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

; 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::SQProblemSchur" = type { %"class.qpOASES::SQProblem", ptr, ptr, i32, i32, ptr, ptr, double, double, i32, ptr, ptr, i32, ptr, ptr, ptr, %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }
%"class.qpOASES::SQProblem" = type { %"class.qpOASES::QProblem" }
%"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 }
%"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::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 }
%"struct.qpOASES::TabularOutput" = type { i32, i32, i32, i32, i32, i32, i32, i32 }
%"class.qpOASES::Constraints" = type { %"class.qpOASES::SubjectTo", %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }
%"class.qpOASES::Indexlist" = type <{ ptr, ptr, i32, i32, i32, i32, i32, [4 x i8] }>

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.39 = external hidden unnamed_addr constant [50 x i8], align 1
@.str.40 = external hidden unnamed_addr constant [51 x i8], align 1
@.str.41 = external hidden unnamed_addr constant [81 x i8], align 1
@.str.42 = external hidden unnamed_addr constant [62 x i8], align 1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_Z8MyPrintfPKcz(ptr noundef, ...) #0

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

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #4

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) #4

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur14correctInertiaEv(ptr noundef nonnull align 8 dereferenceable(1256) %0) #7 align 2 {
  %2 = alloca i32, align 4
  %3 = alloca ptr, align 8
  %4 = alloca i32, align 4
  %5 = alloca double, align 8
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca i32, align 4
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca i32, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  %14 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %4) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #9
  %15 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %14)
  store i32 %15, ptr %6, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #9
  %16 = load i32, ptr %6, align 4, !tbaa !9
  %17 = sext i32 %16 to i64
  %18 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %17, i64 4)
  %19 = extractvalue { i64, i1 } %18, 1
  %20 = extractvalue { i64, i1 } %18, 0
  %21 = select i1 %19, i64 -1, i64 %20
  %22 = call noalias noundef nonnull ptr @_Znam(i64 noundef %21) #10
  store ptr %22, ptr %11, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #9
  %23 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %14, i32 0, i32 3
  %24 = load i32, ptr %23, align 8, !tbaa !11
  %25 = icmp ne i32 %24, 0
  br i1 %25, label %26, label %33

26:                                               ; preds = %1
  %27 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %14, i32 0, i32 3
  %28 = load i32, ptr %27, align 8, !tbaa !11
  %29 = icmp ne i32 %28, 1
  br i1 %29, label %30, label %33

30:                                               ; preds = %26
  %31 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %32 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %31, i32 noundef 144, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3441, i32 noundef 1)
  store i32 %32, ptr %2, align 4
  store i32 1, ptr %13, align 4
  br label %246

33:                                               ; preds = %26, %1
  %34 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %14, i32 0, i32 1
  %35 = load ptr, ptr %34, align 8, !tbaa !29
  %36 = load ptr, ptr %35, align 8, !tbaa !30
  %37 = getelementptr inbounds ptr, ptr %36, i64 7
  %38 = load ptr, ptr %37, align 8
  %39 = call noundef i32 %38(ptr noundef nonnull align 8 dereferenceable(8) %35)
  store i32 %39, ptr %9, align 4, !tbaa !9
  %40 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %14, i32 0, i32 3
  %41 = load i32, ptr %40, align 8, !tbaa !11
  %42 = icmp eq i32 %41, 1
  br i1 %42, label %43, label %50

43:                                               ; preds = %33
  %44 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %14, i32 0, i32 7
  %45 = load double, ptr %44, align 8, !tbaa !32
  %46 = fcmp olt double %45, 0.000000e+00
  br i1 %46, label %47, label %50

47:                                               ; preds = %43
  %48 = load i32, ptr %9, align 4, !tbaa !9
  %49 = add nsw i32 %48, -1
  store i32 %49, ptr %9, align 4, !tbaa !9
  br label %50

50:                                               ; preds = %47, %43, %33
  %51 = load i32, ptr %9, align 4, !tbaa !9
  %52 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %14)
  %53 = icmp eq i32 %51, %52
  br i1 %53, label %54, label %55

54:                                               ; preds = %50
  store i32 0, ptr %2, align 4
  store i32 1, ptr %13, align 4
  br label %246

