; 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 }

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [103 x i8], align 1
@.str.44 = external hidden unnamed_addr constant [19 x i8], align 1
@.str.45 = external hidden unnamed_addr constant [57 x i8], align 1
@.str.46 = external hidden unnamed_addr constant [18 x i8], align 1

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #1

declare noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) #1

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare { i64, i1 } @llvm.umul.with.overflow.i64(i64, i64) #2

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

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) #4

; Function Attrs: 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)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064)) #5 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) #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) #6 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) #6 align 2

; Function Attrs: nounwind
declare i32 @snprintf(ptr noundef, i64 noundef, ptr noundef, ...) #7

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoLowerEv(ptr noundef nonnull align 8 dereferenceable(40)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoUpperEv(ptr noundef nonnull align 8 dereferenceable(40)) #6 align 2

declare noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) #1

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem11performStepEPKdS2_S2_S2_S2_S2_S2_S2_S2_RiRNS_15SubjectToStatusERNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5, ptr noundef %6, ptr noundef %7, ptr noundef %8, ptr noundef %9, ptr noundef nonnull align 4 dereferenceable(4) %10, ptr noundef nonnull align 4 dereferenceable(4) %11, ptr noundef nonnull align 4 dereferenceable(4) %12) #8 align 2 {
  %14 = alloca i32, align 4
  %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 ptr, align 8
  %25 = alloca ptr, align 8
  %26 = alloca ptr, align 8
  %27 = alloca ptr, align 8
  %28 = alloca i32, align 4
  %29 = alloca i32, align 4
  %30 = alloca i32, align 4
  %31 = alloca i32, align 4
  %32 = alloca i32, align 4
  %33 = alloca i32, align 4
  %34 = alloca i32, align 4
  %35 = alloca i32, align 4
  %36 = alloca i32, align 4
  %37 = alloca i32, align 4
  %38 = alloca ptr, align 8
  %39 = alloca ptr, align 8
  %40 = alloca ptr, align 8
  %41 = alloca ptr, align 8
  %42 = alloca i32, align 4
  %43 = alloca ptr, align 8
  %44 = alloca ptr, align 8
  %45 = alloca ptr, align 8
  %46 = alloca ptr, align 8
  %47 = alloca ptr, align 8
  %48 = alloca ptr, align 8
  %49 = alloca i32, align 4
  %50 = alloca [160 x i8], align 16
  store ptr %0, ptr %15, align 8, !tbaa !5
  store ptr %1, ptr %16, align 8, !tbaa !5
  store ptr %2, ptr %17, align 8, !tbaa !5
  store ptr %3, ptr %18, align 8, !tbaa !5
  store ptr %4, ptr %19, align 8, !tbaa !5
  store ptr %5, ptr %20, align 8, !tbaa !5
  store ptr %6, ptr %21, align 8, !tbaa !5
  store ptr %7, ptr %22, align 8, !tbaa !5
  store ptr %8, ptr %23, align 8, !tbaa !5
  store ptr %9, ptr %24, align 8, !tbaa !5
  store ptr %10, ptr %25, align 8, !tbaa !5
  store ptr %11, ptr %26, align 8, !tbaa !5
  store ptr %12, ptr %27, align 8, !tbaa !5
  %51 = load ptr, ptr %15, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %30) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %31) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #9
  %52 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %51)
  store i32 %52, ptr %32, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %33) #9
  %53 = call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %51)
  store i32 %53, ptr %33, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #9
  %54 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %51)
  store i32 %54, ptr %34, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %35) #9
  %55 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %51)
  store i32 %55, ptr %35, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #9
  %56 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %51)
  store i32 %56, ptr %36, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %37) #9
  %57 = call noundef i32 @_ZNK7qpOASES8QProblem7getNIACEv(ptr noundef nonnull align 8 dereferenceable(1064) %51)
  store i32 %57, ptr %37, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %41) #9
  %58 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 6
  %59 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %58)
  %60 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %59, ptr noundef %38)
  %61 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 6
  %62 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %61)
  %63 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %62, ptr noundef %39)
  %64 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 5
  %65 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %64)
  %66 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %65, ptr noundef %40)
  %67 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 5
  %68 = call noundef ptr @_ZN7qpOASES11Constraints11getInactiveEv(ptr noundef nonnull align 8 dereferenceable(120) %67)
  %69 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %68, ptr noundef %41)
  %70 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  store double 1.000000e+00, ptr %70, align 8, !tbaa !11
  %71 = load ptr, ptr %25, align 8, !tbaa !5
  store i32 -1, ptr %71, align 4, !tbaa !9
  %72 = load ptr, ptr %26, align 8, !tbaa !5
  store i32 4, ptr %72, align 4, !tbaa !26
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #9
  store i32 -1, ptr %42, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %43) #9
  %73 = load i32, ptr %32, align 4, !tbaa !9
  %74 = load i32, ptr %33, align 4, !tbaa !9
  %75 = call noundef i32 @_ZN7qpOASES6getMaxEii(i32 noundef %73, i32 noundef %74)
  %76 = sext i32 %75 to i64
  %77 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %76, i64 8)
  %78 = extractvalue { i64, i1 } %77, 1
  %79 = extractvalue { i64, i1 } %77, 0
  %80 = select i1 %78, i64 -1, i64 %79
  %81 = call noalias noundef nonnull ptr @_Znam(i64 noundef %80) #10
  store ptr %81, ptr %43, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %44) #9
  %82 = load i32, ptr %32, align 4, !tbaa !9
  %83 = load i32, ptr %33, align 4, !tbaa !9
  %84 = call noundef i32 @_ZN7qpOASES6getMaxEii(i32 noundef %82, i32 noundef %83)
  %85 = sext i32 %84 to i64
  %86 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %85, i64 8)
  %87 = extractvalue { i64, i1 } %86, 1
  %88 = extractvalue { i64, i1 } %86, 0
  %89 = select i1 %87, i64 -1, i64 %88
  %90 = call noalias noundef nonnull ptr @_Znam(i64 noundef %89) #10
  store ptr %90, ptr %44, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %45) #9
  %91 = load i32, ptr %33, align 4, !tbaa !9
  %92 = sext i32 %91 to i64
  %93 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %92, i64 8)
  %94 = extractvalue { i64, i1 } %93, 1
  %95 = extractvalue { i64, i1 } %93, 0
  %96 = select i1 %94, i64 -1, i64 %95
  %97 = call noalias noundef nonnull ptr @_Znam(i64 noundef %96) #10
  store ptr %97, ptr %45, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #9
  %98 = load i32, ptr %33, align 4, !tbaa !9
  %99 = sext i32 %98 to i64
  %100 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %99, i64 8)
  %101 = extractvalue { i64, i1 } %100, 1
  %102 = extractvalue { i64, i1 } %100, 0
  %103 = select i1 %101, i64 -1, i64 %102
  %104 = call noalias noundef nonnull ptr @_Znam(i64 noundef %103) #10
  store ptr %104, ptr %46, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #9
  %105 = load i32, ptr %33, align 4, !tbaa !9
  %106 = sext i32 %105 to i64
  %107 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %106, i64 8)
  %108 = extractvalue { i64, i1 } %107, 1
  %109 = extractvalue { i64, i1 } %107, 0
  %110 = select i1 %108, i64 -1, i64 %109
  %111 = call noalias noundef nonnull ptr @_Znam(i64 noundef %110) #10
  store ptr %111, ptr %47, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #9
  %112 = load i32, ptr %32, align 4, !tbaa !9
  %113 = sext i32 %112 to i64
  %114 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %113, i64 8)
  %115 = extractvalue { i64, i1 } %114, 1
  %116 = extractvalue { i64, i1 } %114, 0
  %117 = select i1 %115, i64 -1, i64 %116
  %118 = call noalias noundef nonnull ptr @_Znam(i64 noundef %117) #10
  store ptr %118, ptr %48, align 8, !tbaa !5
  store i32 0, ptr %29, align 4, !tbaa !9
  br label %119

119:                                              ; preds = %138, %13
  %120 = load i32, ptr %29, align 4, !tbaa !9
  %121 = load i32, ptr %34, align 4, !tbaa !9
  %122 = icmp slt i32 %120, %121
  br i1 %122, label %123, label %141

123:                                              ; preds = %119
  %124 = load ptr, ptr %38, align 8, !tbaa !5
  %125 = load i32, ptr %29, align 4, !tbaa !9
  %126 = sext i32 %125 to i64
  %127 = getelementptr inbounds i32, ptr %124, i64 %126
  %128 = load i32, ptr %127, align 4, !tbaa !9
  store i32 %128, ptr %31, align 4, !tbaa !9
  %129 = load ptr, ptr %22, align 8, !tbaa !5
  %130 = load i32, ptr %29, align 4, !tbaa !9
  %131 = sext i32 %130 to i64
  %132 = getelementptr inbounds double, ptr %129, i64 %131
  %133 = load double, ptr %132, align 8, !tbaa !27
  %134 = load ptr, ptr %48, align 8, !tbaa !5
  %135 = load i32, ptr %31, align 4, !tbaa !9
  %136 = sext i32 %135 to i64
  %137 = getelementptr inbounds double, ptr %134, i64 %136
  store double %133, ptr %137, align 8, !tbaa !27
  br label %138

138:                                              ; preds = %123
  %139 = load i32, ptr %29, align 4, !tbaa !9
  %140 = add nsw i32 %139, 1
  store i32 %140, ptr %29, align 4, !tbaa !9
  br label %119, !llvm.loop !28

141:                                              ; preds = %119
  store i32 0, ptr %29, align 4, !tbaa !9
  br label %142

142:                                              ; preds = %161, %141
  %143 = load i32, ptr %29, align 4, !tbaa !9
  %144 = load i32, ptr %35, align 4, !tbaa !9
  %145 = icmp slt i32 %143, %144
  br i1 %145, label %146, label %164

146:                                              ; preds = %142
  %147 = load ptr, ptr %39, align 8, !tbaa !5
  %148 = load i32, ptr %29, align 4, !tbaa !9
  %149 = sext i32 %148 to i64
  %150 = getelementptr inbounds i32, ptr %147, i64 %149
  %151 = load i32, ptr %150, align 4, !tbaa !9
  store i32 %151, ptr %31, align 4, !tbaa !9
  %152 = load ptr, ptr %21, align 8, !tbaa !5
  %153 = load i32, ptr %29, align 4, !tbaa !9
  %154 = sext i32 %153 to i64
  %155 = getelementptr inbounds double, ptr %152, i64 %154
  %156 = load double, ptr %155, align 8, !tbaa !27
  %157 = load ptr, ptr %48, align 8, !tbaa !5
  %158 = load i32, ptr %31, align 4, !tbaa !9
  %159 = sext i32 %158 to i64
  %160 = getelementptr inbounds double, ptr %157, i64 %159
  store double %156, ptr %160, align 8, !tbaa !27
  br label %161

161:                                              ; preds = %146
  %162 = load i32, ptr %29, align 4, !tbaa !9
  %163 = add nsw i32 %162, 1
  store i32 %163, ptr %29, align 4, !tbaa !9
  br label %142, !llvm.loop !30

164:                                              ; preds = %142
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %165

165:                                              ; preds = %197, %164
  %166 = load i32, ptr %28, align 4, !tbaa !9
  %167 = load i32, ptr %36, align 4, !tbaa !9
  %168 = icmp slt i32 %166, %167
  br i1 %168, label %169, label %200

169:                                              ; preds = %165
  %170 = load ptr, ptr %40, align 8, !tbaa !5
  %171 = load i32, ptr %28, align 4, !tbaa !9
  %172 = sext i32 %171 to i64
  %173 = getelementptr inbounds i32, ptr %170, i64 %172
  %174 = load i32, ptr %173, align 4, !tbaa !9
  store i32 %174, ptr %30, align 4, !tbaa !9
  %175 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 10
  %176 = load ptr, ptr %175, align 8, !tbaa !31
  %177 = load i32, ptr %32, align 4, !tbaa !9
  %178 = load i32, ptr %30, align 4, !tbaa !9
  %179 = add nsw i32 %177, %178
  %180 = sext i32 %179 to i64
  %181 = getelementptr inbounds double, ptr %176, i64 %180
  %182 = load double, ptr %181, align 8, !tbaa !27
  %183 = load ptr, ptr %43, align 8, !tbaa !5
  %184 = load i32, ptr %28, align 4, !tbaa !9
  %185 = sext i32 %184 to i64
  %186 = getelementptr inbounds double, ptr %183, i64 %185
  store double %182, ptr %186, align 8, !tbaa !27
  %187 = load ptr, ptr %23, align 8, !tbaa !5
  %188 = load i32, ptr %28, align 4, !tbaa !9
  %189 = sext i32 %188 to i64
  %190 = getelementptr inbounds double, ptr %187, i64 %189
  %191 = load double, ptr %190, align 8, !tbaa !27
  %192 = fneg double %191
  %193 = load ptr, ptr %44, align 8, !tbaa !5
  %194 = load i32, ptr %28, align 4, !tbaa !9
  %195 = sext i32 %194 to i64
  %196 = getelementptr inbounds double, ptr %193, i64 %195
  store double %192, ptr %196, align 8, !tbaa !27
  br label %197

197:                                              ; preds = %169
  %198 = load i32, ptr %28, align 4, !tbaa !9
  %199 = add nsw i32 %198, 1
  store i32 %199, ptr %28, align 4, !tbaa !9
  br label %165, !llvm.loop !32

200:                                              ; preds = %165
  %201 = load i32, ptr %36, align 4, !tbaa !9
  %202 = load ptr, ptr %40, align 8, !tbaa !5
  %203 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 5
  %204 = load ptr, ptr %43, align 8, !tbaa !5
  %205 = load ptr, ptr %44, align 8, !tbaa !5
  %206 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 23
  %207 = getelementptr inbounds %"class.qpOASES::Options", ptr %206, i32 0, i32 13
  %208 = load double, ptr %207, align 8, !tbaa !33
  %209 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 23
  %210 = getelementptr inbounds %"class.qpOASES::Options", ptr %209, i32 0, i32 14
  %211 = load double, ptr %210, align 8, !tbaa !34
  %212 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %213 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %51, i32 noundef %201, ptr noundef %202, ptr noundef %203, ptr noundef %204, ptr noundef %205, double noundef %208, double noundef %211, ptr noundef nonnull align 8 dereferenceable(8) %212, ptr noundef nonnull align 4 dereferenceable(4) %42)
  %214 = load i32, ptr %42, align 4, !tbaa !9
  %215 = icmp sge i32 %214, 0
  br i1 %215, label %216, label %221

216:                                              ; preds = %200
  %217 = load i32, ptr %42, align 4, !tbaa !9
  %218 = load ptr, ptr %25, align 8, !tbaa !5
  store i32 %217, ptr %218, align 4, !tbaa !9
  %219 = load ptr, ptr %26, align 8, !tbaa !5
  store i32 0, ptr %219, align 4, !tbaa !26
  %220 = load ptr, ptr %27, align 8, !tbaa !5
  store i32 0, ptr %220, align 4, !tbaa !35
  br label %221

221:                                              ; preds = %216, %200
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %222

222:                                              ; preds = %252, %221
  %223 = load i32, ptr %28, align 4, !tbaa !9
  %224 = load i32, ptr %35, align 4, !tbaa !9
  %225 = icmp slt i32 %223, %224
  br i1 %225, label %226, label %255

226:                                              ; preds = %222
  %227 = load ptr, ptr %39, align 8, !tbaa !5
  %228 = load i32, ptr %28, align 4, !tbaa !9
  %229 = sext i32 %228 to i64
  %230 = getelementptr inbounds i32, ptr %227, i64 %229
  %231 = load i32, ptr %230, align 4, !tbaa !9
  store i32 %231, ptr %30, align 4, !tbaa !9
  %232 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 10
  %233 = load ptr, ptr %232, align 8, !tbaa !31
  %234 = load i32, ptr %30, align 4, !tbaa !9
  %235 = sext i32 %234 to i64
  %236 = getelementptr inbounds double, ptr %233, i64 %235
  %237 = load double, ptr %236, align 8, !tbaa !27
  %238 = load ptr, ptr %43, align 8, !tbaa !5
  %239 = load i32, ptr %28, align 4, !tbaa !9
  %240 = sext i32 %239 to i64
  %241 = getelementptr inbounds double, ptr %238, i64 %240
  store double %237, ptr %241, align 8, !tbaa !27
  %242 = load ptr, ptr %24, align 8, !tbaa !5
  %243 = load i32, ptr %28, align 4, !tbaa !9
  %244 = sext i32 %243 to i64
  %245 = getelementptr inbounds double, ptr %242, i64 %244
  %246 = load double, ptr %245, align 8, !tbaa !27
  %247 = fneg double %246
  %248 = load ptr, ptr %44, align 8, !tbaa !5
  %249 = load i32, ptr %28, align 4, !tbaa !9
  %250 = sext i32 %249 to i64
  %251 = getelementptr inbounds double, ptr %248, i64 %250
  store double %247, ptr %251, align 8, !tbaa !27
  br label %252

252:                                              ; preds = %226
  %253 = load i32, ptr %28, align 4, !tbaa !9
  %254 = add nsw i32 %253, 1
  store i32 %254, ptr %28, align 4, !tbaa !9
  br label %222, !llvm.loop !36

255:                                              ; preds = %222
  %256 = load i32, ptr %35, align 4, !tbaa !9
  %257 = load ptr, ptr %39, align 8, !tbaa !5
  %258 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 6
  %259 = load ptr, ptr %43, align 8, !tbaa !5
  %260 = load ptr, ptr %44, align 8, !tbaa !5
  %261 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 23
  %262 = getelementptr inbounds %"class.qpOASES::Options", ptr %261, i32 0, i32 13
  %263 = load double, ptr %262, align 8, !tbaa !33
  %264 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 23
  %265 = getelementptr inbounds %"class.qpOASES::Options", ptr %264, i32 0, i32 14
  %266 = load double, ptr %265, align 8, !tbaa !34
  %267 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %268 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %51, i32 noundef %256, ptr noundef %257, ptr noundef %258, ptr noundef %259, ptr noundef %260, double noundef %263, double noundef %266, ptr noundef nonnull align 8 dereferenceable(8) %267, ptr noundef nonnull align 4 dereferenceable(4) %42)
  %269 = load i32, ptr %42, align 4, !tbaa !9
  %270 = icmp sge i32 %269, 0
  br i1 %270, label %271, label %276

271:                                              ; preds = %255
  %272 = load i32, ptr %42, align 4, !tbaa !9
  %273 = load ptr, ptr %25, align 8, !tbaa !5
  store i32 %272, ptr %273, align 4, !tbaa !9
  %274 = load ptr, ptr %26, align 8, !tbaa !5
  store i32 0, ptr %274, align 4, !tbaa !26
  %275 = load ptr, ptr %27, align 8, !tbaa !5
  store i32 1, ptr %275, align 4, !tbaa !35
  br label %276

276:                                              ; preds = %271, %255
  %277 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 12
  %278 = load ptr, ptr %277, align 8, !tbaa !37
  %279 = icmp eq ptr %278, null
  br i1 %279, label %280, label %293

280:                                              ; preds = %276
  %281 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 2
  %282 = load ptr, ptr %281, align 8, !tbaa !39
  %283 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 5
  %284 = call noundef ptr @_ZN7qpOASES11Constraints11getInactiveEv(ptr noundef nonnull align 8 dereferenceable(120) %283)
  %285 = load ptr, ptr %48, align 8, !tbaa !5
  %286 = load i32, ptr %32, align 4, !tbaa !9
  %287 = load ptr, ptr %47, align 8, !tbaa !5
  %288 = load i32, ptr %33, align 4, !tbaa !9
  %289 = load ptr, ptr %282, align 8, !tbaa !40
  %290 = getelementptr inbounds ptr, ptr %289, i64 17
  %291 = load ptr, ptr %290, align 8
  %292 = call noundef i32 %291(ptr noundef nonnull align 8 dereferenceable(12) %282, ptr noundef %284, ptr noundef null, i32 noundef 1, double noundef 1.000000e+00, ptr noundef %285, i32 noundef %286, double noundef 0.000000e+00, ptr noundef %287, i32 noundef %288, i32 noundef 0)
  br label %355

