1
  store double %148, ptr %149, align 8, !tbaa !27
  %indvars.iv.next.2 = add nuw nsw i64 %indvars.iv, 3
  %150 = getelementptr inbounds double, ptr %8, i64 %indvars.iv.next.2
  %151 = load double, ptr %150, align 8, !tbaa !27
  %152 = getelementptr inbounds double, ptr %10, i64 %indvars.iv.next.2
  %153 = load double, ptr %152, align 8, !tbaa !27
  %154 = fsub double %151, %153
  %155 = getelementptr inbounds double, ptr %12, i64 %indvars.iv.next.2
  store double %154, ptr %155, align 8, !tbaa !27
  %indvars.iv.next.3 = add nuw nsw i64 %indvars.iv, 4
  %exitcond.not.3 = icmp eq i64 %indvars.iv.next.3, %wide.trip.count
  br i1 %exitcond.not.3, label %.loopexit, label %scalar.ph, !llvm.loop !51

scalar.ph113:                                     ; preds = %scalar.ph113.prol.loopexit, %scalar.ph113
  %indvars.iv53 = phi i64 [ %indvars.iv.next54.3, %scalar.ph113 ], [ %indvars.iv53.unr, %scalar.ph113.prol.loopexit ]
  %156 = getelementptr inbounds double, ptr %37, i64 %indvars.iv53
  %157 = load double, ptr %156, align 8, !tbaa !27
  %158 = getelementptr inbounds double, ptr %39, i64 %indvars.iv53
  store double %157, ptr %158, align 8, !tbaa !27
  %indvars.iv.next54 = add nuw nsw i64 %indvars.iv53, 1
  %159 = getelementptr inbounds double, ptr %37, i64 %indvars.iv.next54
  %160 = load double, ptr %159, align 8, !tbaa !27
  %161 = getelementptr inbounds double, ptr %39, i64 %indvars.iv.next54
  store double %160, ptr %161, align 8, !tbaa !27
  %indvars.iv.next54.1 = add nuw nsw i64 %indvars.iv53, 2
  %162 = getelementptr inbounds double, ptr %37, i64 %indvars.iv.next54.1
  %163 = load double, ptr %162, align 8, !tbaa !27
  %164 = getelementptr inbounds double, ptr %39, i64 %indvars.iv.next54.1
  store double %163, ptr %164, align 8, !tbaa !27
  %indvars.iv.next54.2 = add nuw nsw i64 %indvars.iv53, 3
  %165 = getelementptr inbounds double, ptr %37, i64 %indvars.iv.next54.2
  %166 = load double, ptr %165, align 8, !tbaa !27
  %167 = getelementptr inbounds double, ptr %39, i64 %indvars.iv.next54.2
  store double %166, ptr %167, align 8, !tbaa !27
  %indvars.iv.next54.3 = add nuw nsw i64 %indvars.iv53, 4
  %exitcond57.not.3 = icmp eq i64 %indvars.iv.next54.3, %wide.trip.count56
  br i1 %exitcond57.not.3, label %._crit_edge, label %scalar.ph113, !llvm.loop !52

._crit_edge:                                      ; preds = %scalar.ph113.prol.loopexit, %scalar.ph113, %middle.block112, %.preheader.._crit_edge_crit_edge
  %168 = phi ptr [ %.pre, %.preheader.._crit_edge_crit_edge ], [ %39, %middle.block112 ], [ %39, %scalar.ph113 ], [ %39, %scalar.ph113.prol.loopexit ]
  %169 = getelementptr inbounds i8, ptr %0, i64 16
  %170 = load ptr, ptr %169, align 8, !tbaa !53
  %171 = load ptr, ptr %170, align 8, !tbaa !54
  %172 = getelementptr i8, ptr %171, i64 -24
  %173 = load i64, ptr %172, align 8
  %174 = getelementptr inbounds i8, ptr %170, i64 %173
  %175 = getelementptr inbounds i8, ptr %0, i64 184
  %176 = load ptr, ptr %175, align 8, !tbaa !25
  %177 = load ptr, ptr %174, align 8, !tbaa !54
  %178 = getelementptr inbounds i8, ptr %177, i64 120
  %179 = load ptr, ptr %178, align 8
  %180 = tail call noundef i32 %179(ptr noundef nonnull align 8 dereferenceable(12) %174, i32 noundef 1, double noundef -1.000000e+00, ptr noundef %176, i32 noundef %2, double noundef 1.000000e+00, ptr noundef %168, i32 noundef %2)
  br label %.loopexit