55:                                               ; preds = %50
  %56 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 6
  %57 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %56)
  %58 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %57, ptr noundef %12)
  store i32 0, ptr %7, align 4, !tbaa !9
  br label %59

59:                                               ; preds = %73, %55
  %60 = load i32, ptr %7, align 4, !tbaa !9
  %61 = load i32, ptr %6, align 4, !tbaa !9
  %62 = icmp slt i32 %60, %61
  br i1 %62, label %63, label %76

63:                                               ; preds = %59
  %64 = load ptr, ptr %12, align 8, !tbaa !5
  %65 = load i32, ptr %7, align 4, !tbaa !9
  %66 = sext i32 %65 to i64
  %67 = getelementptr inbounds i32, ptr %64, i64 %66
  %68 = load i32, ptr %67, align 4, !tbaa !9
  %69 = load ptr, ptr %11, align 8, !tbaa !5
  %70 = load i32, ptr %7, align 4, !tbaa !9
  %71 = sext i32 %70 to i64
  %72 = getelementptr inbounds i32, ptr %69, i64 %71
  store i32 %68, ptr %72, align 4, !tbaa !9
  br label %73

73:                                               ; preds = %63
  %74 = load i32, ptr %7, align 4, !tbaa !9
  %75 = add nsw i32 %74, 1
  store i32 %75, ptr %7, align 4, !tbaa !9
  br label %59, !llvm.loop !33

76:                                               ; preds = %59
  store i32 0, ptr %7, align 4, !tbaa !9
  %77 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %14)
  store i32 %77, ptr %10, align 4, !tbaa !9
  br label %78

78:                                               ; preds = %211, %187, %76
  %79 = load i32, ptr %9, align 4, !tbaa !9
  %80 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %14)
  %81 = icmp sgt i32 %79, %80
  br i1 %81, label %82, label %86

82:                                               ; preds = %78
  %83 = load i32, ptr %7, align 4, !tbaa !9
  %84 = load i32, ptr %6, align 4, !tbaa !9
  %85 = icmp slt i32 %83, %84
  br label %86

86:                                               ; preds = %82, %78
  %87 = phi i1 [ false, %78 ], [ %85, %82 ]
  br i1 %87, label %88, label %214

88:                                               ; preds = %86
  %89 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %14, i32 0, i32 7
  %90 = load double, ptr %89, align 8, !tbaa !32
  store double %90, ptr %5, align 8, !tbaa !35
  %91 = load ptr, ptr %11, align 8, !tbaa !5
  %92 = load i32, ptr %7, align 4, !tbaa !9
  %93 = sext i32 %92 to i64
  %94 = getelementptr inbounds i32, ptr %91, i64 %93
  %95 = load i32, ptr %94, align 4, !tbaa !9
  store i32 %95, ptr %8, align 4, !tbaa !9
  %96 = load i32, ptr %8, align 4, !tbaa !9
  %97 = load ptr, ptr %14, align 8, !tbaa !30
  %98 = getelementptr inbounds ptr, ptr %97, i64 29
  %99 = load ptr, ptr %98, align 8
  %100 = call noundef i32 %99(ptr noundef nonnull align 8 dereferenceable(1256) %14, i32 noundef %96)
  %101 = icmp eq i32 %100, 89
  br i1 %101, label %102, label %179

102:                                              ; preds = %88
  %103 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %104 = load ptr, ptr %103, align 8, !tbaa !36
  %105 = load i32, ptr %8, align 4, !tbaa !9
  %106 = sext i32 %105 to i64
  %107 = getelementptr inbounds double, ptr %104, i64 %106
  %108 = load double, ptr %107, align 8, !tbaa !35
  %109 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 4
  %110 = load ptr, ptr %109, align 8, !tbaa !37
  %111 = load i32, ptr %8, align 4, !tbaa !9
  %112 = sext i32 %111 to i64
  %113 = getelementptr inbounds double, ptr %110, i64 %112
  %114 = load double, ptr %113, align 8, !tbaa !35
  %115 = fsub double %108, %114
  %116 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 5
  %117 = load ptr, ptr %116, align 8, !tbaa !38
  %118 = load i32, ptr %8, align 4, !tbaa !9
  %119 = sext i32 %118 to i64
  %120 = getelementptr inbounds double, ptr %117, i64 %119
  %121 = load double, ptr %120, align 8, !tbaa !35
  %122 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %123 = load ptr, ptr %122, align 8, !tbaa !36
  %124 = load i32, ptr %8, align 4, !tbaa !9
  %125 = sext i32 %124 to i64
  %126 = getelementptr inbounds double, ptr %123, i64 %125
  %127 = load double, ptr %126, align 8, !tbaa !35
  %128 = fsub double %121, %127
  %129 = fcmp olt double %115, %128
  br i1 %129, label %130, label %131