293:                                              ; preds = %276
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %294

294:                                              ; preds = %351, %293
  %295 = load i32, ptr %28, align 4, !tbaa !9
  %296 = load i32, ptr %37, align 4, !tbaa !9
  %297 = icmp slt i32 %295, %296
  br i1 %297, label %298, label %354

298:                                              ; preds = %294
  %299 = load ptr, ptr %41, align 8, !tbaa !5
  %300 = load i32, ptr %28, align 4, !tbaa !9
  %301 = sext i32 %300 to i64
  %302 = getelementptr inbounds i32, ptr %299, i64 %301
  %303 = load i32, ptr %302, align 4, !tbaa !9
  store i32 %303, ptr %30, align 4, !tbaa !9
  %304 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 5
  %305 = load i32, ptr %30, align 4, !tbaa !9
  %306 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %304, i32 noundef %305)
  %307 = icmp ne i32 %306, 0
  br i1 %307, label %308, label %350

308:                                              ; preds = %298
  %309 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 12
  %310 = load ptr, ptr %309, align 8, !tbaa !37
  %311 = load i32, ptr %30, align 4, !tbaa !9
  %312 = load ptr, ptr %48, align 8, !tbaa !5
  %313 = load ptr, ptr %47, align 8, !tbaa !5
  %314 = load i32, ptr %30, align 4, !tbaa !9
  %315 = sext i32 %314 to i64
  %316 = getelementptr inbounds double, ptr %313, i64 %315
  %317 = load ptr, ptr %310, align 8, !tbaa !40
  %318 = getelementptr inbounds ptr, ptr %317, i64 2
  %319 = load ptr, ptr %318, align 8
  %320 = call noundef i32 %319(ptr noundef nonnull align 8 dereferenceable(8) %310, i32 noundef %311, ptr noundef %312, ptr noundef %316)
  %321 = icmp ne i32 %320, 0
  br i1 %321, label %322, label %349

322:                                              ; preds = %308
  %323 = load ptr, ptr %44, align 8, !tbaa !5
  %324 = icmp eq ptr %323, null
  br i1 %324, label %326, label %325

325:                                              ; preds = %322
  call void @_ZdaPv(ptr noundef %323) #11
  br label %326

326:                                              ; preds = %325, %322
  %327 = load ptr, ptr %43, align 8, !tbaa !5
  %328 = icmp eq ptr %327, null
  br i1 %328, label %330, label %329

329:                                              ; preds = %326
  call void @_ZdaPv(ptr noundef %327) #11
  br label %330

330:                                              ; preds = %329, %326
  %331 = load ptr, ptr %47, align 8, !tbaa !5
  %332 = icmp eq ptr %331, null
  br i1 %332, label %334, label %333

333:                                              ; preds = %330
  call void @_ZdaPv(ptr noundef %331) #11
  br label %334

334:                                              ; preds = %333, %330
  %335 = load ptr, ptr %46, align 8, !tbaa !5
  %336 = icmp eq ptr %335, null
  br i1 %336, label %338, label %337

337:                                              ; preds = %334
  call void @_ZdaPv(ptr noundef %335) #11
  br label %338

338:                                              ; preds = %337, %334
  %339 = load ptr, ptr %45, align 8, !tbaa !5
  %340 = icmp eq ptr %339, null
  br i1 %340, label %342, label %341

341:                                              ; preds = %338
  call void @_ZdaPv(ptr noundef %339) #11
  br label %342

342:                                              ; preds = %341, %338
  %343 = load ptr, ptr %48, align 8, !tbaa !5
  %344 = icmp eq ptr %343, null
  br i1 %344, label %346, label %345

345:                                              ; preds = %342
  call void @_ZdaPv(ptr noundef %343) #11
  br label %346

346:                                              ; preds = %345, %342
  %347 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %348 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %347, i32 noundef 122, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 5095, i32 noundef 1)
  store i32 %348, ptr %14, align 4
  store i32 1, ptr %49, align 4
  br label %1058

349:                                              ; preds = %308
  br label %350

350:                                              ; preds = %349, %298
  br label %351

351:                                              ; preds = %350
  %352 = load i32, ptr %28, align 4, !tbaa !9
  %353 = add nsw i32 %352, 1
  store i32 %353, ptr %28, align 4, !tbaa !9
  br label %294, !llvm.loop !42

354:                                              ; preds = %294
  br label %355

355:                                              ; preds = %354, %280
  %356 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 5
  %357 = call noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoLowerEv(ptr noundef nonnull align 8 dereferenceable(40) %356)
  %358 = icmp eq i32 %357, 0
  br i1 %358, label %359, label %421

359:                                              ; preds = %355
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %360

360:                                              ; preds = %396, %359
  %361 = load i32, ptr %28, align 4, !tbaa !9
  %362 = load i32, ptr %37, align 4, !tbaa !9
  %363 = icmp slt i32 %361, %362
  br i1 %363, label %364, label %399

364:                                              ; preds = %360
  %365 = load ptr, ptr %41, align 8, !tbaa !5
  %366 = load i32, ptr %28, align 4, !tbaa !9
  %367 = sext i32 %366 to i64
  %368 = getelementptr inbounds i32, ptr %365, i64 %367
  %369 = load i32, ptr %368, align 4, !tbaa !9
  store i32 %369, ptr %30, align 4, !tbaa !9
  %370 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 10
  %371 = load ptr, ptr %370, align 8, !tbaa !43
  %372 = load i32, ptr %30, align 4, !tbaa !9
  %373 = sext i32 %372 to i64
  %374 = getelementptr inbounds double, ptr %371, i64 %373
  %375 = load double, ptr %374, align 8, !tbaa !27
  %376 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %375, double noundef 0.000000e+00)
  %377 = load ptr, ptr %43, align 8, !tbaa !5
  %378 = load i32, ptr %28, align 4, !tbaa !9
  %379 = sext i32 %378 to i64
  %380 = getelementptr inbounds double, ptr %377, i64 %379
  store double %376, ptr %380, align 8, !tbaa !27
  %381 = load ptr, ptr %17, align 8, !tbaa !5
  %382 = load i32, ptr %30, align 4, !tbaa !9
  %383 = sext i32 %382 to i64
  %384 = getelementptr inbounds double, ptr %381, i64 %383
  %385 = load double, ptr %384, align 8, !tbaa !27
  %386 = load ptr, ptr %47, align 8, !tbaa !5
  %387 = load i32, ptr %30, align 4, !tbaa !9
  %388 = sext i32 %387 to i64
  %389 = getelementptr inbounds double, ptr %386, i64 %388
  %390 = load double, ptr %389, align 8, !tbaa !27
  %391 = fsub double %385, %390
  %392 = load ptr, ptr %44, align 8, !tbaa !5
  %393 = load i32, ptr %28, align 4, !tbaa !9
  %394 = sext i32 %393 to i64
  %395 = getelementptr inbounds double, ptr %392, i64 %394
  store double %391, ptr %395, align 8, !tbaa !27
  br label %396

396:                                              ; preds = %364
  %397 = load i32, ptr %28, align 4, !tbaa !9
  %398 = add nsw i32 %397, 1
  store i32 %398, ptr %28, align 4, !tbaa !9
  br label %360, !llvm.loop !44

399:                                              ; preds = %360
  %400 = load i32, ptr %37, align 4, !tbaa !9
  %401 = load ptr, ptr %41, align 8, !tbaa !5
  %402 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 5
  %403 = load ptr, ptr %43, align 8, !tbaa !5
  %404 = load ptr, ptr %44, align 8, !tbaa !5
  %405 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 23
  %406 = getelementptr inbounds %"class.qpOASES::Options", ptr %405, i32 0, i32 13
  %407 = load double, ptr %406, align 8, !tbaa !33
  %408 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 23
  %409 = getelementptr inbounds %"class.qpOASES::Options", ptr %408, i32 0, i32 14
  %410 = load double, ptr %409, align 8, !tbaa !34
  %411 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %412 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %51, i32 noundef %400, ptr noundef %401, ptr noundef %402, ptr noundef %403, ptr noundef %404, double noundef %407, double noundef %410, ptr noundef nonnull align 8 dereferenceable(8) %411, ptr noundef nonnull align 4 dereferenceable(4) %42)
  %413 = load i32, ptr %42, align 4, !tbaa !9
  %414 = icmp sge i32 %413, 0
  br i1 %414, label %415, label %420

415:                                              ; preds = %399
  %416 = load i32, ptr %42, align 4, !tbaa !9
  %417 = load ptr, ptr %25, align 8, !tbaa !5
  store i32 %416, ptr %417, align 4, !tbaa !9
  %418 = load ptr, ptr %26, align 8, !tbaa !5
  store i32 -1, ptr %418, align 4, !tbaa !26
  %419 = load ptr, ptr %27, align 8, !tbaa !5
  store i32 0, ptr %419, align 4, !tbaa !35
  br label %420

420:                                              ; preds = %415, %399
  br label %421

421:                                              ; preds = %420, %355
  %422 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 5
  %423 = call noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoUpperEv(ptr noundef nonnull align 8 dereferenceable(40) %422)
  %424 = icmp eq i32 %423, 0
  br i1 %424, label %425, label %487

425:                                              ; preds = %421
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %426

426:                                              ; preds = %462, %425
  %427 = load i32, ptr %28, align 4, !tbaa !9
  %428 = load i32, ptr %37, align 4, !tbaa !9
  %429 = icmp slt i32 %427, %428
  br i1 %429, label %430, label %465

430:                                              ; preds = %426
  %431 = load ptr, ptr %41, align 8, !tbaa !5
  %432 = load i32, ptr %28, align 4, !tbaa !9
  %433 = sext i32 %432 to i64
  %434 = getelementptr inbounds i32, ptr %431, i64 %433
  %435 = load i32, ptr %434, align 4, !tbaa !9
  store i32 %435, ptr %30, align 4, !tbaa !9
  %436 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 11
  %437 = load ptr, ptr %436, align 8, !tbaa !45
  %438 = load i32, ptr %30, align 4, !tbaa !9
  %439 = sext i32 %438 to i64
  %440 = getelementptr inbounds double, ptr %437, i64 %439
  %441 = load double, ptr %440, align 8, !tbaa !27
  %442 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %441, double noundef 0.000000e+00)
  %443 = load ptr, ptr %43, align 8, !tbaa !5
  %444 = load i32, ptr %28, align 4, !tbaa !9
  %445 = sext i32 %444 to i64
  %446 = getelementptr inbounds double, ptr %443, i64 %445
  store double %442, ptr %446, align 8, !tbaa !27
  %447 = load ptr, ptr %47, align 8, !tbaa !5
  %448 = load i32, ptr %30, align 4, !tbaa !9
  %449 = sext i32 %448 to i64
  %450 = getelementptr inbounds double, ptr %447, i64 %449
  %451 = load double, ptr %450, align 8, !tbaa !27
  %452 = load ptr, ptr %18, align 8, !tbaa !5
  %453 = load i32, ptr %30, align 4, !tbaa !9
  %454 = sext i32 %453 to i64
  %455 = getelementptr inbounds double, ptr %452, i64 %454
  %456 = load double, ptr %455, align 8, !tbaa !27
  %457 = fsub double %451, %456
  %458 = load ptr, ptr %44, align 8, !tbaa !5
  %459 = load i32, ptr %28, align 4, !tbaa !9
  %460 = sext i32 %459 to i64
  %461 = getelementptr inbounds double, ptr %458, i64 %460
  store double %457, ptr %461, align 8, !tbaa !27
  br label %462

462:                                              ; preds = %430
  %463 = load i32, ptr %28, align 4, !tbaa !9
  %464 = add nsw i32 %463, 1
  store i32 %464, ptr %28, align 4, !tbaa !9
  br label %426, !llvm.loop !46

465:                                              ; preds = %426
  %466 = load i32, ptr %37, align 4, !tbaa !9
  %467 = load ptr, ptr %41, align 8, !tbaa !5
  %468 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 5
  %469 = load ptr, ptr %43, align 8, !tbaa !5
  %470 = load ptr, ptr %44, align 8, !tbaa !5
  %471 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 23
  %472 = getelementptr inbounds %"class.qpOASES::Options", ptr %471, i32 0, i32 13
  %473 = load double, ptr %472, align 8, !tbaa !33
  %474 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 23
  %475 = getelementptr inbounds %"class.qpOASES::Options", ptr %474, i32 0, i32 14
  %476 = load double, ptr %475, align 8, !tbaa !34
  %477 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %478 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %51, i32 noundef %466, ptr noundef %467, ptr noundef %468, ptr noundef %469, ptr noundef %470, double noundef %473, double noundef %476, ptr noundef nonnull align 8 dereferenceable(8) %477, ptr noundef nonnull align 4 dereferenceable(4) %42)
  %479 = load i32, ptr %42, align 4, !tbaa !9
  %480 = icmp sge i32 %479, 0
  br i1 %480, label %481, label %486

481:                                              ; preds = %465
  %482 = load i32, ptr %42, align 4, !tbaa !9
  %483 = load ptr, ptr %25, align 8, !tbaa !5
  store i32 %482, ptr %483, align 4, !tbaa !9
  %484 = load ptr, ptr %26, align 8, !tbaa !5
  store i32 1, ptr %484, align 4, !tbaa !26
  %485 = load ptr, ptr %27, align 8, !tbaa !5
  store i32 0, ptr %485, align 4, !tbaa !35
  br label %486

486:                                              ; preds = %481, %465
  br label %487

487:                                              ; preds = %486, %421
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %488

488:                                              ; preds = %534, %487
  %489 = load i32, ptr %28, align 4, !tbaa !9
  %490 = load i32, ptr %37, align 4, !tbaa !9
  %491 = icmp slt i32 %489, %490
  br i1 %491, label %492, label %537

492:                                              ; preds = %488
  %493 = load ptr, ptr %41, align 8, !tbaa !5
  %494 = load i32, ptr %28, align 4, !tbaa !9
  %495 = sext i32 %494 to i64
  %496 = getelementptr inbounds i32, ptr %493, i64 %495
  %497 = load i32, ptr %496, align 4, !tbaa !9
  store i32 %497, ptr %30, align 4, !tbaa !9
  %498 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 5
  %499 = load i32, ptr %30, align 4, !tbaa !9
  %500 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %498, i32 noundef %499)
  %501 = icmp ne i32 %500, 0
  br i1 %501, label %502, label %533

502:                                              ; preds = %492
  %503 = load ptr, ptr %47, align 8, !tbaa !5
  %504 = load i32, ptr %30, align 4, !tbaa !9
  %505 = sext i32 %504 to i64
  %506 = getelementptr inbounds double, ptr %503, i64 %505
  %507 = load double, ptr %506, align 8, !tbaa !27
  %508 = load ptr, ptr %17, align 8, !tbaa !5
  %509 = load i32, ptr %30, align 4, !tbaa !9
  %510 = sext i32 %509 to i64
  %511 = getelementptr inbounds double, ptr %508, i64 %510
  %512 = load double, ptr %511, align 8, !tbaa !27
  %513 = fsub double %507, %512
  %514 = load ptr, ptr %45, align 8, !tbaa !5
  %515 = load i32, ptr %30, align 4, !tbaa !9
  %516 = sext i32 %515 to i64
  %517 = getelementptr inbounds double, ptr %514, i64 %516
  store double %513, ptr %517, align 8, !tbaa !27
  %518 = load ptr, ptr %18, align 8, !tbaa !5
  %519 = load i32, ptr %30, align 4, !tbaa !9
  %520 = sext i32 %519 to i64
  %521 = getelementptr inbounds double, ptr %518, i64 %520
  %522 = load double, ptr %521, align 8, !tbaa !27
  %523 = load ptr, ptr %47, align 8, !tbaa !5
  %524 = load i32, ptr %30, align 4, !tbaa !9
  %525 = sext i32 %524 to i64
  %526 = getelementptr inbounds double, ptr %523, i64 %525
  %527 = load double, ptr %526, align 8, !tbaa !27
  %528 = fsub double %522, %527
  %529 = load ptr, ptr %46, align 8, !tbaa !5
  %530 = load i32, ptr %30, align 4, !tbaa !9
  %531 = sext i32 %530 to i64
  %532 = getelementptr inbounds double, ptr %529, i64 %531
  store double %528, ptr %532, align 8, !tbaa !27
  br label %533

533:                                              ; preds = %502, %492
  br label %534

534:                                              ; preds = %533
  %535 = load i32, ptr %28, align 4, !tbaa !9
  %536 = add nsw i32 %535, 1
  store i32 %536, ptr %28, align 4, !tbaa !9
  br label %488, !llvm.loop !47

537:                                              ; preds = %488
  %538 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 6
  %539 = call noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoLowerEv(ptr noundef nonnull align 8 dereferenceable(40) %538)
  %540 = icmp eq i32 %539, 0
  br i1 %540, label %541, label %610

541:                                              ; preds = %537
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %542

542:                                              ; preds = %585, %541
  %543 = load i32, ptr %28, align 4, !tbaa !9
  %544 = load i32, ptr %34, align 4, !tbaa !9
  %545 = icmp slt i32 %543, %544
  br i1 %545, label %546, label %588

546:                                              ; preds = %542
  %547 = load ptr, ptr %38, align 8, !tbaa !5
  %548 = load i32, ptr %28, align 4, !tbaa !9
  %549 = sext i32 %548 to i64
  %550 = getelementptr inbounds i32, ptr %547, i64 %549
  %551 = load i32, ptr %550, align 4, !tbaa !9
  store i32 %551, ptr %30, align 4, !tbaa !9
  %552 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 9
  %553 = load ptr, ptr %552, align 8, !tbaa !48
  %554 = load i32, ptr %30, align 4, !tbaa !9
  %555 = sext i32 %554 to i64
  %556 = getelementptr inbounds double, ptr %553, i64 %555
  %557 = load double, ptr %556, align 8, !tbaa !27
  %558 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 4
  %559 = load ptr, ptr %558, align 8, !tbaa !49
  %560 = load i32, ptr %30, align 4, !tbaa !9
  %561 = sext i32 %560 to i64
  %562 = getelementptr inbounds double, ptr %559, i64 %561
  %563 = load double, ptr %562, align 8, !tbaa !27
  %564 = fsub double %557, %563
  %565 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %564, double noundef 0.000000e+00)
  %566 = load ptr, ptr %43, align 8, !tbaa !5
  %567 = load i32, ptr %28, align 4, !tbaa !9
  %568 = sext i32 %567 to i64
  %569 = getelementptr inbounds double, ptr %566, i64 %568
  store double %565, ptr %569, align 8, !tbaa !27
  %570 = load ptr, ptr %19, align 8, !tbaa !5
  %571 = load i32, ptr %30, align 4, !tbaa !9
  %572 = sext i32 %571 to i64
  %573 = getelementptr inbounds double, ptr %570, i64 %572
  %574 = load double, ptr %573, align 8, !tbaa !27
  %575 = load ptr, ptr %22, align 8, !tbaa !5
  %576 = load i32, ptr %28, align 4, !tbaa !9
  %577 = sext i32 %576 to i64
  %578 = getelementptr inbounds double, ptr %575, i64 %577
  %579 = load double, ptr %578, align 8, !tbaa !27
  %580 = fsub double %574, %579
  %581 = load ptr, ptr %44, align 8, !tbaa !5
  %582 = load i32, ptr %28, align 4, !tbaa !9
  %583 = sext i32 %582 to i64
  %584 = getelementptr inbounds double, ptr %581, i64 %583
  store double %580, ptr %584, align 8, !tbaa !27
  br label %585

585:                                              ; preds = %546
  %586 = load i32, ptr %28, align 4, !tbaa !9
  %587 = add nsw i32 %586, 1
  store i32 %587, ptr %28, align 4, !tbaa !9
  br label %542, !llvm.loop !50