.loopexit:                                        ; preds = %scalar.ph.prol.loopexit, %scalar.ph, %scalar.ph79.prol.loopexit, %scalar.ph79, %scalar.ph98.prol.loopexit, %scalar.ph98, %middle.block, %middle.block78, %middle.block97, %.preheader31, %.preheader29, %.preheader28, %._crit_edge
  %181 = getelementptr inbounds i8, ptr %0, i64 808
  %182 = load ptr, ptr %181, align 8, !tbaa !56
  %183 = getelementptr inbounds i8, ptr %0, i64 192
  %184 = load ptr, ptr %183, align 8, !tbaa !24
  %185 = sext i32 %2 to i64
  %186 = getelementptr inbounds double, ptr %184, i64 %185
  %187 = getelementptr inbounds i8, ptr %0, i64 24
  %188 = load ptr, ptr %187, align 8, !tbaa !26
  %189 = load ptr, ptr %182, align 8, !tbaa !54
  %190 = getelementptr inbounds i8, ptr %189, i64 128
  %191 = load ptr, ptr %190, align 8
  %192 = tail call noundef i32 %191(ptr noundef nonnull align 8 dereferenceable(12) %182, i32 noundef 1, double noundef 1.000000e+00, ptr noundef %186, i32 noundef %3, double noundef 1.000000e+00, ptr noundef %188, i32 noundef %2)
  ret i32 0
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800)) 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: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare <2 x double> @llvm.fmuladd.v2f64(<2 x double>, <2 x double>, <2 x double>) #4

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 = { 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 nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #4 = { 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, !17, i64 220}
!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 = !{!6, !10, i64 192}
!25 = !{!6, !10, i64 184}
!26 = !{!6, !10, i64 24}
!27 = !{!15, !15, i64 0}
!28 = distinct !{!28, !29}
!29 = !{!"llvm.loop.unroll.disable"}
!30 = distinct !{!30, !31, !32, !33}
!31 = !{!"llvm.loop.mustprogress"}
!32 = !{!"llvm.loop.isvectorized", i32 1}
!33 = !{!"llvm.loop.unroll.runtime.disable"}
!34 = distinct !{!34, !29}
!35 = distinct !{!35, !31, !32, !33}
!36 = !{!6, !15, i64 224}
!37 = !{!38}
!38 = distinct !{!38, !39}
!39 = distinct !{!39, !"LVerDomain"}
!40 = !{!41}
!41 = distinct !{!41, !39}
!42 = !{!43}
!43 = distinct !{!43, !39}
!44 = !{!38, !45, !41}
!45 = distinct !{!45, !39}
!46 = distinct !{!46, !31, !32, !33}
!47 = distinct !{!47, !31, !32, !33}
!48 = distinct !{!48, !29}
!49 = distinct !{!49, !31, !32}
!50 = distinct !{!50, !31, !32}
!51 = distinct !{!51, !31, !32}
!52 = distinct !{!52, !31, !32}
!53 = !{!6, !10, i64 16}
!54 = !{!55, !55, i64 0}
!55 = !{!"vtable pointer", !9, i64 0}
!56 = !{!57, !10, i64 808}
!57 = !{!"_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}


; Effective O3 passes: BDCEPass,EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LICMPass,LoopLoadEliminationPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,LoopVectorizePass,SROAPass,SimplifyCFGPass,TailCallElimPass,VectorCombinePass