130:                                              ; preds = %102
  store i32 -1, ptr %4, align 4, !tbaa !39
  br label %132

131:                                              ; preds = %102
  store i32 1, ptr %4, align 4, !tbaa !39
  br label %132

132:                                              ; preds = %131, %130
  %133 = load i32, ptr %8, align 4, !tbaa !9
  %134 = load i32, ptr %4, align 4, !tbaa !39
  %135 = load ptr, ptr %14, align 8, !tbaa !30
  %136 = getelementptr inbounds ptr, ptr %135, i64 28
  %137 = load ptr, ptr %136, align 8
  %138 = call noundef i32 %137(ptr noundef nonnull align 8 dereferenceable(1256) %14, i32 noundef %133, i32 noundef %134, i32 noundef 1, i32 noundef 0)
  %139 = icmp ne i32 %138, 0
  br i1 %139, label %140, label %151

140:                                              ; preds = %132
  %141 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 23
  %142 = getelementptr inbounds %"class.qpOASES::Options", ptr %141, i32 0, i32 0
  %143 = load i32, ptr %142, align 8, !tbaa !40
  %144 = icmp eq i32 %143, 3
  br i1 %144, label %145, label %148

145:                                              ; preds = %140
  %146 = load i32, ptr %7, align 4, !tbaa !9
  %147 = load i32, ptr %8, align 4, !tbaa !9
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.39, i32 noundef %146, i32 noundef %147)
  br label %148

148:                                              ; preds = %145, %140
  %149 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %150 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %149, i32 noundef 144, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3478, i32 noundef 1)
  store i32 %150, ptr %2, align 4
  store i32 1, ptr %13, align 4
  br label %246

151:                                              ; preds = %132
  %152 = load i32, ptr %4, align 4, !tbaa !39
  %153 = icmp eq i32 %152, -1
  br i1 %153, label %154, label %166

154:                                              ; preds = %151
  %155 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %156 = load ptr, ptr %155, align 8, !tbaa !36
  %157 = load i32, ptr %8, align 4, !tbaa !9
  %158 = sext i32 %157 to i64
  %159 = getelementptr inbounds double, ptr %156, i64 %158
  %160 = load double, ptr %159, align 8, !tbaa !35
  %161 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 4
  %162 = load ptr, ptr %161, align 8, !tbaa !37
  %163 = load i32, ptr %8, align 4, !tbaa !9
  %164 = sext i32 %163 to i64
  %165 = getelementptr inbounds double, ptr %162, i64 %164
  store double %160, ptr %165, align 8, !tbaa !35
  br label %178

166:                                              ; preds = %151
  %167 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 9
  %168 = load ptr, ptr %167, align 8, !tbaa !36
  %169 = load i32, ptr %8, align 4, !tbaa !9
  %170 = sext i32 %169 to i64
  %171 = getelementptr inbounds double, ptr %168, i64 %170
  %172 = load double, ptr %171, align 8, !tbaa !35
  %173 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 5
  %174 = load ptr, ptr %173, align 8, !tbaa !38
  %175 = load i32, ptr %8, align 4, !tbaa !9
  %176 = sext i32 %175 to i64
  %177 = getelementptr inbounds double, ptr %174, i64 %176
  store double %172, ptr %177, align 8, !tbaa !35
  br label %178

178:                                              ; preds = %166, %154
  br label %190

179:                                              ; preds = %88
  %180 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 23
  %181 = getelementptr inbounds %"class.qpOASES::Options", ptr %180, i32 0, i32 0
  %182 = load i32, ptr %181, align 8, !tbaa !40
  %183 = icmp eq i32 %182, 3
  br i1 %183, label %184, label %187

184:                                              ; preds = %179
  %185 = load i32, ptr %7, align 4, !tbaa !9
  %186 = load i32, ptr %8, align 4, !tbaa !9
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.40, i32 noundef %185, i32 noundef %186)
  br label %187