588:                                              ; preds = %542
  %589 = load i32, ptr %34, align 4, !tbaa !9
  %590 = load ptr, ptr %38, align 8, !tbaa !5
  %591 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 6
  %592 = load ptr, ptr %43, align 8, !tbaa !5
  %593 = load ptr, ptr %44, align 8, !tbaa !5
  %594 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 23
  %595 = getelementptr inbounds %"class.qpOASES::Options", ptr %594, i32 0, i32 13
  %596 = load double, ptr %595, align 8, !tbaa !33
  %597 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 23
  %598 = getelementptr inbounds %"class.qpOASES::Options", ptr %597, i32 0, i32 14
  %599 = load double, ptr %598, align 8, !tbaa !34
  %600 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %601 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %51, i32 noundef %589, ptr noundef %590, ptr noundef %591, ptr noundef %592, ptr noundef %593, double noundef %596, double noundef %599, ptr noundef nonnull align 8 dereferenceable(8) %600, ptr noundef nonnull align 4 dereferenceable(4) %42)
  %602 = load i32, ptr %42, align 4, !tbaa !9
  %603 = icmp sge i32 %602, 0
  br i1 %603, label %604, label %609

604:                                              ; preds = %588
  %605 = load i32, ptr %42, align 4, !tbaa !9
  %606 = load ptr, ptr %25, align 8, !tbaa !5
  store i32 %605, ptr %606, align 4, !tbaa !9
  %607 = load ptr, ptr %26, align 8, !tbaa !5
  store i32 -1, ptr %607, align 4, !tbaa !26
  %608 = load ptr, ptr %27, align 8, !tbaa !5
  store i32 1, ptr %608, align 4, !tbaa !35
  br label %609

609:                                              ; preds = %604, %588
  br label %610

610:                                              ; preds = %609, %537
  %611 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 6
  %612 = call noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoUpperEv(ptr noundef nonnull align 8 dereferenceable(40) %611)
  %613 = icmp eq i32 %612, 0
  br i1 %613, label %614, label %683

614:                                              ; preds = %610
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %615

615:                                              ; preds = %658, %614
  %616 = load i32, ptr %28, align 4, !tbaa !9
  %617 = load i32, ptr %34, align 4, !tbaa !9
  %618 = icmp slt i32 %616, %617
  br i1 %618, label %619, label %661

619:                                              ; preds = %615
  %620 = load ptr, ptr %38, align 8, !tbaa !5
  %621 = load i32, ptr %28, align 4, !tbaa !9
  %622 = sext i32 %621 to i64
  %623 = getelementptr inbounds i32, ptr %620, i64 %622
  %624 = load i32, ptr %623, align 4, !tbaa !9
  store i32 %624, ptr %30, align 4, !tbaa !9
  %625 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 5
  %626 = load ptr, ptr %625, align 8, !tbaa !51
  %627 = load i32, ptr %30, align 4, !tbaa !9
  %628 = sext i32 %627 to i64
  %629 = getelementptr inbounds double, ptr %626, i64 %628
  %630 = load double, ptr %629, align 8, !tbaa !27
  %631 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 9
  %632 = load ptr, ptr %631, align 8, !tbaa !48
  %633 = load i32, ptr %30, align 4, !tbaa !9
  %634 = sext i32 %633 to i64
  %635 = getelementptr inbounds double, ptr %632, i64 %634
  %636 = load double, ptr %635, align 8, !tbaa !27
  %637 = fsub double %630, %636
  %638 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %637, double noundef 0.000000e+00)
  %639 = load ptr, ptr %43, align 8, !tbaa !5
  %640 = load i32, ptr %28, align 4, !tbaa !9
  %641 = sext i32 %640 to i64
  %642 = getelementptr inbounds double, ptr %639, i64 %641
  store double %638, ptr %642, align 8, !tbaa !27
  %643 = load ptr, ptr %22, align 8, !tbaa !5
  %644 = load i32, ptr %28, align 4, !tbaa !9
  %645 = sext i32 %644 to i64
  %646 = getelementptr inbounds double, ptr %643, i64 %645
  %647 = load double, ptr %646, align 8, !tbaa !27
  %648 = load ptr, ptr %20, align 8, !tbaa !5
  %649 = load i32, ptr %30, align 4, !tbaa !9
  %650 = sext i32 %649 to i64
  %651 = getelementptr inbounds double, ptr %648, i64 %650
  %652 = load double, ptr %651, align 8, !tbaa !27
  %653 = fsub double %647, %652
  %654 = load ptr, ptr %44, align 8, !tbaa !5
  %655 = load i32, ptr %28, align 4, !tbaa !9
  %656 = sext i32 %655 to i64
  %657 = getelementptr inbounds double, ptr %654, i64 %656
  store double %653, ptr %657, align 8, !tbaa !27
  br label %658

658:                                              ; preds = %619
  %659 = load i32, ptr %28, align 4, !tbaa !9
  %660 = add nsw i32 %659, 1
  store i32 %660, ptr %28, align 4, !tbaa !9
  br label %615, !llvm.loop !52

661:                                              ; preds = %615
  %662 = load i32, ptr %34, align 4, !tbaa !9
  %663 = load ptr, ptr %38, align 8, !tbaa !5
  %664 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 6
  %665 = load ptr, ptr %43, align 8, !tbaa !5
  %666 = load ptr, ptr %44, align 8, !tbaa !5
  %667 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 23
  %668 = getelementptr inbounds %"class.qpOASES::Options", ptr %667, i32 0, i32 13
  %669 = load double, ptr %668, align 8, !tbaa !33
  %670 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 23
  %671 = getelementptr inbounds %"class.qpOASES::Options", ptr %670, i32 0, i32 14
  %672 = load double, ptr %671, align 8, !tbaa !34
  %673 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %674 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %51, i32 noundef %662, ptr noundef %663, ptr noundef %664, ptr noundef %665, ptr noundef %666, double noundef %669, double noundef %672, ptr noundef nonnull align 8 dereferenceable(8) %673, ptr noundef nonnull align 4 dereferenceable(4) %42)
  %675 = load i32, ptr %42, align 4, !tbaa !9
  %676 = icmp sge i32 %675, 0
  br i1 %676, label %677, label %682

677:                                              ; preds = %661
  %678 = load i32, ptr %42, align 4, !tbaa !9
  %679 = load ptr, ptr %25, align 8, !tbaa !5
  store i32 %678, ptr %679, align 4, !tbaa !9
  %680 = load ptr, ptr %26, align 8, !tbaa !5
  store i32 1, ptr %680, align 4, !tbaa !26
  %681 = load ptr, ptr %27, align 8, !tbaa !5
  store i32 1, ptr %681, align 4, !tbaa !35
  br label %682

682:                                              ; preds = %677, %661
  br label %683

683:                                              ; preds = %682, %610
  %684 = load ptr, ptr %44, align 8, !tbaa !5
  %685 = icmp eq ptr %684, null
  br i1 %685, label %687, label %686

686:                                              ; preds = %683
  call void @_ZdaPv(ptr noundef %684) #11
  br label %687

687:                                              ; preds = %686, %683
  %688 = load ptr, ptr %43, align 8, !tbaa !5
  %689 = icmp eq ptr %688, null
  br i1 %689, label %691, label %690

690:                                              ; preds = %687
  call void @_ZdaPv(ptr noundef %688) #11
  br label %691

691:                                              ; preds = %690, %687
  %692 = load ptr, ptr %48, align 8, !tbaa !5
  %693 = icmp eq ptr %692, null
  br i1 %693, label %695, label %694

694:                                              ; preds = %691
  call void @_ZdaPv(ptr noundef %692) #11
  br label %695

695:                                              ; preds = %694, %691
  call void @llvm.lifetime.start.p0(i64 160, ptr %50) #9
  %696 = load ptr, ptr %26, align 8, !tbaa !5
  %697 = load i32, ptr %696, align 4, !tbaa !26
  %698 = icmp eq i32 %697, 4
  br i1 %698, label %699, label %704

699:                                              ; preds = %695
  %700 = getelementptr inbounds [160 x i8], ptr %50, i64 0, i64 0
  %701 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %702 = load double, ptr %701, align 8, !tbaa !11
  %703 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %700, i64 noundef 160, ptr noundef @.str.44, double noundef %702) #9
  br label %715

704:                                              ; preds = %695
  %705 = getelementptr inbounds [160 x i8], ptr %50, i64 0, i64 0
  %706 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %707 = load double, ptr %706, align 8, !tbaa !11
  %708 = load ptr, ptr %25, align 8, !tbaa !5
  %709 = load i32, ptr %708, align 4, !tbaa !9
  %710 = load ptr, ptr %27, align 8, !tbaa !5
  %711 = load i32, ptr %710, align 4, !tbaa !35
  %712 = load ptr, ptr %26, align 8, !tbaa !5
  %713 = load i32, ptr %712, align 4, !tbaa !26
  %714 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %705, i64 noundef 160, ptr noundef @.str.45, double noundef %707, i32 noundef %709, i32 noundef %711, i32 noundef %713) #9
  br label %715

715:                                              ; preds = %704, %699
  %716 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %717 = getelementptr inbounds [160 x i8], ptr %50, i64 0, i64 0
  %718 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %716, i32 noundef 74, ptr noundef %717, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 5207, i32 noundef 1)
  %719 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %720 = load double, ptr %719, align 8, !tbaa !11
  %721 = fcmp ogt double %720, 1.000000e-25
  br i1 %721, label %722, label %1037

722:                                              ; preds = %715
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %723

723:                                              ; preds = %747, %722
  %724 = load i32, ptr %28, align 4, !tbaa !9
  %725 = load i32, ptr %34, align 4, !tbaa !9
  %726 = icmp slt i32 %724, %725
  br i1 %726, label %727, label %750

727:                                              ; preds = %723
  %728 = load ptr, ptr %38, align 8, !tbaa !5
  %729 = load i32, ptr %28, align 4, !tbaa !9
  %730 = sext i32 %729 to i64
  %731 = getelementptr inbounds i32, ptr %728, i64 %730
  %732 = load i32, ptr %731, align 4, !tbaa !9
  store i32 %732, ptr %30, align 4, !tbaa !9
  %733 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %734 = load double, ptr %733, align 8, !tbaa !11
  %735 = load ptr, ptr %22, align 8, !tbaa !5
  %736 = load i32, ptr %28, align 4, !tbaa !9
  %737 = sext i32 %736 to i64
  %738 = getelementptr inbounds double, ptr %735, i64 %737
  %739 = load double, ptr %738, align 8, !tbaa !27
  %740 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 9
  %741 = load ptr, ptr %740, align 8, !tbaa !48
  %742 = load i32, ptr %30, align 4, !tbaa !9
  %743 = sext i32 %742 to i64
  %744 = getelementptr inbounds double, ptr %741, i64 %743
  %745 = load double, ptr %744, align 8, !tbaa !27
  %746 = call double @llvm.fmuladd.f64(double %734, double %739, double %745)
  store double %746, ptr %744, align 8, !tbaa !27
  br label %747

747:                                              ; preds = %727
  %748 = load i32, ptr %28, align 4, !tbaa !9
  %749 = add nsw i32 %748, 1
  store i32 %749, ptr %28, align 4, !tbaa !9
  br label %723, !llvm.loop !53

750:                                              ; preds = %723
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %751

751:                                              ; preds = %789, %750
  %752 = load i32, ptr %28, align 4, !tbaa !9
  %753 = load i32, ptr %35, align 4, !tbaa !9
  %754 = icmp slt i32 %752, %753
  br i1 %754, label %755, label %792

755:                                              ; preds = %751
  %756 = load ptr, ptr %39, align 8, !tbaa !5
  %757 = load i32, ptr %28, align 4, !tbaa !9
  %758 = sext i32 %757 to i64
  %759 = getelementptr inbounds i32, ptr %756, i64 %758
  %760 = load i32, ptr %759, align 4, !tbaa !9
  store i32 %760, ptr %30, align 4, !tbaa !9
  %761 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %762 = load double, ptr %761, align 8, !tbaa !11
  %763 = load ptr, ptr %21, align 8, !tbaa !5
  %764 = load i32, ptr %28, align 4, !tbaa !9
  %765 = sext i32 %764 to i64
  %766 = getelementptr inbounds double, ptr %763, i64 %765
  %767 = load double, ptr %766, align 8, !tbaa !27
  %768 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 9
  %769 = load ptr, ptr %768, align 8, !tbaa !48
  %770 = load i32, ptr %30, align 4, !tbaa !9
  %771 = sext i32 %770 to i64
  %772 = getelementptr inbounds double, ptr %769, i64 %771
  %773 = load double, ptr %772, align 8, !tbaa !27
  %774 = call double @llvm.fmuladd.f64(double %762, double %767, double %773)
  store double %774, ptr %772, align 8, !tbaa !27
  %775 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %776 = load double, ptr %775, align 8, !tbaa !11
  %777 = load ptr, ptr %24, align 8, !tbaa !5
  %778 = load i32, ptr %28, align 4, !tbaa !9
  %779 = sext i32 %778 to i64
  %780 = getelementptr inbounds double, ptr %777, i64 %779
  %781 = load double, ptr %780, align 8, !tbaa !27
  %782 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 10
  %783 = load ptr, ptr %782, align 8, !tbaa !31
  %784 = load i32, ptr %30, align 4, !tbaa !9
  %785 = sext i32 %784 to i64
  %786 = getelementptr inbounds double, ptr %783, i64 %785
  %787 = load double, ptr %786, align 8, !tbaa !27
  %788 = call double @llvm.fmuladd.f64(double %776, double %781, double %787)
  store double %788, ptr %786, align 8, !tbaa !27
  br label %789

789:                                              ; preds = %755
  %790 = load i32, ptr %28, align 4, !tbaa !9
  %791 = add nsw i32 %790, 1
  store i32 %791, ptr %28, align 4, !tbaa !9
  br label %751, !llvm.loop !54

792:                                              ; preds = %751
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %793

793:                                              ; preds = %819, %792
  %794 = load i32, ptr %28, align 4, !tbaa !9
  %795 = load i32, ptr %36, align 4, !tbaa !9
  %796 = icmp slt i32 %794, %795
  br i1 %796, label %797, label %822

797:                                              ; preds = %793
  %798 = load ptr, ptr %40, align 8, !tbaa !5
  %799 = load i32, ptr %28, align 4, !tbaa !9
  %800 = sext i32 %799 to i64
  %801 = getelementptr inbounds i32, ptr %798, i64 %800
  %802 = load i32, ptr %801, align 4, !tbaa !9
  store i32 %802, ptr %30, align 4, !tbaa !9
  %803 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %804 = load double, ptr %803, align 8, !tbaa !11
  %805 = load ptr, ptr %23, align 8, !tbaa !5
  %806 = load i32, ptr %28, align 4, !tbaa !9
  %807 = sext i32 %806 to i64
  %808 = getelementptr inbounds double, ptr %805, i64 %807
  %809 = load double, ptr %808, align 8, !tbaa !27
  %810 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 10
  %811 = load ptr, ptr %810, align 8, !tbaa !31
  %812 = load i32, ptr %32, align 4, !tbaa !9
  %813 = load i32, ptr %30, align 4, !tbaa !9
  %814 = add nsw i32 %812, %813
  %815 = sext i32 %814 to i64
  %816 = getelementptr inbounds double, ptr %811, i64 %815
  %817 = load double, ptr %816, align 8, !tbaa !27
  %818 = call double @llvm.fmuladd.f64(double %804, double %809, double %817)
  store double %818, ptr %816, align 8, !tbaa !27
  br label %819

819:                                              ; preds = %797
  %820 = load i32, ptr %28, align 4, !tbaa !9
  %821 = add nsw i32 %820, 1
  store i32 %821, ptr %28, align 4, !tbaa !9
  br label %793, !llvm.loop !55

822:                                              ; preds = %793
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %823

823:                                              ; preds = %870, %822
  %824 = load i32, ptr %28, align 4, !tbaa !9
  %825 = load i32, ptr %32, align 4, !tbaa !9
  %826 = icmp slt i32 %824, %825
  br i1 %826, label %827, label %873

827:                                              ; preds = %823
  %828 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %829 = load double, ptr %828, align 8, !tbaa !11
  %830 = load ptr, ptr %16, align 8, !tbaa !5
  %831 = load i32, ptr %28, align 4, !tbaa !9
  %832 = sext i32 %831 to i64
  %833 = getelementptr inbounds double, ptr %830, i64 %832
  %834 = load double, ptr %833, align 8, !tbaa !27
  %835 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 3
  %836 = load ptr, ptr %835, align 8, !tbaa !56
  %837 = load i32, ptr %28, align 4, !tbaa !9
  %838 = sext i32 %837 to i64
  %839 = getelementptr inbounds double, ptr %836, i64 %838
  %840 = load double, ptr %839, align 8, !tbaa !27
  %841 = call double @llvm.fmuladd.f64(double %829, double %834, double %840)
  store double %841, ptr %839, align 8, !tbaa !27
  %842 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %843 = load double, ptr %842, align 8, !tbaa !11
  %844 = load ptr, ptr %19, align 8, !tbaa !5
  %845 = load i32, ptr %28, align 4, !tbaa !9
  %846 = sext i32 %845 to i64
  %847 = getelementptr inbounds double, ptr %844, i64 %846
  %848 = load double, ptr %847, align 8, !tbaa !27
  %849 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 4
  %850 = load ptr, ptr %849, align 8, !tbaa !49
  %851 = load i32, ptr %28, align 4, !tbaa !9
  %852 = sext i32 %851 to i64
  %853 = getelementptr inbounds double, ptr %850, i64 %852
  %854 = load double, ptr %853, align 8, !tbaa !27
  %855 = call double @llvm.fmuladd.f64(double %843, double %848, double %854)
  store double %855, ptr %853, align 8, !tbaa !27
  %856 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %857 = load double, ptr %856, align 8, !tbaa !11
  %858 = load ptr, ptr %20, align 8, !tbaa !5
  %859 = load i32, ptr %28, align 4, !tbaa !9
  %860 = sext i32 %859 to i64
  %861 = getelementptr inbounds double, ptr %858, i64 %860
  %862 = load double, ptr %861, align 8, !tbaa !27
  %863 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 5
  %864 = load ptr, ptr %863, align 8, !tbaa !51
  %865 = load i32, ptr %28, align 4, !tbaa !9
  %866 = sext i32 %865 to i64
  %867 = getelementptr inbounds double, ptr %864, i64 %866
  %868 = load double, ptr %867, align 8, !tbaa !27
  %869 = call double @llvm.fmuladd.f64(double %857, double %862, double %868)
  store double %869, ptr %867, align 8, !tbaa !27
  br label %870

870:                                              ; preds = %827
  %871 = load i32, ptr %28, align 4, !tbaa !9
  %872 = add nsw i32 %871, 1
  store i32 %872, ptr %28, align 4, !tbaa !9
  br label %823, !llvm.loop !57

873:                                              ; preds = %823
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %874

874:                                              ; preds = %907, %873
  %875 = load i32, ptr %28, align 4, !tbaa !9
  %876 = load i32, ptr %33, align 4, !tbaa !9
  %877 = icmp slt i32 %875, %876
  br i1 %877, label %878, label %910

878:                                              ; preds = %874
  %879 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %880 = load double, ptr %879, align 8, !tbaa !11
  %881 = load ptr, ptr %17, align 8, !tbaa !5
  %882 = load i32, ptr %28, align 4, !tbaa !9
  %883 = sext i32 %882 to i64
  %884 = getelementptr inbounds double, ptr %881, i64 %883
  %885 = load double, ptr %884, align 8, !tbaa !27
  %886 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 3
  %887 = load ptr, ptr %886, align 8, !tbaa !58
  %888 = load i32, ptr %28, align 4, !tbaa !9
  %889 = sext i32 %888 to i64
  %890 = getelementptr inbounds double, ptr %887, i64 %889
  %891 = load double, ptr %890, align 8, !tbaa !27
  %892 = call double @llvm.fmuladd.f64(double %880, double %885, double %891)
  store double %892, ptr %890, align 8, !tbaa !27
  %893 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %894 = load double, ptr %893, align 8, !tbaa !11
  %895 = load ptr, ptr %18, align 8, !tbaa !5
  %896 = load i32, ptr %28, align 4, !tbaa !9
  %897 = sext i32 %896 to i64
  %898 = getelementptr inbounds double, ptr %895, i64 %897
  %899 = load double, ptr %898, align 8, !tbaa !27
  %900 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 4
  %901 = load ptr, ptr %900, align 8, !tbaa !59
  %902 = load i32, ptr %28, align 4, !tbaa !9
  %903 = sext i32 %902 to i64
  %904 = getelementptr inbounds double, ptr %901, i64 %903
  %905 = load double, ptr %904, align 8, !tbaa !27
  %906 = call double @llvm.fmuladd.f64(double %894, double %899, double %905)
  store double %906, ptr %904, align 8, !tbaa !27
  br label %907