187:                                              ; preds = %184, %179
  %188 = load i32, ptr %7, align 4, !tbaa !9
  %189 = add nsw i32 %188, 1
  store i32 %189, ptr %7, align 4, !tbaa !9
  br label %78, !llvm.loop !41

190:                                              ; preds = %178
  %191 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %14, i32 0, i32 3
  %192 = load i32, ptr %191, align 8, !tbaa !11
  %193 = icmp eq i32 %192, 0
  br i1 %193, label %194, label %201

194:                                              ; preds = %190
  %195 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %14, i32 0, i32 1
  %196 = load ptr, ptr %195, align 8, !tbaa !29
  %197 = load ptr, ptr %196, align 8, !tbaa !30
  %198 = getelementptr inbounds ptr, ptr %197, i64 7
  %199 = load ptr, ptr %198, align 8
  %200 = call noundef i32 %199(ptr noundef nonnull align 8 dereferenceable(8) %196)
  store i32 %200, ptr %9, align 4, !tbaa !9
  br label %211

201:                                              ; preds = %190
  %202 = load double, ptr %5, align 8, !tbaa !35
  %203 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %14, i32 0, i32 7
  %204 = load double, ptr %203, align 8, !tbaa !32
  %205 = fmul double %202, %204
  %206 = fcmp olt double %205, 0.000000e+00
  br i1 %206, label %207, label %210

207:                                              ; preds = %201
  %208 = load i32, ptr %9, align 4, !tbaa !9
  %209 = add nsw i32 %208, -1
  store i32 %209, ptr %9, align 4, !tbaa !9
  br label %210

210:                                              ; preds = %207, %201
  br label %211

211:                                              ; preds = %210, %194
  %212 = load i32, ptr %7, align 4, !tbaa !9
  %213 = add nsw i32 %212, 1
  store i32 %213, ptr %7, align 4, !tbaa !9
  br label %78, !llvm.loop !41

214:                                              ; preds = %86
  %215 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %14)
  %216 = load i32, ptr %10, align 4, !tbaa !9
  %217 = sub nsw i32 %216, %215
  store i32 %217, ptr %10, align 4, !tbaa !9
  %218 = load ptr, ptr %11, align 8, !tbaa !5
  %219 = icmp eq ptr %218, null
  br i1 %219, label %221, label %220

220:                                              ; preds = %214
  call void @_ZdaPv(ptr noundef %218) #11
  br label %221

221:                                              ; preds = %220, %214
  %222 = load i32, ptr %9, align 4, !tbaa !9
  %223 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %14)
  %224 = icmp sgt i32 %222, %223
  br i1 %224, label %225, label %237

225:                                              ; preds = %221
  %226 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 23
  %227 = getelementptr inbounds %"class.qpOASES::Options", ptr %226, i32 0, i32 0
  %228 = load i32, ptr %227, align 8, !tbaa !40
  %229 = icmp eq i32 %228, 3
  br i1 %229, label %230, label %234

230:                                              ; preds = %225
  %231 = load i32, ptr %10, align 4, !tbaa !9
  %232 = load i32, ptr %9, align 4, !tbaa !9
  %233 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %14)
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.41, i32 noundef %231, i32 noundef %232, i32 noundef %233)
  br label %234

234:                                              ; preds = %230, %225
  %235 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %236 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %235, i32 noundef 144, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3515, i32 noundef 1)
  store i32 %236, ptr %2, align 4
  store i32 1, ptr %13, align 4
  br label %246

237:                                              ; preds = %221
  %238 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 23
  %239 = getelementptr inbounds %"class.qpOASES::Options", ptr %238, i32 0, i32 0
  %240 = load i32, ptr %239, align 8, !tbaa !40
  %241 = icmp eq i32 %240, 3
  br i1 %241, label %242, label %245

242:                                              ; preds = %237
  %243 = load i32, ptr %10, align 4, !tbaa !9
  %244 = load i32, ptr %9, align 4, !tbaa !9
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.42, i32 noundef %243, i32 noundef %244)
  br label %245

245:                                              ; preds = %242, %237
  store i32 0, ptr %2, align 4
  store i32 1, ptr %13, align 4
  br label %246

246:                                              ; preds = %245, %234, %148, %54, %30
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %4) #9
  %247 = load i32, ptr %2, align 4
  ret i32 %247
}

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800)) #6 align 2

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

attributes #0 = { 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 #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { "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 = { 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 #6 = { 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 #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 = { 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 #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, !10, i64 1080}
!12 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !13, i64 0, !6, i64 1064, !6, i64 1072, !10, i64 1080, !10, i64 1084, !6, i64 1088, !6, i64 1096, !20, i64 1104, !20, i64 1112, !10, i64 1120, !6, i64 1128, !6, i64 1136, !10, i64 1144, !6, i64 1152, !6, i64 1160, !6, i64 1168, !19, i64 1176, !19, i64 1216}
!13 = !{!"_ZTSN7qpOASES9SQProblemE", !14, i64 0}
!14 = !{!"_ZTSN7qpOASES8QProblemE", !15, i64 0, !16, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !27, 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}
!15 = !{!"_ZTSN7qpOASES9QProblemBE", !16, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !17, i64 48, !6, i64 168, !16, i64 176, !6, i64 184, !6, i64 192, !20, i64 200, !21, i64 208, !16, i64 212, !16, i64 216, !22, i64 220, !20, i64 224, !10, i64 232, !6, i64 240, !20, i64 248, !20, i64 256, !10, i64 264, !23, i64 272, !26, i64 496, !28, i64 768}
!16 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!17 = !{!"_ZTSN7qpOASES6BoundsE", !18, i64 0, !19, i64 40, !19, i64 80}
!18 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !16, i64 32, !16, i64 36}
!19 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!20 = !{!"double", !7, i64 0}
!21 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!22 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES7OptionsE", !24, i64 0, !16, i64 4, !16, i64 8, !16, i64 12, !16, i64 16, !16, i64 20, !16, i64 24, !10, i64 28, !10, i64 32, !16, i64 36, !20, i64 40, !20, i64 48, !20, i64 56, !20, i64 64, !20, i64 72, !20, i64 80, !20, i64 88, !20, i64 96, !20, i64 104, !20, i64 112, !20, i64 120, !25, i64 128, !20, i64 136, !10, i64 144, !20, i64 152, !10, i64 160, !20, i64 168, !20, i64 176, !20, i64 184, !20, i64 192, !16, i64 200, !16, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!24 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!25 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !17, i64 8, !27, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!27 = !{!"_ZTSN7qpOASES11ConstraintsE", !18, i64 0, !19, i64 40, !19, i64 80}
!28 = !{!"_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}
!29 = !{!12, !6, i64 1064}
!30 = !{!31, !31, i64 0}
!31 = !{!"vtable pointer", !8, i64 0}
!32 = !{!12, !20, i64 1104}
!33 = distinct !{!33, !34}
!34 = !{!"llvm.loop.mustprogress"}
!35 = !{!20, !20, i64 0}
!36 = !{!15, !6, i64 184}
!37 = !{!15, !6, i64 32}
!38 = !{!15, !6, i64 40}
!39 = !{!25, !25, i64 0}
!40 = !{!15, !24, i64 272}
!41 = distinct !{!41, !34}


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

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.39 = external hidden unnamed_addr constant [50 x i8], align 1
@.str.40 = external hidden unnamed_addr constant [51 x i8], align 1
@.str.41 = external hidden unnamed_addr constant [81 x i8], align 1
@.str.42 = external hidden unnamed_addr constant [62 x i8], align 1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_Z8MyPrintfPKcz(ptr noundef, ...) local_unnamed_addr #0

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

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

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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #3

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 #3

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

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

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur14correctInertiaEv(ptr noundef nonnull align 8 dereferenceable(1256) %0) local_unnamed_addr #6 align 2 {
  %2 = alloca ptr, align 8
  %3 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %4 = zext i32 %3 to i64
  %5 = icmp slt i32 %3, 0
  %6 = shl nuw nsw i64 %4, 2
  %7 = select i1 %5, i64 -1, i64 %6
  %8 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %7) #8
  %9 = ptrtoint ptr %8 to i64
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %2) #9
  %10 = getelementptr inbounds i8, ptr %0, i64 1080
  %11 = load i32, ptr %10, align 8, !tbaa !5
  %switch = icmp ult i32 %11, 2
  br i1 %switch, label %15, label %12