907:                                              ; preds = %878
  %908 = load i32, ptr %28, align 4, !tbaa !9
  %909 = add nsw i32 %908, 1
  store i32 %909, ptr %28, align 4, !tbaa !9
  br label %874, !llvm.loop !60

910:                                              ; preds = %874
  %911 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 2
  %912 = load ptr, ptr %911, align 8, !tbaa !39
  %913 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 5
  %914 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %913)
  %915 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 9
  %916 = load ptr, ptr %915, align 8, !tbaa !48
  %917 = load i32, ptr %32, align 4, !tbaa !9
  %918 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 9
  %919 = load ptr, ptr %918, align 8, !tbaa !61
  %920 = load i32, ptr %33, align 4, !tbaa !9
  %921 = load ptr, ptr %912, align 8, !tbaa !40
  %922 = getelementptr inbounds ptr, ptr %921, i64 17
  %923 = load ptr, ptr %922, align 8
  %924 = call noundef i32 %923(ptr noundef nonnull align 8 dereferenceable(12) %912, ptr noundef %914, ptr noundef null, i32 noundef 1, double noundef 1.000000e+00, ptr noundef %916, i32 noundef %917, double noundef 0.000000e+00, ptr noundef %919, i32 noundef %920, i32 noundef 0)
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %925

925:                                              ; preds = %971, %910
  %926 = load i32, ptr %28, align 4, !tbaa !9
  %927 = load i32, ptr %36, align 4, !tbaa !9
  %928 = icmp slt i32 %926, %927
  br i1 %928, label %929, label %974

929:                                              ; preds = %925
  %930 = load ptr, ptr %40, align 8, !tbaa !5
  %931 = load i32, ptr %28, align 4, !tbaa !9
  %932 = sext i32 %931 to i64
  %933 = getelementptr inbounds i32, ptr %930, i64 %932
  %934 = load i32, ptr %933, align 4, !tbaa !9
  store i32 %934, ptr %30, align 4, !tbaa !9
  %935 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 4
  %936 = load ptr, ptr %935, align 8, !tbaa !59
  %937 = load i32, ptr %30, align 4, !tbaa !9
  %938 = sext i32 %937 to i64
  %939 = getelementptr inbounds double, ptr %936, i64 %938
  %940 = load double, ptr %939, align 8, !tbaa !27
  %941 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 9
  %942 = load ptr, ptr %941, align 8, !tbaa !61
  %943 = load i32, ptr %30, align 4, !tbaa !9
  %944 = sext i32 %943 to i64
  %945 = getelementptr inbounds double, ptr %942, i64 %944
  %946 = load double, ptr %945, align 8, !tbaa !27
  %947 = fsub double %940, %946
  %948 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 11
  %949 = load ptr, ptr %948, align 8, !tbaa !45
  %950 = load i32, ptr %30, align 4, !tbaa !9
  %951 = sext i32 %950 to i64
  %952 = getelementptr inbounds double, ptr %949, i64 %951
  store double %947, ptr %952, align 8, !tbaa !27
  %953 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 9
  %954 = load ptr, ptr %953, align 8, !tbaa !61
  %955 = load i32, ptr %30, align 4, !tbaa !9
  %956 = sext i32 %955 to i64
  %957 = getelementptr inbounds double, ptr %954, i64 %956
  %958 = load double, ptr %957, align 8, !tbaa !27
  %959 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 3
  %960 = load ptr, ptr %959, align 8, !tbaa !58
  %961 = load i32, ptr %30, align 4, !tbaa !9
  %962 = sext i32 %961 to i64
  %963 = getelementptr inbounds double, ptr %960, i64 %962
  %964 = load double, ptr %963, align 8, !tbaa !27
  %965 = fsub double %958, %964
  %966 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 10
  %967 = load ptr, ptr %966, align 8, !tbaa !43
  %968 = load i32, ptr %30, align 4, !tbaa !9
  %969 = sext i32 %968 to i64
  %970 = getelementptr inbounds double, ptr %967, i64 %969
  store double %965, ptr %970, align 8, !tbaa !27
  br label %971

971:                                              ; preds = %929
  %972 = load i32, ptr %28, align 4, !tbaa !9
  %973 = add nsw i32 %972, 1
  store i32 %973, ptr %28, align 4, !tbaa !9
  br label %925, !llvm.loop !62

974:                                              ; preds = %925
  store i32 0, ptr %28, align 4, !tbaa !9
  br label %975

975:                                              ; preds = %1033, %974
  %976 = load i32, ptr %28, align 4, !tbaa !9
  %977 = load i32, ptr %37, align 4, !tbaa !9
  %978 = icmp slt i32 %976, %977
  br i1 %978, label %979, label %1036

979:                                              ; preds = %975
  %980 = load ptr, ptr %41, align 8, !tbaa !5
  %981 = load i32, ptr %28, align 4, !tbaa !9
  %982 = sext i32 %981 to i64
  %983 = getelementptr inbounds i32, ptr %980, i64 %982
  %984 = load i32, ptr %983, align 4, !tbaa !9
  store i32 %984, ptr %30, align 4, !tbaa !9
  %985 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 5
  %986 = load i32, ptr %30, align 4, !tbaa !9
  %987 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %985, i32 noundef %986)
  %988 = icmp ne i32 %987, 0
  br i1 %988, label %989, label %1032

989:                                              ; preds = %979
  %990 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %991 = load double, ptr %990, align 8, !tbaa !11
  %992 = load ptr, ptr %47, align 8, !tbaa !5
  %993 = load i32, ptr %30, align 4, !tbaa !9
  %994 = sext i32 %993 to i64
  %995 = getelementptr inbounds double, ptr %992, i64 %994
  %996 = load double, ptr %995, align 8, !tbaa !27
  %997 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 9
  %998 = load ptr, ptr %997, align 8, !tbaa !61
  %999 = load i32, ptr %30, align 4, !tbaa !9
  %1000 = sext i32 %999 to i64
  %1001 = getelementptr inbounds double, ptr %998, i64 %1000
  %1002 = load double, ptr %1001, align 8, !tbaa !27
  %1003 = call double @llvm.fmuladd.f64(double %991, double %996, double %1002)
  store double %1003, ptr %1001, align 8, !tbaa !27
  %1004 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %1005 = load double, ptr %1004, align 8, !tbaa !11
  %1006 = load ptr, ptr %45, align 8, !tbaa !5
  %1007 = load i32, ptr %30, align 4, !tbaa !9
  %1008 = sext i32 %1007 to i64
  %1009 = getelementptr inbounds double, ptr %1006, i64 %1008
  %1010 = load double, ptr %1009, align 8, !tbaa !27
  %1011 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 10
  %1012 = load ptr, ptr %1011, align 8, !tbaa !43
  %1013 = load i32, ptr %30, align 4, !tbaa !9
  %1014 = sext i32 %1013 to i64
  %1015 = getelementptr inbounds double, ptr %1012, i64 %1014
  %1016 = load double, ptr %1015, align 8, !tbaa !27
  %1017 = call double @llvm.fmuladd.f64(double %1005, double %1010, double %1016)
  store double %1017, ptr %1015, align 8, !tbaa !27
  %1018 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %1019 = load double, ptr %1018, align 8, !tbaa !11
  %1020 = load ptr, ptr %46, align 8, !tbaa !5
  %1021 = load i32, ptr %30, align 4, !tbaa !9
  %1022 = sext i32 %1021 to i64
  %1023 = getelementptr inbounds double, ptr %1020, i64 %1022
  %1024 = load double, ptr %1023, align 8, !tbaa !27
  %1025 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %51, i32 0, i32 11
  %1026 = load ptr, ptr %1025, align 8, !tbaa !45
  %1027 = load i32, ptr %30, align 4, !tbaa !9
  %1028 = sext i32 %1027 to i64
  %1029 = getelementptr inbounds double, ptr %1026, i64 %1028
  %1030 = load double, ptr %1029, align 8, !tbaa !27
  %1031 = call double @llvm.fmuladd.f64(double %1019, double %1024, double %1030)
  store double %1031, ptr %1029, align 8, !tbaa !27
  br label %1032

1032:                                             ; preds = %989, %979
  br label %1033

1033:                                             ; preds = %1032
  %1034 = load i32, ptr %28, align 4, !tbaa !9
  %1035 = add nsw i32 %1034, 1
  store i32 %1035, ptr %28, align 4, !tbaa !9
  br label %975, !llvm.loop !63

1036:                                             ; preds = %975
  br label %1045

1037:                                             ; preds = %715
  %1038 = getelementptr inbounds [160 x i8], ptr %50, i64 0, i64 0
  %1039 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %51, i32 0, i32 11
  %1040 = load double, ptr %1039, align 8, !tbaa !11
  %1041 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %1038, i64 noundef 160, ptr noundef @.str.46, double noundef %1040) #9
  %1042 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %1043 = getelementptr inbounds [160 x i8], ptr %50, i64 0, i64 0
  %1044 = call noundef i32 @_ZN7qpOASES15MessageHandling12throwWarningENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %1042, i32 noundef 73, ptr noundef %1043, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 5271, i32 noundef 1)
  br label %1045

1045:                                             ; preds = %1037, %1036
  %1046 = load ptr, ptr %47, align 8, !tbaa !5
  %1047 = icmp eq ptr %1046, null
  br i1 %1047, label %1049, label %1048

1048:                                             ; preds = %1045
  call void @_ZdaPv(ptr noundef %1046) #11
  br label %1049

1049:                                             ; preds = %1048, %1045
  %1050 = load ptr, ptr %46, align 8, !tbaa !5
  %1051 = icmp eq ptr %1050, null
  br i1 %1051, label %1053, label %1052

1052:                                             ; preds = %1049
  call void @_ZdaPv(ptr noundef %1050) #11
  br label %1053

1053:                                             ; preds = %1052, %1049
  %1054 = load ptr, ptr %45, align 8, !tbaa !5
  %1055 = icmp eq ptr %1054, null
  br i1 %1055, label %1057, label %1056

1056:                                             ; preds = %1053
  call void @_ZdaPv(ptr noundef %1054) #11
  br label %1057

1057:                                             ; preds = %1056, %1053
  store i32 0, ptr %14, align 4
  store i32 1, ptr %49, align 4
  call void @llvm.lifetime.end.p0(i64 160, ptr %50) #9
  br label %1058

1058:                                             ; preds = %1057, %346
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %41) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %37) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %35) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %33) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %31) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %30) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #9
  %1059 = load i32, ptr %14, align 4
  ret i32 %1059
}

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints11getInactiveEv(ptr noundef nonnull align 8 dereferenceable(120)) #6 align 2

declare noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem7getNIACEv(ptr noundef nonnull align 8 dereferenceable(1064)) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN7qpOASES6getMaxEii(i32 noundef, i32 noundef) #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getMaxEdd(double noundef, double noundef) #6

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #6 = { 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 #7 = { nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #9 = { nounwind }
attributes #10 = { builtin allocsize(0) }
attributes #11 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"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, !17, i64 200}
!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 = !{!22, !22, i64 0}
!27 = !{!17, !17, i64 0}
!28 = distinct !{!28, !29}
!29 = !{!"llvm.loop.mustprogress"}
!30 = distinct !{!30, !29}
!31 = !{!12, !6, i64 192}
!32 = distinct !{!32, !29}
!33 = !{!12, !17, i64 336}
!34 = !{!12, !17, i64 344}
!35 = !{!13, !13, i64 0}
!36 = distinct !{!36, !29}
!37 = !{!38, !6, i64 1000}
!38 = !{!"_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}
!39 = !{!38, !6, i64 808}
!40 = !{!41, !41, i64 0}
!41 = !{!"vtable pointer", !8, i64 0}
!42 = distinct !{!42, !29}
!43 = !{!38, !6, i64 984}
!44 = distinct !{!44, !29}
!45 = !{!38, !6, i64 992}
!46 = distinct !{!46, !29}
!47 = distinct !{!47, !29}
!48 = !{!12, !6, i64 184}
!49 = !{!12, !6, i64 32}
!50 = distinct !{!50, !29}
!51 = !{!12, !6, i64 40}
!52 = distinct !{!52, !29}
!53 = distinct !{!53, !29}
!54 = distinct !{!54, !29}
!55 = distinct !{!55, !29}
!56 = !{!12, !6, i64 24}
!57 = distinct !{!57, !29}
!58 = !{!38, !6, i64 816}
!59 = !{!38, !6, i64 824}
!60 = distinct !{!60, !29}
!61 = !{!38, !6, i64 976}
!62 = distinct !{!62, !29}
!63 = distinct !{!63, !29}


; 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 [103 x i8], align 1
@.str.44 = external hidden unnamed_addr constant [19 x i8], align 1
@.str.45 = external hidden unnamed_addr constant [57 x i8], align 1
@.str.46 = external hidden unnamed_addr constant [18 x i8], align 1

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #1

declare noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) local_unnamed_addr #1

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

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

; Function Attrs: mustprogress 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)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #4 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 #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #5 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #5 align 2

; Function Attrs: nofree nounwind
declare noundef i32 @snprintf(ptr noalias nocapture noundef writeonly, i64 noundef, ptr nocapture noundef readonly, ...) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoLowerEv(ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoUpperEv(ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #5 align 2

declare noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem11performStepEPKdS2_S2_S2_S2_S2_S2_S2_S2_RiRNS_15SubjectToStatusERNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr nocapture noundef readonly %1, ptr nocapture noundef readonly %2, ptr nocapture noundef readonly %3, ptr nocapture noundef readonly %4, ptr nocapture noundef readonly %5, ptr nocapture noundef readonly %6, ptr nocapture noundef readonly %7, ptr nocapture noundef readonly %8, ptr nocapture noundef readonly %9, ptr nocapture noundef nonnull align 4 dereferenceable(4) %10, ptr nocapture noundef nonnull align 4 dereferenceable(4) %11, ptr nocapture noundef nonnull align 4 dereferenceable(4) %12) local_unnamed_addr #7 align 2 {
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca i32, align 4
  %19 = alloca [160 x i8], align 16
  %20 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %21 = tail call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %22 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %23 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %24 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %25 = tail call noundef i32 @_ZNK7qpOASES8QProblem7getNIACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #10
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #10
  %26 = getelementptr inbounds i8, ptr %0, i64 48
  %27 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %26)
  %28 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %27, ptr noundef nonnull %14)
  %29 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %26)
  %30 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %29, ptr noundef nonnull %15)
  %31 = getelementptr inbounds i8, ptr %0, i64 832
  %32 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %31)
  %33 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %32, ptr noundef nonnull %16)
  %34 = call noundef ptr @_ZN7qpOASES11Constraints11getInactiveEv(ptr noundef nonnull align 8 dereferenceable(120) %31)
  %35 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %34, ptr noundef nonnull %17)
  %36 = getelementptr inbounds i8, ptr %0, i64 200
  store double 1.000000e+00, ptr %36, align 8, !tbaa !5
  store i32 -1, ptr %10, align 4, !tbaa !24
  store i32 4, ptr %11, align 4, !tbaa !25
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %18) #10
  store i32 -1, ptr %18, align 4, !tbaa !24
  %37 = call noundef i32 @_ZN7qpOASES6getMaxEii(i32 noundef %20, i32 noundef %21)
  %38 = zext nneg i32 %37 to i64
  %39 = icmp slt i32 %37, 0
  %40 = shl nuw nsw i64 %38, 3
  %41 = select i1 %39, i64 -1, i64 %40
  %42 = call noalias noundef nonnull ptr @_Znam(i64 noundef %41) #11
  %43 = call noundef i32 @_ZN7qpOASES6getMaxEii(i32 noundef %20, i32 noundef %21)
  %44 = zext nneg i32 %43 to i64
  %45 = icmp slt i32 %43, 0
  %46 = shl nuw nsw i64 %44, 3
  %47 = select i1 %45, i64 -1, i64 %46
  %48 = call noalias noundef nonnull ptr @_Znam(i64 noundef %47) #11
  %49 = zext i32 %21 to i64
  %50 = icmp slt i32 %21, 0
  %51 = shl nuw nsw i64 %49, 3
  %52 = select i1 %50, i64 -1, i64 %51
  %53 = call noalias noundef nonnull ptr @_Znam(i64 noundef %52) #11
  %54 = call noalias noundef nonnull ptr @_Znam(i64 noundef %52) #11
  %55 = call noalias noundef nonnull ptr @_Znam(i64 noundef %52) #11
  %56 = zext i32 %20 to i64
  %57 = icmp slt i32 %20, 0
  %58 = shl nuw nsw i64 %56, 3
  %59 = select i1 %57, i64 -1, i64 %58
  %60 = call noalias noundef nonnull ptr @_Znam(i64 noundef %59) #11
  %61 = icmp sgt i32 %22, 0
  br i1 %61, label %.lr.ph, label %.preheader292

.lr.ph:                                           ; preds = %13
  %62 = load ptr, ptr %14, align 8, !tbaa !26
  %wide.trip.count = zext nneg i32 %22 to i64
  %xtraiter = and i64 %wide.trip.count, 3
  %63 = icmp ult i32 %22, 4
  br i1 %63, label %.preheader292.loopexit.unr-lcssa, label %.lr.ph.new

.lr.ph.new:                                       ; preds = %.lr.ph
  %unroll_iter = and i64 %wide.trip.count, 2147483644
  br label %73

.preheader292.loopexit.unr-lcssa:                 ; preds = %73, %.lr.ph
  %indvars.iv.unr = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next.3, %73 ]
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %.preheader292, label %.epil.preheader

.epil.preheader:                                  ; preds = %.preheader292.loopexit.unr-lcssa, %.epil.preheader
  %indvars.iv.epil = phi i64 [ %indvars.iv.next.epil, %.epil.preheader ], [ %indvars.iv.unr, %.preheader292.loopexit.unr-lcssa ]
  %epil.iter = phi i64 [ %epil.iter.next, %.epil.preheader ], [ 0, %.preheader292.loopexit.unr-lcssa ]
  %64 = getelementptr inbounds i32, ptr %62, i64 %indvars.iv.epil
  %65 = load i32, ptr %64, align 4, !tbaa !24
  %66 = getelementptr inbounds double, ptr %7, i64 %indvars.iv.epil
  %67 = load double, ptr %66, align 8, !tbaa !27
  %68 = sext i32 %65 to i64
  %69 = getelementptr inbounds double, ptr %60, i64 %68
  store double %67, ptr %69, align 8, !tbaa !27
  %indvars.iv.next.epil = add nuw nsw i64 %indvars.iv.epil, 1
  %epil.iter.next = add i64 %epil.iter, 1
  %epil.iter.cmp.not = icmp eq i64 %epil.iter.next, %xtraiter
  br i1 %epil.iter.cmp.not, label %.preheader292, label %.epil.preheader, !llvm.loop !28

.preheader292:                                    ; preds = %.preheader292.loopexit.unr-lcssa, %.epil.preheader, %13
  %70 = icmp sgt i32 %23, 0
  br i1 %70, label %.lr.ph295, label %.preheader291

.lr.ph295:                                        ; preds = %.preheader292
  %71 = load ptr, ptr %15, align 8, !tbaa !26
  %wide.trip.count340 = zext nneg i32 %23 to i64
  %xtraiter545 = and i64 %wide.trip.count340, 3
  %72 = icmp ult i32 %23, 4
  br i1 %72, label %.preheader291.loopexit.unr-lcssa, label %.lr.ph295.new

.lr.ph295.new:                                    ; preds = %.lr.ph295
  %unroll_iter548 = and i64 %wide.trip.count340, 2147483644
  br label %108