12:                                               ; preds = %1
  %13 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %14 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %13, i32 noundef 144, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3441, i32 noundef 1)
  br label %155

15:                                               ; preds = %1
  %16 = getelementptr inbounds i8, ptr %0, i64 1064
  %17 = load ptr, ptr %16, align 8, !tbaa !27
  %18 = load ptr, ptr %17, align 8, !tbaa !28
  %19 = getelementptr inbounds i8, ptr %18, i64 56
  %20 = load ptr, ptr %19, align 8
  %21 = tail call noundef i32 %20(ptr noundef nonnull align 8 dereferenceable(8) %17)
  %22 = load i32, ptr %10, align 8, !tbaa !5
  %23 = icmp eq i32 %22, 1
  %24 = getelementptr inbounds i8, ptr %0, i64 1104
  %25 = load double, ptr %24, align 8
  %26 = fcmp olt double %25, 0.000000e+00
  %or.cond = select i1 %23, i1 %26, i1 false
  %27 = sext i1 %or.cond to i32
  %.042 = add nsw i32 %21, %27
  %28 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %29 = icmp eq i32 %.042, %28
  br i1 %29, label %155, label %30

30:                                               ; preds = %15
  %31 = getelementptr inbounds i8, ptr %0, i64 48
  %32 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %31)
  %33 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %32, ptr noundef nonnull %2)
  %34 = icmp sgt i32 %3, 0
  br i1 %34, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %30
  %35 = load ptr, ptr %2, align 8, !tbaa !30
  %min.iters.check = icmp ult i32 %3, 8
  %36 = ptrtoint ptr %35 to i64
  %37 = sub i64 %9, %36
  %diff.check = icmp ult i64 %37, 32
  %or.cond101 = select i1 %min.iters.check, i1 true, i1 %diff.check
  br i1 %or.cond101, label %scalar.ph.preheader, label %vector.ph

vector.ph:                                        ; preds = %.lr.ph
  %n.vec = and i64 %4, 2147483640
  br label %vector.body

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %38 = getelementptr inbounds i32, ptr %35, i64 %index
  %39 = getelementptr inbounds i8, ptr %38, i64 16
  %wide.load = load <4 x i32>, ptr %38, align 4, !tbaa !31
  %wide.load99 = load <4 x i32>, ptr %39, align 4, !tbaa !31
  %40 = getelementptr inbounds i32, ptr %8, i64 %index
  %41 = getelementptr inbounds i8, ptr %40, i64 16
  store <4 x i32> %wide.load, ptr %40, align 4, !tbaa !31
  store <4 x i32> %wide.load99, ptr %41, align 4, !tbaa !31
  %index.next = add nuw i64 %index, 8
  %42 = icmp eq i64 %index.next, %n.vec
  br i1 %42, label %middle.block, label %vector.body, !llvm.loop !32

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %4
  br i1 %cmp.n, label %._crit_edge, label %scalar.ph.preheader

scalar.ph.preheader:                              ; preds = %middle.block, %.lr.ph
  %indvars.iv.ph = phi i64 [ 0, %.lr.ph ], [ %n.vec, %middle.block ]
  %xtraiter = and i64 %4, 3
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %scalar.ph.prol.loopexit, label %scalar.ph.prol

scalar.ph.prol:                                   ; preds = %scalar.ph.preheader, %scalar.ph.prol
  %indvars.iv.prol = phi i64 [ %indvars.iv.next.prol, %scalar.ph.prol ], [ %indvars.iv.ph, %scalar.ph.preheader ]
  %prol.iter = phi i64 [ %prol.iter.next, %scalar.ph.prol ], [ 0, %scalar.ph.preheader ]
  %43 = getelementptr inbounds i32, ptr %35, i64 %indvars.iv.prol
  %44 = load i32, ptr %43, align 4, !tbaa !31
  %45 = getelementptr inbounds i32, ptr %8, i64 %indvars.iv.prol
  store i32 %44, ptr %45, align 4, !tbaa !31
  %indvars.iv.next.prol = add nuw nsw i64 %indvars.iv.prol, 1
  %prol.iter.next = add i64 %prol.iter, 1
  %prol.iter.cmp.not = icmp eq i64 %prol.iter.next, %xtraiter
  br i1 %prol.iter.cmp.not, label %scalar.ph.prol.loopexit, label %scalar.ph.prol, !llvm.loop !36

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

scalar.ph:                                        ; preds = %scalar.ph.prol.loopexit, %scalar.ph
  %indvars.iv = phi i64 [ %indvars.iv.next.3, %scalar.ph ], [ %indvars.iv.unr, %scalar.ph.prol.loopexit ]
  %48 = getelementptr inbounds i32, ptr %35, i64 %indvars.iv
  %49 = load i32, ptr %48, align 4, !tbaa !31
  %50 = getelementptr inbounds i32, ptr %8, i64 %indvars.iv
  store i32 %49, ptr %50, align 4, !tbaa !31
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %51 = getelementptr inbounds i32, ptr %35, i64 %indvars.iv.next
  %52 = load i32, ptr %51, align 4, !tbaa !31
  %53 = getelementptr inbounds i32, ptr %8, i64 %indvars.iv.next
  store i32 %52, ptr %53, align 4, !tbaa !31
  %indvars.iv.next.1 = add nuw nsw i64 %indvars.iv, 2
  %54 = getelementptr inbounds i32, ptr %35, i64 %indvars.iv.next.1
  %55 = load i32, ptr %54, align 4, !tbaa !31
  %56 = getelementptr inbounds i32, ptr %8, i64 %indvars.iv.next.1
  store i32 %55, ptr %56, align 4, !tbaa !31
  %indvars.iv.next.2 = add nuw nsw i64 %indvars.iv, 3
  %57 = getelementptr inbounds i32, ptr %35, i64 %indvars.iv.next.2
  %58 = load i32, ptr %57, align 4, !tbaa !31
  %59 = getelementptr inbounds i32, ptr %8, i64 %indvars.iv.next.2
  store i32 %58, ptr %59, align 4, !tbaa !31
  %indvars.iv.next.3 = add nuw nsw i64 %indvars.iv, 4
  %exitcond.not.3 = icmp eq i64 %indvars.iv.next.3, %4
  br i1 %exitcond.not.3, label %._crit_edge, label %scalar.ph, !llvm.loop !38

._crit_edge:                                      ; preds = %scalar.ph.prol.loopexit, %scalar.ph, %middle.block, %30
  %60 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %61 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %62 = icmp sgt i32 %.042, %61
  %63 = and i1 %62, %34
  br i1 %63, label %.lr.ph57.lr.ph, label %.outer._crit_edge

.lr.ph57.lr.ph:                                   ; preds = %._crit_edge
  %64 = getelementptr inbounds i8, ptr %0, i64 272
  %65 = getelementptr inbounds i8, ptr %0, i64 184
  %66 = getelementptr inbounds i8, ptr %0, i64 32
  %67 = getelementptr inbounds i8, ptr %0, i64 40
  %68 = zext nneg i32 %3 to i64
  br label %.lr.ph57

.lr.ph57:                                         ; preds = %.lr.ph57.lr.ph, %.outer
  %.1.ph61 = phi i32 [ %.042, %.lr.ph57.lr.ph ], [ %.2, %.outer ]
  %.145.ph60 = phi i32 [ 0, %.lr.ph57.lr.ph ], [ %135, %.outer ]
  %69 = sext i32 %.145.ph60 to i64
  br label %70

70:                                               ; preds = %.lr.ph57, %118
  %indvars.iv73 = phi i64 [ %69, %.lr.ph57 ], [ %indvars.iv.next74, %118 ]
  %71 = load double, ptr %24, align 8, !tbaa !39
  %72 = getelementptr inbounds i32, ptr %8, i64 %indvars.iv73
  %73 = load i32, ptr %72, align 4, !tbaa !31
  %74 = load ptr, ptr %0, align 8, !tbaa !28
  %75 = getelementptr inbounds i8, ptr %74, i64 232
  %76 = load ptr, ptr %75, align 8
  %77 = call noundef i32 %76(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %73)
  %78 = icmp eq i32 %77, 89
  br i1 %78, label %79, label %113