73:                                               ; preds = %73, %.lr.ph.new
  %indvars.iv = phi i64 [ 0, %.lr.ph.new ], [ %indvars.iv.next.3, %73 ]
  %niter = phi i64 [ 0, %.lr.ph.new ], [ %niter.next.3, %73 ]
  %74 = getelementptr inbounds i32, ptr %62, i64 %indvars.iv
  %75 = load i32, ptr %74, align 4, !tbaa !24
  %76 = getelementptr inbounds double, ptr %7, i64 %indvars.iv
  %77 = load double, ptr %76, align 8, !tbaa !27
  %78 = sext i32 %75 to i64
  %79 = getelementptr inbounds double, ptr %60, i64 %78
  store double %77, ptr %79, align 8, !tbaa !27
  %indvars.iv.next = or disjoint i64 %indvars.iv, 1
  %80 = getelementptr inbounds i32, ptr %62, i64 %indvars.iv.next
  %81 = load i32, ptr %80, align 4, !tbaa !24
  %82 = getelementptr inbounds double, ptr %7, i64 %indvars.iv.next
  %83 = load double, ptr %82, align 8, !tbaa !27
  %84 = sext i32 %81 to i64
  %85 = getelementptr inbounds double, ptr %60, i64 %84
  store double %83, ptr %85, align 8, !tbaa !27
  %indvars.iv.next.1 = or disjoint i64 %indvars.iv, 2
  %86 = getelementptr inbounds i32, ptr %62, i64 %indvars.iv.next.1
  %87 = load i32, ptr %86, align 4, !tbaa !24
  %88 = getelementptr inbounds double, ptr %7, i64 %indvars.iv.next.1
  %89 = load double, ptr %88, align 8, !tbaa !27
  %90 = sext i32 %87 to i64
  %91 = getelementptr inbounds double, ptr %60, i64 %90
  store double %89, ptr %91, align 8, !tbaa !27
  %indvars.iv.next.2 = or disjoint i64 %indvars.iv, 3
  %92 = getelementptr inbounds i32, ptr %62, i64 %indvars.iv.next.2
  %93 = load i32, ptr %92, align 4, !tbaa !24
  %94 = getelementptr inbounds double, ptr %7, i64 %indvars.iv.next.2
  %95 = load double, ptr %94, align 8, !tbaa !27
  %96 = sext i32 %93 to i64
  %97 = getelementptr inbounds double, ptr %60, i64 %96
  store double %95, ptr %97, align 8, !tbaa !27
  %indvars.iv.next.3 = add nuw nsw i64 %indvars.iv, 4
  %niter.next.3 = add i64 %niter, 4
  %niter.ncmp.3 = icmp eq i64 %niter.next.3, %unroll_iter
  br i1 %niter.ncmp.3, label %.preheader292.loopexit.unr-lcssa, label %73, !llvm.loop !30

.preheader291.loopexit.unr-lcssa:                 ; preds = %108, %.lr.ph295
  %indvars.iv337.unr = phi i64 [ 0, %.lr.ph295 ], [ %indvars.iv.next338.3, %108 ]
  %lcmp.mod547.not = icmp eq i64 %xtraiter545, 0
  br i1 %lcmp.mod547.not, label %.preheader291, label %.epil.preheader544

.epil.preheader544:                               ; preds = %.preheader291.loopexit.unr-lcssa, %.epil.preheader544
  %indvars.iv337.epil = phi i64 [ %indvars.iv.next338.epil, %.epil.preheader544 ], [ %indvars.iv337.unr, %.preheader291.loopexit.unr-lcssa ]
  %epil.iter546 = phi i64 [ %epil.iter546.next, %.epil.preheader544 ], [ 0, %.preheader291.loopexit.unr-lcssa ]
  %98 = getelementptr inbounds i32, ptr %71, i64 %indvars.iv337.epil
  %99 = load i32, ptr %98, align 4, !tbaa !24
  %100 = getelementptr inbounds double, ptr %6, i64 %indvars.iv337.epil
  %101 = load double, ptr %100, align 8, !tbaa !27
  %102 = sext i32 %99 to i64
  %103 = getelementptr inbounds double, ptr %60, i64 %102
  store double %101, ptr %103, align 8, !tbaa !27
  %indvars.iv.next338.epil = add nuw nsw i64 %indvars.iv337.epil, 1
  %epil.iter546.next = add i64 %epil.iter546, 1
  %epil.iter546.cmp.not = icmp eq i64 %epil.iter546.next, %xtraiter545
  br i1 %epil.iter546.cmp.not, label %.preheader291, label %.epil.preheader544, !llvm.loop !32

.preheader291:                                    ; preds = %.preheader291.loopexit.unr-lcssa, %.epil.preheader544, %.preheader292
  %104 = icmp sgt i32 %24, 0
  %.pre = load ptr, ptr %16, align 8, !tbaa !26
  br i1 %104, label %.lr.ph297, label %._crit_edge

.lr.ph297:                                        ; preds = %.preheader291
  %105 = getelementptr inbounds i8, ptr %0, i64 192
  %106 = load ptr, ptr %105, align 8, !tbaa !33
  %wide.trip.count345 = zext nneg i32 %24 to i64
  %xtraiter551 = and i64 %wide.trip.count345, 1
  %107 = icmp eq i32 %24, 1
  br i1 %107, label %._crit_edge.loopexit.unr-lcssa, label %.lr.ph297.new

.lr.ph297.new:                                    ; preds = %.lr.ph297
  %unroll_iter554 = and i64 %wide.trip.count345, 2147483646
  br label %133

108:                                              ; preds = %108, %.lr.ph295.new
  %indvars.iv337 = phi i64 [ 0, %.lr.ph295.new ], [ %indvars.iv.next338.3, %108 ]
  %niter549 = phi i64 [ 0, %.lr.ph295.new ], [ %niter549.next.3, %108 ]
  %109 = getelementptr inbounds i32, ptr %71, i64 %indvars.iv337
  %110 = load i32, ptr %109, align 4, !tbaa !24
  %111 = getelementptr inbounds double, ptr %6, i64 %indvars.iv337
  %112 = load double, ptr %111, align 8, !tbaa !27
  %113 = sext i32 %110 to i64
  %114 = getelementptr inbounds double, ptr %60, i64 %113
  store double %112, ptr %114, align 8, !tbaa !27
  %indvars.iv.next338 = or disjoint i64 %indvars.iv337, 1
  %115 = getelementptr inbounds i32, ptr %71, i64 %indvars.iv.next338
  %116 = load i32, ptr %115, align 4, !tbaa !24
  %117 = getelementptr inbounds double, ptr %6, i64 %indvars.iv.next338
  %118 = load double, ptr %117, align 8, !tbaa !27
  %119 = sext i32 %116 to i64
  %120 = getelementptr inbounds double, ptr %60, i64 %119
  store double %118, ptr %120, align 8, !tbaa !27
  %indvars.iv.next338.1 = or disjoint i64 %indvars.iv337, 2
  %121 = getelementptr inbounds i32, ptr %71, i64 %indvars.iv.next338.1
  %122 = load i32, ptr %121, align 4, !tbaa !24
  %123 = getelementptr inbounds double, ptr %6, i64 %indvars.iv.next338.1
  %124 = load double, ptr %123, align 8, !tbaa !27
  %125 = sext i32 %122 to i64
  %126 = getelementptr inbounds double, ptr %60, i64 %125
  store double %124, ptr %126, align 8, !tbaa !27
  %indvars.iv.next338.2 = or disjoint i64 %indvars.iv337, 3
  %127 = getelementptr inbounds i32, ptr %71, i64 %indvars.iv.next338.2
  %128 = load i32, ptr %127, align 4, !tbaa !24
  %129 = getelementptr inbounds double, ptr %6, i64 %indvars.iv.next338.2
  %130 = load double, ptr %129, align 8, !tbaa !27
  %131 = sext i32 %128 to i64
  %132 = getelementptr inbounds double, ptr %60, i64 %131
  store double %130, ptr %132, align 8, !tbaa !27
  %indvars.iv.next338.3 = add nuw nsw i64 %indvars.iv337, 4
  %niter549.next.3 = add i64 %niter549, 4
  %niter549.ncmp.3 = icmp eq i64 %niter549.next.3, %unroll_iter548
  br i1 %niter549.ncmp.3, label %.preheader291.loopexit.unr-lcssa, label %108, !llvm.loop !34

133:                                              ; preds = %133, %.lr.ph297.new
  %indvars.iv342 = phi i64 [ 0, %.lr.ph297.new ], [ %indvars.iv.next343.1, %133 ]
  %niter555 = phi i64 [ 0, %.lr.ph297.new ], [ %niter555.next.1, %133 ]
  %134 = getelementptr inbounds i32, ptr %.pre, i64 %indvars.iv342
  %135 = load i32, ptr %134, align 4, !tbaa !24
  %136 = add nsw i32 %135, %20
  %137 = sext i32 %136 to i64
  %138 = getelementptr inbounds double, ptr %106, i64 %137
  %139 = load double, ptr %138, align 8, !tbaa !27
  %140 = getelementptr inbounds double, ptr %42, i64 %indvars.iv342
  store double %139, ptr %140, align 8, !tbaa !27
  %141 = getelementptr inbounds double, ptr %8, i64 %indvars.iv342
  %142 = load double, ptr %141, align 8, !tbaa !27
  %143 = fneg double %142
  %144 = getelementptr inbounds double, ptr %48, i64 %indvars.iv342
  store double %143, ptr %144, align 8, !tbaa !27
  %indvars.iv.next343 = or disjoint i64 %indvars.iv342, 1
  %145 = getelementptr inbounds i32, ptr %.pre, i64 %indvars.iv.next343
  %146 = load i32, ptr %145, align 4, !tbaa !24
  %147 = add nsw i32 %146, %20
  %148 = sext i32 %147 to i64
  %149 = getelementptr inbounds double, ptr %106, i64 %148
  %150 = load double, ptr %149, align 8, !tbaa !27
  %151 = getelementptr inbounds double, ptr %42, i64 %indvars.iv.next343
  store double %150, ptr %151, align 8, !tbaa !27
  %152 = getelementptr inbounds double, ptr %8, i64 %indvars.iv.next343
  %153 = load double, ptr %152, align 8, !tbaa !27
  %154 = fneg double %153
  %155 = getelementptr inbounds double, ptr %48, i64 %indvars.iv.next343
  store double %154, ptr %155, align 8, !tbaa !27
  %indvars.iv.next343.1 = add nuw nsw i64 %indvars.iv342, 2
  %niter555.next.1 = add i64 %niter555, 2
  %niter555.ncmp.1 = icmp eq i64 %niter555.next.1, %unroll_iter554
  br i1 %niter555.ncmp.1, label %._crit_edge.loopexit.unr-lcssa, label %133, !llvm.loop !35

._crit_edge.loopexit.unr-lcssa:                   ; preds = %133, %.lr.ph297
  %indvars.iv342.unr = phi i64 [ 0, %.lr.ph297 ], [ %indvars.iv.next343.1, %133 ]
  %lcmp.mod553.not = icmp eq i64 %xtraiter551, 0
  br i1 %lcmp.mod553.not, label %._crit_edge, label %._crit_edge.loopexit.epilog-lcssa

._crit_edge.loopexit.epilog-lcssa:                ; preds = %._crit_edge.loopexit.unr-lcssa
  %156 = getelementptr inbounds i32, ptr %.pre, i64 %indvars.iv342.unr
  %157 = load i32, ptr %156, align 4, !tbaa !24
  %158 = add nsw i32 %157, %20
  %159 = sext i32 %158 to i64
  %160 = getelementptr inbounds double, ptr %106, i64 %159
  %161 = load double, ptr %160, align 8, !tbaa !27
  %162 = getelementptr inbounds double, ptr %42, i64 %indvars.iv342.unr
  store double %161, ptr %162, align 8, !tbaa !27
  %163 = getelementptr inbounds double, ptr %8, i64 %indvars.iv342.unr
  %164 = load double, ptr %163, align 8, !tbaa !27
  %165 = fneg double %164
  %166 = getelementptr inbounds double, ptr %48, i64 %indvars.iv342.unr
  store double %165, ptr %166, align 8, !tbaa !27
  br label %._crit_edge

._crit_edge:                                      ; preds = %._crit_edge.loopexit.epilog-lcssa, %._crit_edge.loopexit.unr-lcssa, %.preheader291
  %167 = getelementptr inbounds i8, ptr %0, i64 336
  %168 = load double, ptr %167, align 8, !tbaa !36
  %169 = getelementptr inbounds i8, ptr %0, i64 344
  %170 = load double, ptr %169, align 8, !tbaa !37
  %171 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %24, ptr noundef %.pre, ptr noundef nonnull %31, ptr noundef nonnull %42, ptr noundef nonnull %48, double noundef %168, double noundef %170, ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef nonnull align 4 dereferenceable(4) %18)
  %172 = load i32, ptr %18, align 4, !tbaa !24
  %173 = icmp sgt i32 %172, -1
  br i1 %173, label %174, label %175

174:                                              ; preds = %._crit_edge
  store i32 %172, ptr %10, align 4, !tbaa !24
  store i32 0, ptr %11, align 4, !tbaa !25
  store i32 0, ptr %12, align 4, !tbaa !38
  br label %175

175:                                              ; preds = %174, %._crit_edge
  %.pre417 = load ptr, ptr %15, align 8, !tbaa !26
  br i1 %70, label %.lr.ph300, label %._crit_edge301

.lr.ph300:                                        ; preds = %175
  %176 = getelementptr inbounds i8, ptr %0, i64 192
  %177 = load ptr, ptr %176, align 8, !tbaa !33
  %wide.trip.count350 = zext nneg i32 %23 to i64
  %xtraiter557 = and i64 %wide.trip.count350, 1
  %178 = icmp eq i32 %23, 1
  br i1 %178, label %._crit_edge301.loopexit.unr-lcssa, label %.lr.ph300.new

.lr.ph300.new:                                    ; preds = %.lr.ph300
  %unroll_iter560 = and i64 %wide.trip.count350, 2147483646
  br label %179

179:                                              ; preds = %179, %.lr.ph300.new
  %indvars.iv347 = phi i64 [ 0, %.lr.ph300.new ], [ %indvars.iv.next348.1, %179 ]
  %niter561 = phi i64 [ 0, %.lr.ph300.new ], [ %niter561.next.1, %179 ]
  %180 = getelementptr inbounds i32, ptr %.pre417, i64 %indvars.iv347
  %181 = load i32, ptr %180, align 4, !tbaa !24
  %182 = sext i32 %181 to i64
  %183 = getelementptr inbounds double, ptr %177, i64 %182
  %184 = load double, ptr %183, align 8, !tbaa !27
  %185 = getelementptr inbounds double, ptr %42, i64 %indvars.iv347
  store double %184, ptr %185, align 8, !tbaa !27
  %186 = getelementptr inbounds double, ptr %9, i64 %indvars.iv347
  %187 = load double, ptr %186, align 8, !tbaa !27
  %188 = fneg double %187
  %189 = getelementptr inbounds double, ptr %48, i64 %indvars.iv347
  store double %188, ptr %189, align 8, !tbaa !27
  %indvars.iv.next348 = or disjoint i64 %indvars.iv347, 1
  %190 = getelementptr inbounds i32, ptr %.pre417, i64 %indvars.iv.next348
  %191 = load i32, ptr %190, align 4, !tbaa !24
  %192 = sext i32 %191 to i64
  %193 = getelementptr inbounds double, ptr %177, i64 %192
  %194 = load double, ptr %193, align 8, !tbaa !27
  %195 = getelementptr inbounds double, ptr %42, i64 %indvars.iv.next348
  store double %194, ptr %195, align 8, !tbaa !27
  %196 = getelementptr inbounds double, ptr %9, i64 %indvars.iv.next348
  %197 = load double, ptr %196, align 8, !tbaa !27
  %198 = fneg double %197
  %199 = getelementptr inbounds double, ptr %48, i64 %indvars.iv.next348
  store double %198, ptr %199, align 8, !tbaa !27
  %indvars.iv.next348.1 = add nuw nsw i64 %indvars.iv347, 2
  %niter561.next.1 = add i64 %niter561, 2
  %niter561.ncmp.1 = icmp eq i64 %niter561.next.1, %unroll_iter560
  br i1 %niter561.ncmp.1, label %._crit_edge301.loopexit.unr-lcssa, label %179, !llvm.loop !39

._crit_edge301.loopexit.unr-lcssa:                ; preds = %179, %.lr.ph300
  %indvars.iv347.unr = phi i64 [ 0, %.lr.ph300 ], [ %indvars.iv.next348.1, %179 ]
  %lcmp.mod559.not = icmp eq i64 %xtraiter557, 0
  br i1 %lcmp.mod559.not, label %._crit_edge301, label %._crit_edge301.loopexit.epilog-lcssa

._crit_edge301.loopexit.epilog-lcssa:             ; preds = %._crit_edge301.loopexit.unr-lcssa
  %200 = getelementptr inbounds i32, ptr %.pre417, i64 %indvars.iv347.unr
  %201 = load i32, ptr %200, align 4, !tbaa !24
  %202 = sext i32 %201 to i64
  %203 = getelementptr inbounds double, ptr %177, i64 %202
  %204 = load double, ptr %203, align 8, !tbaa !27
  %205 = getelementptr inbounds double, ptr %42, i64 %indvars.iv347.unr
  store double %204, ptr %205, align 8, !tbaa !27
  %206 = getelementptr inbounds double, ptr %9, i64 %indvars.iv347.unr
  %207 = load double, ptr %206, align 8, !tbaa !27
  %208 = fneg double %207
  %209 = getelementptr inbounds double, ptr %48, i64 %indvars.iv347.unr
  store double %208, ptr %209, align 8, !tbaa !27
  br label %._crit_edge301

._crit_edge301:                                   ; preds = %._crit_edge301.loopexit.epilog-lcssa, %._crit_edge301.loopexit.unr-lcssa, %175
  %210 = load double, ptr %167, align 8, !tbaa !36
  %211 = load double, ptr %169, align 8, !tbaa !37
  %212 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %23, ptr noundef %.pre417, ptr noundef nonnull %26, ptr noundef nonnull %42, ptr noundef nonnull %48, double noundef %210, double noundef %211, ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef nonnull align 4 dereferenceable(4) %18)
  %213 = load i32, ptr %18, align 4, !tbaa !24
  %214 = icmp sgt i32 %213, -1
  br i1 %214, label %215, label %216

215:                                              ; preds = %._crit_edge301
  store i32 %213, ptr %10, align 4, !tbaa !24
  store i32 0, ptr %11, align 4, !tbaa !25
  store i32 1, ptr %12, align 4, !tbaa !38
  br label %216

216:                                              ; preds = %215, %._crit_edge301
  %217 = getelementptr inbounds i8, ptr %0, i64 1000
  %218 = load ptr, ptr %217, align 8, !tbaa !40
  %219 = icmp eq ptr %218, null
  br i1 %219, label %221, label %.preheader289

.preheader289:                                    ; preds = %216
  %220 = icmp sgt i32 %25, 0
  br i1 %220, label %.lr.ph303.preheader, label %.loopexit290

.lr.ph303.preheader:                              ; preds = %.preheader289
  %wide.trip.count355 = zext nneg i32 %25 to i64
  br label %.lr.ph303

221:                                              ; preds = %216
  %222 = getelementptr inbounds i8, ptr %0, i64 808
  %223 = load ptr, ptr %222, align 8, !tbaa !42
  %224 = call noundef ptr @_ZN7qpOASES11Constraints11getInactiveEv(ptr noundef nonnull align 8 dereferenceable(120) %31)
  %225 = load ptr, ptr %223, align 8, !tbaa !43
  %226 = getelementptr inbounds i8, ptr %225, i64 136
  %227 = load ptr, ptr %226, align 8
  %228 = call noundef i32 %227(ptr noundef nonnull align 8 dereferenceable(12) %223, ptr noundef %224, ptr noundef null, i32 noundef 1, double noundef 1.000000e+00, ptr noundef nonnull %60, i32 noundef %20, double noundef 0.000000e+00, ptr noundef nonnull %55, i32 noundef %21, i32 noundef 0)
  br label %.loopexit290

.lr.ph303:                                        ; preds = %.lr.ph303.preheader, %244
  %indvars.iv352 = phi i64 [ 0, %.lr.ph303.preheader ], [ %indvars.iv.next353, %244 ]
  %229 = load ptr, ptr %17, align 8, !tbaa !26
  %230 = getelementptr inbounds i32, ptr %229, i64 %indvars.iv352
  %231 = load i32, ptr %230, align 4, !tbaa !24
  %232 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %31, i32 noundef %231)
  %.not = icmp eq i32 %232, 0
  br i1 %.not, label %244, label %233

233:                                              ; preds = %.lr.ph303
  %234 = load ptr, ptr %217, align 8, !tbaa !40
  %235 = sext i32 %231 to i64
  %236 = getelementptr inbounds double, ptr %55, i64 %235
  %237 = load ptr, ptr %234, align 8, !tbaa !43
  %238 = getelementptr inbounds i8, ptr %237, i64 16
  %239 = load ptr, ptr %238, align 8
  %240 = call noundef i32 %239(ptr noundef nonnull align 8 dereferenceable(8) %234, i32 noundef %231, ptr noundef nonnull %60, ptr noundef nonnull %236)
  %.not277 = icmp eq i32 %240, 0
  br i1 %.not277, label %244, label %241

241:                                              ; preds = %233
  call void @_ZdaPv(ptr noundef nonnull %48) #12
  call void @_ZdaPv(ptr noundef nonnull %42) #12
  call void @_ZdaPv(ptr noundef nonnull %55) #12
  call void @_ZdaPv(ptr noundef nonnull %54) #12
  call void @_ZdaPv(ptr noundef nonnull %53) #12
  call void @_ZdaPv(ptr noundef nonnull %60) #12
  %242 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %243 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %242, i32 noundef 122, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 5095, i32 noundef 1)
  br label %683

244:                                              ; preds = %.lr.ph303, %233
  %indvars.iv.next353 = add nuw nsw i64 %indvars.iv352, 1
  %exitcond356.not = icmp eq i64 %indvars.iv.next353, %wide.trip.count355
  br i1 %exitcond356.not, label %.loopexit290, label %.lr.ph303, !llvm.loop !45

.loopexit290:                                     ; preds = %244, %.preheader289, %221
  %245 = call noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoLowerEv(ptr noundef nonnull align 8 dereferenceable(40) %31)
  %246 = icmp eq i32 %245, 0
  br i1 %246, label %.preheader288, label %272

.preheader288:                                    ; preds = %.loopexit290
  %247 = icmp sgt i32 %25, 0
  br i1 %247, label %.lr.ph305, label %._crit_edge306

.lr.ph305:                                        ; preds = %.preheader288
  %248 = getelementptr inbounds i8, ptr %0, i64 984
  %wide.trip.count360 = zext nneg i32 %25 to i64
  br label %249

249:                                              ; preds = %.lr.ph305, %249
  %indvars.iv357 = phi i64 [ 0, %.lr.ph305 ], [ %indvars.iv.next358, %249 ]
  %250 = load ptr, ptr %17, align 8, !tbaa !26
  %251 = getelementptr inbounds i32, ptr %250, i64 %indvars.iv357
  %252 = load i32, ptr %251, align 4, !tbaa !24
  %253 = load ptr, ptr %248, align 8, !tbaa !46
  %254 = sext i32 %252 to i64
  %255 = getelementptr inbounds double, ptr %253, i64 %254
  %256 = load double, ptr %255, align 8, !tbaa !27
  %257 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %256, double noundef 0.000000e+00)
  %258 = getelementptr inbounds double, ptr %42, i64 %indvars.iv357
  store double %257, ptr %258, align 8, !tbaa !27
  %259 = getelementptr inbounds double, ptr %2, i64 %254
  %260 = load double, ptr %259, align 8, !tbaa !27
  %261 = getelementptr inbounds double, ptr %55, i64 %254
  %262 = load double, ptr %261, align 8, !tbaa !27
  %263 = fsub double %260, %262
  %264 = getelementptr inbounds double, ptr %48, i64 %indvars.iv357
  store double %263, ptr %264, align 8, !tbaa !27
  %indvars.iv.next358 = add nuw nsw i64 %indvars.iv357, 1
  %exitcond361.not = icmp eq i64 %indvars.iv.next358, %wide.trip.count360
  br i1 %exitcond361.not, label %._crit_edge306, label %249, !llvm.loop !47

._crit_edge306:                                   ; preds = %249, %.preheader288
  %265 = load ptr, ptr %17, align 8, !tbaa !26
  %266 = load double, ptr %167, align 8, !tbaa !36
  %267 = load double, ptr %169, align 8, !tbaa !37
  %268 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %25, ptr noundef %265, ptr noundef nonnull %31, ptr noundef nonnull %42, ptr noundef nonnull %48, double noundef %266, double noundef %267, ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef nonnull align 4 dereferenceable(4) %18)
  %269 = load i32, ptr %18, align 4, !tbaa !24
  %270 = icmp sgt i32 %269, -1
  br i1 %270, label %271, label %272

271:                                              ; preds = %._crit_edge306
  store i32 %269, ptr %10, align 4, !tbaa !24
  store i32 -1, ptr %11, align 4, !tbaa !25
  store i32 0, ptr %12, align 4, !tbaa !38
  br label %272

272:                                              ; preds = %._crit_edge306, %271, %.loopexit290
  %273 = call noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoUpperEv(ptr noundef nonnull align 8 dereferenceable(40) %31)
  %274 = icmp eq i32 %273, 0
  br i1 %274, label %.preheader287, label %300

.preheader287:                                    ; preds = %272
  %275 = icmp sgt i32 %25, 0
  br i1 %275, label %.lr.ph308, label %._crit_edge309

.lr.ph308:                                        ; preds = %.preheader287
  %276 = getelementptr inbounds i8, ptr %0, i64 992
  %wide.trip.count365 = zext nneg i32 %25 to i64
  br label %277

277:                                              ; preds = %.lr.ph308, %277
  %indvars.iv362 = phi i64 [ 0, %.lr.ph308 ], [ %indvars.iv.next363, %277 ]
  %278 = load ptr, ptr %17, align 8, !tbaa !26
  %279 = getelementptr inbounds i32, ptr %278, i64 %indvars.iv362
  %280 = load i32, ptr %279, align 4, !tbaa !24
  %281 = load ptr, ptr %276, align 8, !tbaa !48
  %282 = sext i32 %280 to i64
  %283 = getelementptr inbounds double, ptr %281, i64 %282
  %284 = load double, ptr %283, align 8, !tbaa !27
  %285 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %284, double noundef 0.000000e+00)
  %286 = getelementptr inbounds double, ptr %42, i64 %indvars.iv362
  store double %285, ptr %286, align 8, !tbaa !27
  %287 = getelementptr inbounds double, ptr %55, i64 %282
  %288 = load double, ptr %287, align 8, !tbaa !27
  %289 = getelementptr inbounds double, ptr %3, i64 %282
  %290 = load double, ptr %289, align 8, !tbaa !27
  %291 = fsub double %288, %290
  %292 = getelementptr inbounds double, ptr %48, i64 %indvars.iv362
  store double %291, ptr %292, align 8, !tbaa !27
  %indvars.iv.next363 = add nuw nsw i64 %indvars.iv362, 1
  %exitcond366.not = icmp eq i64 %indvars.iv.next363, %wide.trip.count365
  br i1 %exitcond366.not, label %._crit_edge309, label %277, !llvm.loop !49

._crit_edge309:                                   ; preds = %277, %.preheader287
  %293 = load ptr, ptr %17, align 8, !tbaa !26
  %294 = load double, ptr %167, align 8, !tbaa !36
  %295 = load double, ptr %169, align 8, !tbaa !37
  %296 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %25, ptr noundef %293, ptr noundef nonnull %31, ptr noundef nonnull %42, ptr noundef nonnull %48, double noundef %294, double noundef %295, ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef nonnull align 4 dereferenceable(4) %18)
  %297 = load i32, ptr %18, align 4, !tbaa !24
  %298 = icmp sgt i32 %297, -1
  br i1 %298, label %299, label %300

299:                                              ; preds = %._crit_edge309
  store i32 %297, ptr %10, align 4, !tbaa !24
  store i32 1, ptr %11, align 4, !tbaa !25
  store i32 0, ptr %12, align 4, !tbaa !38
  br label %300

300:                                              ; preds = %._crit_edge309, %299, %272
  %301 = icmp sgt i32 %25, 0
  br i1 %301, label %.lr.ph312.preheader, label %._crit_edge313

.lr.ph312.preheader:                              ; preds = %300
  %wide.trip.count370 = zext nneg i32 %25 to i64
  br label %.lr.ph312

.lr.ph312:                                        ; preds = %.lr.ph312.preheader, %318
  %indvars.iv367 = phi i64 [ 0, %.lr.ph312.preheader ], [ %indvars.iv.next368, %318 ]
  %302 = load ptr, ptr %17, align 8, !tbaa !26
  %303 = getelementptr inbounds i32, ptr %302, i64 %indvars.iv367
  %304 = load i32, ptr %303, align 4, !tbaa !24
  %305 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %31, i32 noundef %304)
  %.not279 = icmp eq i32 %305, 0
  br i1 %.not279, label %318, label %306

306:                                              ; preds = %.lr.ph312
  %307 = sext i32 %304 to i64
  %308 = getelementptr inbounds double, ptr %55, i64 %307
  %309 = load double, ptr %308, align 8, !tbaa !27
  %310 = getelementptr inbounds double, ptr %2, i64 %307
  %311 = load double, ptr %310, align 8, !tbaa !27
  %312 = fsub double %309, %311
  %313 = getelementptr inbounds double, ptr %53, i64 %307
  store double %312, ptr %313, align 8, !tbaa !27
  %314 = getelementptr inbounds double, ptr %3, i64 %307
  %315 = load double, ptr %314, align 8, !tbaa !27
  %316 = fsub double %315, %309
  %317 = getelementptr inbounds double, ptr %54, i64 %307
  store double %316, ptr %317, align 8, !tbaa !27
  br label %318

318:                                              ; preds = %.lr.ph312, %306
  %indvars.iv.next368 = add nuw nsw i64 %indvars.iv367, 1
  %exitcond371.not = icmp eq i64 %indvars.iv.next368, %wide.trip.count370
  br i1 %exitcond371.not, label %._crit_edge313, label %.lr.ph312, !llvm.loop !50

._crit_edge313:                                   ; preds = %318, %300
  %319 = call noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoLowerEv(ptr noundef nonnull align 8 dereferenceable(40) %26)
  %320 = icmp eq i32 %319, 0
  br i1 %320, label %.preheader286, label %350

.preheader286:                                    ; preds = %._crit_edge313
  br i1 %61, label %.lr.ph315, label %._crit_edge316

.lr.ph315:                                        ; preds = %.preheader286
  %321 = getelementptr inbounds i8, ptr %0, i64 184
  %322 = getelementptr inbounds i8, ptr %0, i64 32
  %wide.trip.count375 = zext nneg i32 %22 to i64
  br label %323

323:                                              ; preds = %.lr.ph315, %323
  %indvars.iv372 = phi i64 [ 0, %.lr.ph315 ], [ %indvars.iv.next373, %323 ]
  %324 = load ptr, ptr %14, align 8, !tbaa !26
  %325 = getelementptr inbounds i32, ptr %324, i64 %indvars.iv372
  %326 = load i32, ptr %325, align 4, !tbaa !24
  %327 = load ptr, ptr %321, align 8, !tbaa !51
  %328 = sext i32 %326 to i64
  %329 = getelementptr inbounds double, ptr %327, i64 %328
  %330 = load double, ptr %329, align 8, !tbaa !27
  %331 = load ptr, ptr %322, align 8, !tbaa !52
  %332 = getelementptr inbounds double, ptr %331, i64 %328
  %333 = load double, ptr %332, align 8, !tbaa !27
  %334 = fsub double %330, %333
  %335 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %334, double noundef 0.000000e+00)
  %336 = getelementptr inbounds double, ptr %42, i64 %indvars.iv372
  store double %335, ptr %336, align 8, !tbaa !27
  %337 = getelementptr inbounds double, ptr %4, i64 %328
  %338 = load double, ptr %337, align 8, !tbaa !27
  %339 = getelementptr inbounds double, ptr %7, i64 %indvars.iv372
  %340 = load double, ptr %339, align 8, !tbaa !27
  %341 = fsub double %338, %340
  %342 = getelementptr inbounds double, ptr %48, i64 %indvars.iv372
  store double %341, ptr %342, align 8, !tbaa !27
  %indvars.iv.next373 = add nuw nsw i64 %indvars.iv372, 1
  %exitcond376.not = icmp eq i64 %indvars.iv.next373, %wide.trip.count375
  br i1 %exitcond376.not, label %._crit_edge316, label %323, !llvm.loop !53

._crit_edge316:                                   ; preds = %323, %.preheader286
  %343 = load ptr, ptr %14, align 8, !tbaa !26
  %344 = load double, ptr %167, align 8, !tbaa !36
  %345 = load double, ptr %169, align 8, !tbaa !37
  %346 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %22, ptr noundef %343, ptr noundef nonnull %26, ptr noundef nonnull %42, ptr noundef nonnull %48, double noundef %344, double noundef %345, ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef nonnull align 4 dereferenceable(4) %18)
  %347 = load i32, ptr %18, align 4, !tbaa !24
  %348 = icmp sgt i32 %347, -1
  br i1 %348, label %349, label %350

349:                                              ; preds = %._crit_edge316
  store i32 %347, ptr %10, align 4, !tbaa !24
  store i32 -1, ptr %11, align 4, !tbaa !25
  store i32 1, ptr %12, align 4, !tbaa !38
  br label %350

350:                                              ; preds = %._crit_edge316, %349, %._crit_edge313
  %351 = call noundef i32 @_ZNK7qpOASES9SubjectTo10hasNoUpperEv(ptr noundef nonnull align 8 dereferenceable(40) %26)
  %352 = icmp eq i32 %351, 0
  br i1 %352, label %.preheader285, label %382

.preheader285:                                    ; preds = %350
  br i1 %61, label %.lr.ph318, label %._crit_edge319

.lr.ph318:                                        ; preds = %.preheader285
  %353 = getelementptr inbounds i8, ptr %0, i64 40
  %354 = getelementptr inbounds i8, ptr %0, i64 184
  %wide.trip.count380 = zext nneg i32 %22 to i64
  br label %355

355:                                              ; preds = %.lr.ph318, %355
  %indvars.iv377 = phi i64 [ 0, %.lr.ph318 ], [ %indvars.iv.next378, %355 ]
  %356 = load ptr, ptr %14, align 8, !tbaa !26
  %357 = getelementptr inbounds i32, ptr %356, i64 %indvars.iv377
  %358 = load i32, ptr %357, align 4, !tbaa !24
  %359 = load ptr, ptr %353, align 8, !tbaa !54
  %360 = sext i32 %358 to i64
  %361 = getelementptr inbounds double, ptr %359, i64 %360
  %362 = load double, ptr %361, align 8, !tbaa !27
  %363 = load ptr, ptr %354, align 8, !tbaa !51
  %364 = getelementptr inbounds double, ptr %363, i64 %360
  %365 = load double, ptr %364, align 8, !tbaa !27
  %366 = fsub double %362, %365
  %367 = call noundef double @_ZN7qpOASES6getMaxEdd(double noundef %366, double noundef 0.000000e+00)
  %368 = getelementptr inbounds double, ptr %42, i64 %indvars.iv377
  store double %367, ptr %368, align 8, !tbaa !27
  %369 = getelementptr inbounds double, ptr %7, i64 %indvars.iv377
  %370 = load double, ptr %369, align 8, !tbaa !27
  %371 = getelementptr inbounds double, ptr %5, i64 %360
  %372 = load double, ptr %371, align 8, !tbaa !27
  %373 = fsub double %370, %372
  %374 = getelementptr inbounds double, ptr %48, i64 %indvars.iv377
  store double %373, ptr %374, align 8, !tbaa !27
  %indvars.iv.next378 = add nuw nsw i64 %indvars.iv377, 1
  %exitcond381.not = icmp eq i64 %indvars.iv.next378, %wide.trip.count380
  br i1 %exitcond381.not, label %._crit_edge319, label %355, !llvm.loop !55

._crit_edge319:                                   ; preds = %355, %.preheader285
  %375 = load ptr, ptr %14, align 8, !tbaa !26
  %376 = load double, ptr %167, align 8, !tbaa !36
  %377 = load double, ptr %169, align 8, !tbaa !37
  %378 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %22, ptr noundef %375, ptr noundef nonnull %26, ptr noundef nonnull %42, ptr noundef nonnull %48, double noundef %376, double noundef %377, ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef nonnull align 4 dereferenceable(4) %18)
  %379 = load i32, ptr %18, align 4, !tbaa !24
  %380 = icmp sgt i32 %379, -1
  br i1 %380, label %381, label %382

381:                                              ; preds = %._crit_edge319
  store i32 %379, ptr %10, align 4, !tbaa !24
  store i32 1, ptr %11, align 4, !tbaa !25
  store i32 1, ptr %12, align 4, !tbaa !38
  br label %382

382:                                              ; preds = %350, %381, %._crit_edge319
  call void @_ZdaPv(ptr noundef nonnull %48) #12
  call void @_ZdaPv(ptr noundef nonnull %42) #12
  call void @_ZdaPv(ptr noundef nonnull %60) #12
  call void @llvm.lifetime.start.p0(i64 160, ptr nonnull %19) #10
  %383 = load i32, ptr %11, align 4, !tbaa !25
  %384 = icmp eq i32 %383, 4
  %385 = load double, ptr %36, align 8, !tbaa !5
  br i1 %384, label %386, label %388

386:                                              ; preds = %382
  %387 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %19, i64 noundef 160, ptr noundef nonnull @.str.44, double noundef %385) #10
  br label %392

388:                                              ; preds = %382
  %389 = load i32, ptr %10, align 4, !tbaa !24
  %390 = load i32, ptr %12, align 4, !tbaa !38
  %391 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %19, i64 noundef 160, ptr noundef nonnull @.str.45, double noundef %385, i32 noundef %389, i32 noundef %390, i32 noundef %383) #10
  br label %392

392:                                              ; preds = %388, %386
  %393 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %394 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %393, i32 noundef 74, ptr noundef nonnull %19, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 5207, i32 noundef 1)
  %395 = load double, ptr %36, align 8, !tbaa !5
  %396 = fcmp ogt double %395, 1.000000e-25
  br i1 %396, label %.preheader284, label %679

.preheader284:                                    ; preds = %392
  br i1 %61, label %.lr.ph321, label %.preheader283

.lr.ph321:                                        ; preds = %.preheader284
  %397 = load ptr, ptr %14, align 8, !tbaa !26
  %398 = getelementptr inbounds i8, ptr %0, i64 184
  %399 = load ptr, ptr %398, align 8, !tbaa !51
  %wide.trip.count385 = zext nneg i32 %22 to i64
  %xtraiter563 = and i64 %wide.trip.count385, 1
  %400 = icmp eq i32 %22, 1
  br i1 %400, label %.preheader283.loopexit.unr-lcssa, label %.lr.ph321.new

.lr.ph321.new:                                    ; preds = %.lr.ph321
  %unroll_iter566 = and i64 %wide.trip.count385, 2147483646
  br label %415

.preheader283.loopexit.unr-lcssa:                 ; preds = %415, %.lr.ph321
  %indvars.iv382.unr = phi i64 [ 0, %.lr.ph321 ], [ %indvars.iv.next383.1, %415 ]
  %lcmp.mod565.not = icmp eq i64 %xtraiter563, 0
  br i1 %lcmp.mod565.not, label %.preheader283, label %.preheader283.loopexit.epilog-lcssa

.preheader283.loopexit.epilog-lcssa:              ; preds = %.preheader283.loopexit.unr-lcssa
  %401 = getelementptr inbounds i32, ptr %397, i64 %indvars.iv382.unr
  %402 = load i32, ptr %401, align 4, !tbaa !24
  %403 = load double, ptr %36, align 8, !tbaa !5
  %404 = getelementptr inbounds double, ptr %7, i64 %indvars.iv382.unr
  %405 = load double, ptr %404, align 8, !tbaa !27
  %406 = sext i32 %402 to i64
  %407 = getelementptr inbounds double, ptr %399, i64 %406
  %408 = load double, ptr %407, align 8, !tbaa !27
  %409 = call double @llvm.fmuladd.f64(double %403, double %405, double %408)
  store double %409, ptr %407, align 8, !tbaa !27
  br label %.preheader283

.preheader283:                                    ; preds = %.preheader283.loopexit.epilog-lcssa, %.preheader283.loopexit.unr-lcssa, %.preheader284
  br i1 %70, label %.lr.ph323, label %.preheader282

.lr.ph323:                                        ; preds = %.preheader283
  %410 = load ptr, ptr %15, align 8, !tbaa !26
  %411 = getelementptr inbounds i8, ptr %0, i64 184
  %412 = load ptr, ptr %411, align 8, !tbaa !51
  %413 = getelementptr inbounds i8, ptr %0, i64 192
  %414 = load ptr, ptr %413, align 8, !tbaa !33
  %wide.trip.count390 = zext nneg i32 %23 to i64
  br label %438

415:                                              ; preds = %415, %.lr.ph321.new
  %indvars.iv382 = phi i64 [ 0, %.lr.ph321.new ], [ %indvars.iv.next383.1, %415 ]
  %niter567 = phi i64 [ 0, %.lr.ph321.new ], [ %niter567.next.1, %415 ]
  %416 = getelementptr inbounds i32, ptr %397, i64 %indvars.iv382
  %417 = load i32, ptr %416, align 4, !tbaa !24
  %418 = load double, ptr %36, align 8, !tbaa !5
  %419 = getelementptr inbounds double, ptr %7, i64 %indvars.iv382
  %420 = load double, ptr %419, align 8, !tbaa !27
  %421 = sext i32 %417 to i64
  %422 = getelementptr inbounds double, ptr %399, i64 %421
  %423 = load double, ptr %422, align 8, !tbaa !27
  %424 = call double @llvm.fmuladd.f64(double %418, double %420, double %423)
  store double %424, ptr %422, align 8, !tbaa !27
  %indvars.iv.next383 = or disjoint i64 %indvars.iv382, 1
  %425 = getelementptr inbounds i32, ptr %397, i64 %indvars.iv.next383
  %426 = load i32, ptr %425, align 4, !tbaa !24
  %427 = load double, ptr %36, align 8, !tbaa !5
  %428 = getelementptr inbounds double, ptr %7, i64 %indvars.iv.next383
  %429 = load double, ptr %428, align 8, !tbaa !27
  %430 = sext i32 %426 to i64
  %431 = getelementptr inbounds double, ptr %399, i64 %430
  %432 = load double, ptr %431, align 8, !tbaa !27
  %433 = call double @llvm.fmuladd.f64(double %427, double %429, double %432)
  store double %433, ptr %431, align 8, !tbaa !27
  %indvars.iv.next383.1 = add nuw nsw i64 %indvars.iv382, 2
  %niter567.next.1 = add i64 %niter567, 2
  %niter567.ncmp.1 = icmp eq i64 %niter567.next.1, %unroll_iter566
  br i1 %niter567.ncmp.1, label %.preheader283.loopexit.unr-lcssa, label %415, !llvm.loop !56

.preheader282:                                    ; preds = %438, %.preheader283
  br i1 %104, label %.lr.ph325, label %.preheader281

.lr.ph325:                                        ; preds = %.preheader282
  %434 = load ptr, ptr %16, align 8, !tbaa !26
  %435 = getelementptr inbounds i8, ptr %0, i64 192
  %436 = load ptr, ptr %435, align 8, !tbaa !33
  %wide.trip.count395 = zext nneg i32 %24 to i64
  %xtraiter569 = and i64 %wide.trip.count395, 1
  %437 = icmp eq i32 %24, 1
  br i1 %437, label %.preheader281.loopexit.unr-lcssa, label %.lr.ph325.new

.lr.ph325.new:                                    ; preds = %.lr.ph325
  %unroll_iter572 = and i64 %wide.trip.count395, 2147483646
  br label %517

438:                                              ; preds = %.lr.ph323, %438
  %indvars.iv387 = phi i64 [ 0, %.lr.ph323 ], [ %indvars.iv.next388, %438 ]
  %439 = getelementptr inbounds i32, ptr %410, i64 %indvars.iv387
  %440 = load i32, ptr %439, align 4, !tbaa !24
  %441 = load double, ptr %36, align 8, !tbaa !5
  %442 = getelementptr inbounds double, ptr %6, i64 %indvars.iv387
  %443 = load double, ptr %442, align 8, !tbaa !27
  %444 = sext i32 %440 to i64
  %445 = getelementptr inbounds double, ptr %412, i64 %444
  %446 = load double, ptr %445, align 8, !tbaa !27
  %447 = call double @llvm.fmuladd.f64(double %441, double %443, double %446)
  store double %447, ptr %445, align 8, !tbaa !27
  %448 = load double, ptr %36, align 8, !tbaa !5
  %449 = getelementptr inbounds double, ptr %9, i64 %indvars.iv387
  %450 = load double, ptr %449, align 8, !tbaa !27
  %451 = getelementptr inbounds double, ptr %414, i64 %444
  %452 = load double, ptr %451, align 8, !tbaa !27
  %453 = call double @llvm.fmuladd.f64(double %448, double %450, double %452)
  store double %453, ptr %451, align 8, !tbaa !27
  %indvars.iv.next388 = add nuw nsw i64 %indvars.iv387, 1
  %exitcond391.not = icmp eq i64 %indvars.iv.next388, %wide.trip.count390
  br i1 %exitcond391.not, label %.preheader282, label %438, !llvm.loop !57

.preheader281.loopexit.unr-lcssa:                 ; preds = %517, %.lr.ph325
  %indvars.iv392.unr = phi i64 [ 0, %.lr.ph325 ], [ %indvars.iv.next393.1, %517 ]
  %lcmp.mod571.not = icmp eq i64 %xtraiter569, 0
  br i1 %lcmp.mod571.not, label %.preheader281, label %.preheader281.loopexit.epilog-lcssa

.preheader281.loopexit.epilog-lcssa:              ; preds = %.preheader281.loopexit.unr-lcssa
  %454 = getelementptr inbounds i32, ptr %434, i64 %indvars.iv392.unr
  %455 = load i32, ptr %454, align 4, !tbaa !24
  %456 = load double, ptr %36, align 8, !tbaa !5
  %457 = getelementptr inbounds double, ptr %8, i64 %indvars.iv392.unr
  %458 = load double, ptr %457, align 8, !tbaa !27
  %459 = add nsw i32 %455, %20
  %460 = sext i32 %459 to i64
  %461 = getelementptr inbounds double, ptr %436, i64 %460
  %462 = load double, ptr %461, align 8, !tbaa !27
  %463 = call double @llvm.fmuladd.f64(double %456, double %458, double %462)
  store double %463, ptr %461, align 8, !tbaa !27
  br label %.preheader281

.preheader281:                                    ; preds = %.preheader281.loopexit.epilog-lcssa, %.preheader281.loopexit.unr-lcssa, %.preheader282
  %464 = icmp sgt i32 %20, 0
  br i1 %464, label %.lr.ph327, label %.preheader280

.lr.ph327:                                        ; preds = %.preheader281
  %465 = getelementptr inbounds i8, ptr %0, i64 24
  %466 = load ptr, ptr %465, align 8, !tbaa !58
  %467 = getelementptr inbounds i8, ptr %0, i64 32
  %468 = load ptr, ptr %467, align 8, !tbaa !52
  %469 = getelementptr inbounds i8, ptr %0, i64 40
  %470 = load ptr, ptr %469, align 8, !tbaa !54
  %min.iters.check = icmp ult i32 %20, 24
  br i1 %min.iters.check, label %scalar.ph.preheader, label %vector.memcheck

scalar.ph.preheader:                              ; preds = %middle.block, %vector.memcheck, %.lr.ph327
  %indvars.iv397.ph = phi i64 [ 0, %vector.memcheck ], [ 0, %.lr.ph327 ], [ %n.vec, %middle.block ]
  br label %scalar.ph

vector.memcheck:                                  ; preds = %.lr.ph327
  %471 = shl nuw nsw i64 %56, 3
  %scevgep = getelementptr i8, ptr %466, i64 %471
  %scevgep418 = getelementptr i8, ptr %468, i64 %471
  %scevgep419 = getelementptr i8, ptr %470, i64 %471
  %scevgep420 = getelementptr inbounds i8, ptr %0, i64 208
  %scevgep421 = getelementptr i8, ptr %1, i64 %471
  %scevgep422 = getelementptr i8, ptr %4, i64 %471
  %scevgep423 = getelementptr i8, ptr %5, i64 %471
  %bound0 = icmp ult ptr %466, %scevgep418
  %bound1 = icmp ult ptr %468, %scevgep
  %found.conflict = and i1 %bound0, %bound1
  %bound0424 = icmp ult ptr %466, %scevgep419
  %bound1425 = icmp ult ptr %470, %scevgep
  %found.conflict426 = and i1 %bound0424, %bound1425
  %472 = insertelement <4 x ptr> poison, ptr %466, i64 0
  %473 = shufflevector <4 x ptr> %472, <4 x ptr> poison, <4 x i32> zeroinitializer
  %474 = insertelement <4 x ptr> poison, ptr %scevgep420, i64 0
  %475 = insertelement <4 x ptr> %474, ptr %scevgep421, i64 1
  %476 = insertelement <4 x ptr> %475, ptr %scevgep422, i64 2
  %477 = insertelement <4 x ptr> %476, ptr %scevgep423, i64 3
  %478 = icmp ult <4 x ptr> %473, %477
  %479 = insertelement <4 x ptr> poison, ptr %36, i64 0
  %480 = insertelement <4 x ptr> %479, ptr %1, i64 1
  %481 = insertelement <4 x ptr> %480, ptr %4, i64 2
  %482 = insertelement <4 x ptr> %481, ptr %5, i64 3
  %483 = insertelement <4 x ptr> poison, ptr %scevgep, i64 0
  %484 = shufflevector <4 x ptr> %483, <4 x ptr> poison, <4 x i32> zeroinitializer
  %485 = icmp ult <4 x ptr> %482, %484
  %486 = and <4 x i1> %478, %485
  %bound0443 = icmp ult ptr %468, %scevgep419
  %bound1444 = icmp ult ptr %470, %scevgep418
  %found.conflict445 = and i1 %bound0443, %bound1444
  %487 = insertelement <4 x ptr> poison, ptr %468, i64 0
  %488 = shufflevector <4 x ptr> %487, <4 x ptr> poison, <4 x i32> zeroinitializer
  %489 = icmp ult <4 x ptr> %488, %477
  %490 = insertelement <4 x ptr> poison, ptr %scevgep418, i64 0
  %491 = shufflevector <4 x ptr> %490, <4 x ptr> poison, <4 x i32> zeroinitializer
  %492 = icmp ult <4 x ptr> %482, %491
  %493 = and <4 x i1> %489, %492
  %494 = insertelement <4 x ptr> poison, ptr %470, i64 0
  %495 = shufflevector <4 x ptr> %494, <4 x ptr> poison, <4 x i32> zeroinitializer
  %496 = icmp ult <4 x ptr> %495, %477
  %497 = insertelement <4 x ptr> poison, ptr %scevgep419, i64 0
  %498 = shufflevector <4 x ptr> %497, <4 x ptr> poison, <4 x i32> zeroinitializer
  %499 = icmp ult <4 x ptr> %482, %498
  %500 = and <4 x i1> %496, %499
  %501 = or <4 x i1> %486, %493
  %502 = or <4 x i1> %501, %500
  %503 = bitcast <4 x i1> %502 to i4
  %op.rdx540 = icmp ne i4 %503, 0
  %op.rdx541 = or i1 %op.rdx540, %found.conflict
  %op.rdx542 = or i1 %found.conflict426, %found.conflict445
  %op.rdx543 = or i1 %op.rdx541, %op.rdx542
  br i1 %op.rdx543, label %scalar.ph.preheader, label %vector.ph

vector.ph:                                        ; preds = %vector.memcheck
  %n.vec = and i64 %56, 2147483646
  br label %vector.body

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %504 = load <2 x double>, ptr %36, align 8
  %broadcast.splat = shufflevector <2 x double> %504, <2 x double> poison, <2 x i32> zeroinitializer
  %505 = getelementptr inbounds double, ptr %1, i64 %index
  %wide.load = load <2 x double>, ptr %505, align 8, !tbaa !27, !alias.scope !59
  %506 = getelementptr inbounds double, ptr %466, i64 %index
  %wide.load479 = load <2 x double>, ptr %506, align 8, !tbaa !27, !alias.scope !62, !noalias !64
  %507 = call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %broadcast.splat, <2 x double> %wide.load, <2 x double> %wide.load479)
  store <2 x double> %507, ptr %506, align 8, !tbaa !27, !alias.scope !62, !noalias !64
  %508 = load <2 x double>, ptr %36, align 8
  %broadcast.splat483 = shufflevector <2 x double> %508, <2 x double> poison, <2 x i32> zeroinitializer
  %509 = getelementptr inbounds double, ptr %4, i64 %index
  %wide.load480 = load <2 x double>, ptr %509, align 8, !tbaa !27, !alias.scope !70
  %510 = getelementptr inbounds double, ptr %468, i64 %index
  %wide.load481 = load <2 x double>, ptr %510, align 8, !tbaa !27, !alias.scope !71, !noalias !72
  %511 = call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %broadcast.splat483, <2 x double> %wide.load480, <2 x double> %wide.load481)
  store <2 x double> %511, ptr %510, align 8, !tbaa !27, !alias.scope !71, !noalias !72
  %512 = load <2 x double>, ptr %36, align 8
  %broadcast.splat487 = shufflevector <2 x double> %512, <2 x double> poison, <2 x i32> zeroinitializer
  %513 = getelementptr inbounds double, ptr %5, i64 %index
  %wide.load484 = load <2 x double>, ptr %513, align 8, !tbaa !27, !alias.scope !73
  %514 = getelementptr inbounds double, ptr %470, i64 %index
  %wide.load485 = load <2 x double>, ptr %514, align 8, !tbaa !27, !alias.scope !74, !noalias !75
  %515 = call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %broadcast.splat487, <2 x double> %wide.load484, <2 x double> %wide.load485)
  store <2 x double> %515, ptr %514, align 8, !tbaa !27, !alias.scope !74, !noalias !75
  %index.next = add nuw i64 %index, 2
  %516 = icmp eq i64 %index.next, %n.vec
  br i1 %516, label %middle.block, label %vector.body, !llvm.loop !76

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %56
  br i1 %cmp.n, label %.preheader280, label %scalar.ph.preheader

517:                                              ; preds = %517, %.lr.ph325.new
  %indvars.iv392 = phi i64 [ 0, %.lr.ph325.new ], [ %indvars.iv.next393.1, %517 ]
  %niter573 = phi i64 [ 0, %.lr.ph325.new ], [ %niter573.next.1, %517 ]
  %518 = getelementptr inbounds i32, ptr %434, i64 %indvars.iv392
  %519 = load i32, ptr %518, align 4, !tbaa !24
  %520 = load double, ptr %36, align 8, !tbaa !5
  %521 = getelementptr inbounds double, ptr %8, i64 %indvars.iv392
  %522 = load double, ptr %521, align 8, !tbaa !27
  %523 = add nsw i32 %519, %20
  %524 = sext i32 %523 to i64
  %525 = getelementptr inbounds double, ptr %436, i64 %524
  %526 = load double, ptr %525, align 8, !tbaa !27
  %527 = call double @llvm.fmuladd.f64(double %520, double %522, double %526)
  store double %527, ptr %525, align 8, !tbaa !27
  %indvars.iv.next393 = or disjoint i64 %indvars.iv392, 1
  %528 = getelementptr inbounds i32, ptr %434, i64 %indvars.iv.next393
  %529 = load i32, ptr %528, align 4, !tbaa !24
  %530 = load double, ptr %36, align 8, !tbaa !5
  %531 = getelementptr inbounds double, ptr %8, i64 %indvars.iv.next393
  %532 = load double, ptr %531, align 8, !tbaa !27
  %533 = add nsw i32 %529, %20
  %534 = sext i32 %533 to i64
  %535 = getelementptr inbounds double, ptr %436, i64 %534
  %536 = load double, ptr %535, align 8, !tbaa !27
  %537 = call double @llvm.fmuladd.f64(double %530, double %532, double %536)
  store double %537, ptr %535, align 8, !tbaa !27
  %indvars.iv.next393.1 = add nuw nsw i64 %indvars.iv392, 2
  %niter573.next.1 = add i64 %niter573, 2
  %niter573.ncmp.1 = icmp eq i64 %niter573.next.1, %unroll_iter572
  br i1 %niter573.ncmp.1, label %.preheader281.loopexit.unr-lcssa, label %517, !llvm.loop !79

.preheader280:                                    ; preds = %scalar.ph, %middle.block, %.preheader281
  %538 = icmp sgt i32 %21, 0
  br i1 %538, label %.lr.ph329, label %._crit_edge330

.lr.ph329:                                        ; preds = %.preheader280
  %539 = getelementptr inbounds i8, ptr %0, i64 816
  %540 = load ptr, ptr %539, align 8, !tbaa !80
  %541 = getelementptr inbounds i8, ptr %0, i64 824
  %542 = load ptr, ptr %541, align 8, !tbaa !81
  %min.iters.check523 = icmp ult i32 %21, 16
  br i1 %min.iters.check523, label %scalar.ph522.preheader, label %vector.memcheck488

scalar.ph522.preheader:                           ; preds = %middle.block521, %vector.memcheck488, %.lr.ph329
  %indvars.iv402.ph = phi i64 [ 0, %vector.memcheck488 ], [ 0, %.lr.ph329 ], [ %n.vec526, %middle.block521 ]
  br label %scalar.ph522

vector.memcheck488:                               ; preds = %.lr.ph329
  %543 = shl nuw nsw i64 %49, 3
  %scevgep489 = getelementptr i8, ptr %540, i64 %543
  %scevgep490 = getelementptr i8, ptr %542, i64 %543
  %scevgep491 = getelementptr inbounds i8, ptr %0, i64 208
  %scevgep492 = getelementptr i8, ptr %2, i64 %543
  %scevgep493 = getelementptr i8, ptr %3, i64 %543
  %bound0494 = icmp ult ptr %540, %scevgep490
  %bound1495 = icmp ult ptr %542, %scevgep489
  %found.conflict496 = and i1 %bound0494, %bound1495
  %bound0497 = icmp ult ptr %540, %scevgep491
  %bound1498 = icmp ult ptr %36, %scevgep489
  %found.conflict499 = and i1 %bound0497, %bound1498
  %conflict.rdx500 = or i1 %found.conflict496, %found.conflict499
  %bound0501 = icmp ult ptr %540, %scevgep492
  %bound1502 = icmp ugt ptr %scevgep489, %2
  %found.conflict503 = and i1 %bound0501, %bound1502
  %conflict.rdx504 = or i1 %conflict.rdx500, %found.conflict503
  %bound0505 = icmp ult ptr %540, %scevgep493
  %bound1506 = icmp ugt ptr %scevgep489, %3
  %found.conflict507 = and i1 %bound0505, %bound1506
  %conflict.rdx508 = or i1 %conflict.rdx504, %found.conflict507
  %bound0509 = icmp ult ptr %542, %scevgep491
  %bound1510 = icmp ult ptr %36, %scevgep490
  %found.conflict511 = and i1 %bound0509, %bound1510
  %conflict.rdx512 = or i1 %conflict.rdx508, %found.conflict511
  %bound0513 = icmp ult ptr %542, %scevgep492
  %bound1514 = icmp ugt ptr %scevgep490, %2
  %found.conflict515 = and i1 %bound0513, %bound1514
  %conflict.rdx516 = or i1 %conflict.rdx512, %found.conflict515
  %bound0517 = icmp ult ptr %542, %scevgep493
  %bound1518 = icmp ugt ptr %scevgep490, %3
  %found.conflict519 = and i1 %bound0517, %bound1518
  %conflict.rdx520 = or i1 %conflict.rdx516, %found.conflict519
  br i1 %conflict.rdx520, label %scalar.ph522.preheader, label %vector.ph524

vector.ph524:                                     ; preds = %vector.memcheck488
  %n.vec526 = and i64 %49, 2147483646
  br label %vector.body528

vector.body528:                                   ; preds = %vector.body528, %vector.ph524
  %index529 = phi i64 [ 0, %vector.ph524 ], [ %index.next538, %vector.body528 ]
  %544 = load <2 x double>, ptr %36, align 8
  %broadcast.splat533 = shufflevector <2 x double> %544, <2 x double> poison, <2 x i32> zeroinitializer
  %545 = getelementptr inbounds double, ptr %2, i64 %index529
  %wide.load530 = load <2 x double>, ptr %545, align 8, !tbaa !27, !alias.scope !82
  %546 = getelementptr inbounds double, ptr %540, i64 %index529
  %wide.load531 = load <2 x double>, ptr %546, align 8, !tbaa !27, !alias.scope !85, !noalias !87
  %547 = call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %broadcast.splat533, <2 x double> %wide.load530, <2 x double> %wide.load531)
  store <2 x double> %547, ptr %546, align 8, !tbaa !27, !alias.scope !85, !noalias !87
  %548 = load <2 x double>, ptr %36, align 8
  %broadcast.splat537 = shufflevector <2 x double> %548, <2 x double> poison, <2 x i32> zeroinitializer
  %549 = getelementptr inbounds double, ptr %3, i64 %index529
  %wide.load534 = load <2 x double>, ptr %549, align 8, !tbaa !27, !alias.scope !91
  %550 = getelementptr inbounds double, ptr %542, i64 %index529
  %wide.load535 = load <2 x double>, ptr %550, align 8, !tbaa !27, !alias.scope !92, !noalias !93
  %551 = call <2 x double> @llvm.fmuladd.v2f64(<2 x double> %broadcast.splat537, <2 x double> %wide.load534, <2 x double> %wide.load535)
  store <2 x double> %551, ptr %550, align 8, !tbaa !27, !alias.scope !92, !noalias !93
  %index.next538 = add nuw i64 %index529, 2
  %552 = icmp eq i64 %index.next538, %n.vec526
  br i1 %552, label %middle.block521, label %vector.body528, !llvm.loop !94

middle.block521:                                  ; preds = %vector.body528
  %cmp.n539 = icmp eq i64 %n.vec526, %49
  br i1 %cmp.n539, label %._crit_edge330, label %scalar.ph522.preheader

scalar.ph:                                        ; preds = %scalar.ph.preheader, %scalar.ph
  %indvars.iv397 = phi i64 [ %indvars.iv.next398, %scalar.ph ], [ %indvars.iv397.ph, %scalar.ph.preheader ]
  %553 = load double, ptr %36, align 8, !tbaa !5
  %554 = getelementptr inbounds double, ptr %1, i64 %indvars.iv397
  %555 = load double, ptr %554, align 8, !tbaa !27
  %556 = getelementptr inbounds double, ptr %466, i64 %indvars.iv397
  %557 = load double, ptr %556, align 8, !tbaa !27
  %558 = call double @llvm.fmuladd.f64(double %553, double %555, double %557)
  store double %558, ptr %556, align 8, !tbaa !27
  %559 = load double, ptr %36, align 8, !tbaa !5
  %560 = getelementptr inbounds double, ptr %4, i64 %indvars.iv397
  %561 = load double, ptr %560, align 8, !tbaa !27
  %562 = getelementptr inbounds double, ptr %468, i64 %indvars.iv397
  %563 = load double, ptr %562, align 8, !tbaa !27
  %564 = call double @llvm.fmuladd.f64(double %559, double %561, double %563)
  store double %564, ptr %562, align 8, !tbaa !27
  %565 = load double, ptr %36, align 8, !tbaa !5
  %566 = getelementptr inbounds double, ptr %5, i64 %indvars.iv397
  %567 = load double, ptr %566, align 8, !tbaa !27
  %568 = getelementptr inbounds double, ptr %470, i64 %indvars.iv397
  %569 = load double, ptr %568, align 8, !tbaa !27
  %570 = call double @llvm.fmuladd.f64(double %565, double %567, double %569)
  store double %570, ptr %568, align 8, !tbaa !27
  %indvars.iv.next398 = add nuw nsw i64 %indvars.iv397, 1
  %exitcond401.not = icmp eq i64 %indvars.iv.next398, %56
  br i1 %exitcond401.not, label %.preheader280, label %scalar.ph, !llvm.loop !95

scalar.ph522:                                     ; preds = %scalar.ph522.preheader, %scalar.ph522
  %indvars.iv402 = phi i64 [ %indvars.iv.next403, %scalar.ph522 ], [ %indvars.iv402.ph, %scalar.ph522.preheader ]
  %571 = load double, ptr %36, align 8, !tbaa !5
  %572 = getelementptr inbounds double, ptr %2, i64 %indvars.iv402
  %573 = load double, ptr %572, align 8, !tbaa !27
  %574 = getelementptr inbounds double, ptr %540, i64 %indvars.iv402
  %575 = load double, ptr %574, align 8, !tbaa !27
  %576 = call double @llvm.fmuladd.f64(double %571, double %573, double %575)
  store double %576, ptr %574, align 8, !tbaa !27
  %577 = load double, ptr %36, align 8, !tbaa !5
  %578 = getelementptr inbounds double, ptr %3, i64 %indvars.iv402
  %579 = load double, ptr %578, align 8, !tbaa !27
  %580 = getelementptr inbounds double, ptr %542, i64 %indvars.iv402
  %581 = load double, ptr %580, align 8, !tbaa !27
  %582 = call double @llvm.fmuladd.f64(double %577, double %579, double %581)
  store double %582, ptr %580, align 8, !tbaa !27
  %indvars.iv.next403 = add nuw nsw i64 %indvars.iv402, 1
  %exitcond406.not = icmp eq i64 %indvars.iv.next403, %49
  br i1 %exitcond406.not, label %._crit_edge330, label %scalar.ph522, !llvm.loop !96

._crit_edge330:                                   ; preds = %scalar.ph522, %middle.block521, %.preheader280
  %583 = getelementptr inbounds i8, ptr %0, i64 808
  %584 = load ptr, ptr %583, align 8, !tbaa !42
  %585 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %31)
  %586 = getelementptr inbounds i8, ptr %0, i64 184
  %587 = load ptr, ptr %586, align 8, !tbaa !51
  %588 = getelementptr inbounds i8, ptr %0, i64 976
  %589 = load ptr, ptr %588, align 8, !tbaa !97
  %590 = load ptr, ptr %584, align 8, !tbaa !43
  %591 = getelementptr inbounds i8, ptr %590, i64 136
  %592 = load ptr, ptr %591, align 8
  %593 = call noundef i32 %592(ptr noundef nonnull align 8 dereferenceable(12) %584, ptr noundef %585, ptr noundef null, i32 noundef 1, double noundef 1.000000e+00, ptr noundef %587, i32 noundef %20, double noundef 0.000000e+00, ptr noundef %589, i32 noundef %21, i32 noundef 0)
  br i1 %104, label %.lr.ph333, label %.preheader

.lr.ph333:                                        ; preds = %._crit_edge330
  %594 = load ptr, ptr %16, align 8, !tbaa !26
  %595 = getelementptr inbounds i8, ptr %0, i64 824
  %596 = load ptr, ptr %595, align 8, !tbaa !81
  %597 = load ptr, ptr %588, align 8, !tbaa !97
  %598 = getelementptr inbounds i8, ptr %0, i64 992
  %599 = load ptr, ptr %598, align 8, !tbaa !48
  %600 = getelementptr inbounds i8, ptr %0, i64 816
  %601 = load ptr, ptr %600, align 8, !tbaa !80
  %602 = getelementptr inbounds i8, ptr %0, i64 984
  %603 = load ptr, ptr %602, align 8, !tbaa !46
  %wide.trip.count410 = zext nneg i32 %24 to i64
  %xtraiter575 = and i64 %wide.trip.count410, 1
  %604 = icmp eq i32 %24, 1
  br i1 %604, label %.preheader.loopexit.unr-lcssa, label %.lr.ph333.new

.lr.ph333.new:                                    ; preds = %.lr.ph333
  %unroll_iter578 = and i64 %wide.trip.count410, 2147483646
  br label %621

.preheader.loopexit.unr-lcssa:                    ; preds = %621, %.lr.ph333
  %indvars.iv407.unr = phi i64 [ 0, %.lr.ph333 ], [ %indvars.iv.next408.1, %621 ]
  %lcmp.mod577.not = icmp eq i64 %xtraiter575, 0
  br i1 %lcmp.mod577.not, label %.preheader, label %.preheader.loopexit.epilog-lcssa

.preheader.loopexit.epilog-lcssa:                 ; preds = %.preheader.loopexit.unr-lcssa
  %605 = getelementptr inbounds i32, ptr %594, i64 %indvars.iv407.unr
  %606 = load i32, ptr %605, align 4, !tbaa !24
  %607 = sext i32 %606 to i64
  %608 = getelementptr inbounds double, ptr %596, i64 %607
  %609 = load double, ptr %608, align 8, !tbaa !27
  %610 = getelementptr inbounds double, ptr %597, i64 %607
  %611 = load double, ptr %610, align 8, !tbaa !27
  %612 = fsub double %609, %611
  %613 = getelementptr inbounds double, ptr %599, i64 %607
  store double %612, ptr %613, align 8, !tbaa !27
  %614 = load double, ptr %610, align 8, !tbaa !27
  %615 = getelementptr inbounds double, ptr %601, i64 %607
  %616 = load double, ptr %615, align 8, !tbaa !27
  %617 = fsub double %614, %616
  %618 = getelementptr inbounds double, ptr %603, i64 %607
  store double %617, ptr %618, align 8, !tbaa !27
  br label %.preheader

.preheader:                                       ; preds = %.preheader.loopexit.epilog-lcssa, %.preheader.loopexit.unr-lcssa, %._crit_edge330
  br i1 %301, label %.lr.ph335, label %.loopexit

.lr.ph335:                                        ; preds = %.preheader
  %619 = getelementptr inbounds i8, ptr %0, i64 984
  %620 = getelementptr inbounds i8, ptr %0, i64 992
  %wide.trip.count415 = zext nneg i32 %25 to i64
  br label %650

621:                                              ; preds = %621, %.lr.ph333.new
  %indvars.iv407 = phi i64 [ 0, %.lr.ph333.new ], [ %indvars.iv.next408.1, %621 ]
  %niter579 = phi i64 [ 0, %.lr.ph333.new ], [ %niter579.next.1, %621 ]
  %622 = getelementptr inbounds i32, ptr %594, i64 %indvars.iv407
  %623 = load i32, ptr %622, align 4, !tbaa !24
  %624 = sext i32 %623 to i64
  %625 = getelementptr inbounds double, ptr %596, i64 %624
  %626 = load double, ptr %625, align 8, !tbaa !27
  %627 = getelementptr inbounds double, ptr %597, i64 %624
  %628 = load double, ptr %627, align 8, !tbaa !27
  %629 = fsub double %626, %628
  %630 = getelementptr inbounds double, ptr %599, i64 %624
  store double %629, ptr %630, align 8, !tbaa !27
  %631 = load double, ptr %627, align 8, !tbaa !27
  %632 = getelementptr inbounds double, ptr %601, i64 %624
  %633 = load double, ptr %632, align 8, !tbaa !27
  %634 = fsub double %631, %633
  %635 = getelementptr inbounds double, ptr %603, i64 %624
  store double %634, ptr %635, align 8, !tbaa !27
  %indvars.iv.next408 = or disjoint i64 %indvars.iv407, 1
  %636 = getelementptr inbounds i32, ptr %594, i64 %indvars.iv.next408
  %637 = load i32, ptr %636, align 4, !tbaa !24
  %638 = sext i32 %637 to i64
  %639 = getelementptr inbounds double, ptr %596, i64 %638
  %640 = load double, ptr %639, align 8, !tbaa !27
  %641 = getelementptr inbounds double, ptr %597, i64 %638
  %642 = load double, ptr %641, align 8, !tbaa !27
  %643 = fsub double %640, %642
  %644 = getelementptr inbounds double, ptr %599, i64 %638
  store double %643, ptr %644, align 8, !tbaa !27
  %645 = load double, ptr %641, align 8, !tbaa !27
  %646 = getelementptr inbounds double, ptr %601, i64 %638
  %647 = load double, ptr %646, align 8, !tbaa !27
  %648 = fsub double %645, %647
  %649 = getelementptr inbounds double, ptr %603, i64 %638
  store double %648, ptr %649, align 8, !tbaa !27
  %indvars.iv.next408.1 = add nuw nsw i64 %indvars.iv407, 2
  %niter579.next.1 = add i64 %niter579, 2
  %niter579.ncmp.1 = icmp eq i64 %niter579.next.1, %unroll_iter578
  br i1 %niter579.ncmp.1, label %.preheader.loopexit.unr-lcssa, label %621, !llvm.loop !98

650:                                              ; preds = %.lr.ph335, %678
  %indvars.iv412 = phi i64 [ 0, %.lr.ph335 ], [ %indvars.iv.next413, %678 ]
  %651 = load ptr, ptr %17, align 8, !tbaa !26
  %652 = getelementptr inbounds i32, ptr %651, i64 %indvars.iv412
  %653 = load i32, ptr %652, align 4, !tbaa !24
  %654 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %31, i32 noundef %653)
  %.not278 = icmp eq i32 %654, 0
  br i1 %.not278, label %678, label %655

655:                                              ; preds = %650
  %656 = load double, ptr %36, align 8, !tbaa !5
  %657 = sext i32 %653 to i64
  %658 = getelementptr inbounds double, ptr %55, i64 %657
  %659 = load double, ptr %658, align 8, !tbaa !27
  %660 = load ptr, ptr %588, align 8, !tbaa !97
  %661 = getelementptr inbounds double, ptr %660, i64 %657
  %662 = load double, ptr %661, align 8, !tbaa !27
  %663 = call double @llvm.fmuladd.f64(double %656, double %659, double %662)
  store double %663, ptr %661, align 8, !tbaa !27
  %664 = load double, ptr %36, align 8, !tbaa !5
  %665 = getelementptr inbounds double, ptr %53, i64 %657
  %666 = load double, ptr %665, align 8, !tbaa !27
  %667 = load ptr, ptr %619, align 8, !tbaa !46
  %668 = getelementptr inbounds double, ptr %667, i64 %657
  %669 = load double, ptr %668, align 8, !tbaa !27
  %670 = call double @llvm.fmuladd.f64(double %664, double %666, double %669)
  store double %670, ptr %668, align 8, !tbaa !27
  %671 = load double, ptr %36, align 8, !tbaa !5
  %672 = getelementptr inbounds double, ptr %54, i64 %657
  %673 = load double, ptr %672, align 8, !tbaa !27
  %674 = load ptr, ptr %620, align 8, !tbaa !48
  %675 = getelementptr inbounds double, ptr %674, i64 %657
  %676 = load double, ptr %675, align 8, !tbaa !27
  %677 = call double @llvm.fmuladd.f64(double %671, double %673, double %676)
  store double %677, ptr %675, align 8, !tbaa !27
  br label %678

678:                                              ; preds = %650, %655
  %indvars.iv.next413 = add nuw nsw i64 %indvars.iv412, 1
  %exitcond416.not = icmp eq i64 %indvars.iv.next413, %wide.trip.count415
  br i1 %exitcond416.not, label %.loopexit, label %650, !llvm.loop !99

679:                                              ; preds = %392
  %680 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %19, i64 noundef 160, ptr noundef nonnull @.str.46, double noundef %395) #10
  %681 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %682 = call noundef i32 @_ZN7qpOASES15MessageHandling12throwWarningENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %681, i32 noundef 73, ptr noundef nonnull %19, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 5271, i32 noundef 1)
  br label %.loopexit

.loopexit:                                        ; preds = %678, %.preheader, %679
  call void @_ZdaPv(ptr noundef nonnull %55) #12
  call void @_ZdaPv(ptr noundef nonnull %54) #12
  call void @_ZdaPv(ptr noundef nonnull %53) #12
  call void @llvm.lifetime.end.p0(i64 160, ptr nonnull %19) #10
  br label %683

683:                                              ; preds = %.loopexit, %241
  %.0 = phi i32 [ 0, %.loopexit ], [ %243, %241 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %18) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #10
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #10
  ret i32 %.0
}

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #8

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints11getInactiveEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #5 align 2

declare noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem7getNIACEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN7qpOASES6getMaxEii(i32 noundef, i32 noundef) local_unnamed_addr #5

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getMaxEdd(double noundef, double noundef) local_unnamed_addr #5

; 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>) #9

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { 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 #5 = { 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 #6 = { nofree nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #9 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #10 = { nounwind }
attributes #11 = { builtin allocsize(0) }
attributes #12 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !15, i64 200}
!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 = !{!13, !13, i64 0}
!25 = !{!20, !20, i64 0}
!26 = !{!10, !10, i64 0}
!27 = !{!15, !15, i64 0}
!28 = distinct !{!28, !29}
!29 = !{!"llvm.loop.unroll.disable"}
!30 = distinct !{!30, !31}
!31 = !{!"llvm.loop.mustprogress"}
!32 = distinct !{!32, !29}
!33 = !{!6, !10, i64 192}
!34 = distinct !{!34, !31}
!35 = distinct !{!35, !31}
!36 = !{!6, !15, i64 336}
!37 = !{!6, !15, i64 344}
!38 = !{!7, !7, i64 0}
!39 = distinct !{!39, !31}
!40 = !{!41, !10, i64 1000}
!41 = !{!"_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}
!42 = !{!41, !10, i64 808}
!43 = !{!44, !44, i64 0}
!44 = !{!"vtable pointer", !9, i64 0}
!45 = distinct !{!45, !31}
!46 = !{!41, !10, i64 984}
!47 = distinct !{!47, !31}
!48 = !{!41, !10, i64 992}
!49 = distinct !{!49, !31}
!50 = distinct !{!50, !31}
!51 = !{!6, !10, i64 184}
!52 = !{!6, !10, i64 32}
!53 = distinct !{!53, !31}
!54 = !{!6, !10, i64 40}
!55 = distinct !{!55, !31}
!56 = distinct !{!56, !31}
!57 = distinct !{!57, !31}
!58 = !{!6, !10, i64 24}
!59 = !{!60}
!60 = distinct !{!60, !61}
!61 = distinct !{!61, !"LVerDomain"}
!62 = !{!63}
!63 = distinct !{!63, !61}
!64 = !{!65, !66, !67, !60, !68, !69}
!65 = distinct !{!65, !61}
!66 = distinct !{!66, !61}
!67 = distinct !{!67, !61}
!68 = distinct !{!68, !61}
!69 = distinct !{!69, !61}
!70 = !{!68}
!71 = !{!65}
!72 = !{!66, !67, !60, !68, !69}
!73 = !{!69}
!74 = !{!66}
!75 = !{!67, !60, !68, !69}
!76 = distinct !{!76, !31, !77, !78}
!77 = !{!"llvm.loop.isvectorized", i32 1}
!78 = !{!"llvm.loop.unroll.runtime.disable"}
!79 = distinct !{!79, !31}
!80 = !{!41, !10, i64 816}
!81 = !{!41, !10, i64 824}
!82 = !{!83}
!83 = distinct !{!83, !84}
!84 = distinct !{!84, !"LVerDomain"}
!85 = !{!86}
!86 = distinct !{!86, !84}
!87 = !{!88, !89, !83, !90}
!88 = distinct !{!88, !84}
!89 = distinct !{!89, !84}
!90 = distinct !{!90, !84}
!91 = !{!90}
!92 = !{!88}
!93 = !{!89, !83, !90}
!94 = distinct !{!94, !31, !77, !78}
!95 = distinct !{!95, !31, !77}
!96 = distinct !{!96, !31, !77}
!97 = !{!41, !10, i64 976}
!98 = distinct !{!98, !31}
!99 = distinct !{!99, !31}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalDCEPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LICMPass,LoopLoadEliminationPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,LoopVectorizePass,PostOrderFunctionAttrsPass,ReassociatePass,SLPVectorizerPass,SROAPass,SimplifyCFGPass,TailCallElimPass,VectorCombinePass