79:                                               ; preds = %70
  %80 = trunc nsw i64 %indvars.iv73 to i32
  %81 = load ptr, ptr %65, align 8, !tbaa !40
  %82 = sext i32 %73 to i64
  %83 = getelementptr inbounds double, ptr %81, i64 %82
  %84 = load double, ptr %83, align 8, !tbaa !41
  %85 = load ptr, ptr %66, align 8, !tbaa !42
  %86 = getelementptr inbounds double, ptr %85, i64 %82
  %87 = load double, ptr %86, align 8, !tbaa !41
  %88 = fsub double %84, %87
  %89 = load ptr, ptr %67, align 8, !tbaa !43
  %90 = getelementptr inbounds double, ptr %89, i64 %82
  %91 = load double, ptr %90, align 8, !tbaa !41
  %92 = fsub double %91, %84
  %93 = fcmp olt double %88, %92
  %. = select i1 %93, i32 -1, i32 1
  %94 = load ptr, ptr %0, align 8, !tbaa !28
  %95 = getelementptr inbounds i8, ptr %94, i64 224
  %96 = load ptr, ptr %95, align 8
  %97 = call noundef i32 %96(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %73, i32 noundef %., i32 noundef 1, i32 noundef 0)
  %.not49 = icmp eq i32 %97, 0
  br i1 %.not49, label %105, label %98

98:                                               ; preds = %79
  %99 = load i32, ptr %64, align 8, !tbaa !44
  %100 = icmp eq i32 %99, 3
  br i1 %100, label %101, label %102

101:                                              ; preds = %98
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.39, i32 noundef %80, i32 noundef %73)
  br label %102

102:                                              ; preds = %101, %98
  %103 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %104 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %103, i32 noundef 144, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3478, i32 noundef 1)
  br label %155

105:                                              ; preds = %79
  %106 = load ptr, ptr %65, align 8, !tbaa !40
  %107 = getelementptr inbounds double, ptr %106, i64 %82
  %108 = load double, ptr %107, align 8, !tbaa !41
  %.val = load ptr, ptr %66, align 8
  %.val88 = load ptr, ptr %67, align 8
  %109 = select i1 %93, ptr %.val, ptr %.val88
  %110 = getelementptr inbounds double, ptr %109, i64 %82
  store double %108, ptr %110, align 8, !tbaa !41
  %111 = load i32, ptr %10, align 8, !tbaa !5
  %112 = icmp eq i32 %111, 0
  br i1 %112, label %123, label %129

113:                                              ; preds = %70
  %114 = load i32, ptr %64, align 8, !tbaa !44
  %115 = icmp eq i32 %114, 3
  br i1 %115, label %116, label %118

116:                                              ; preds = %113
  %117 = trunc nsw i64 %indvars.iv73 to i32
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.40, i32 noundef %117, i32 noundef %73)
  br label %118

118:                                              ; preds = %116, %113
  %indvars.iv.next74 = add nsw i64 %indvars.iv73, 1
  %119 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %120 = icmp sgt i32 %.1.ph61, %119
  %121 = icmp slt i64 %indvars.iv.next74, %68
  %122 = select i1 %120, i1 %121, i1 false
  br i1 %122, label %70, label %.outer._crit_edge, !llvm.loop !45

123:                                              ; preds = %105
  %124 = load ptr, ptr %16, align 8, !tbaa !27
  %125 = load ptr, ptr %124, align 8, !tbaa !28
  %126 = getelementptr inbounds i8, ptr %125, i64 56
  %127 = load ptr, ptr %126, align 8
  %128 = call noundef i32 %127(ptr noundef nonnull align 8 dereferenceable(8) %124)
  br label %.outer

129:                                              ; preds = %105
  %130 = load double, ptr %24, align 8, !tbaa !39
  %131 = fmul double %71, %130
  %132 = fcmp olt double %131, 0.000000e+00
  br i1 %132, label %133, label %.outer

133:                                              ; preds = %129
  %134 = add nsw i32 %.1.ph61, -1
  br label %.outer

.outer:                                           ; preds = %129, %133, %123
  %.2 = phi i32 [ %128, %123 ], [ %134, %133 ], [ %.1.ph61, %129 ]
  %135 = add nsw i32 %80, 1
  %136 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %137 = icmp sgt i32 %.2, %136
  %138 = icmp slt i32 %135, %3
  %139 = select i1 %137, i1 %138, i1 false
  br i1 %139, label %.lr.ph57, label %.outer._crit_edge, !llvm.loop !45

.outer._crit_edge:                                ; preds = %.outer, %118, %._crit_edge
  %.1.ph.lcssa54 = phi i32 [ %.042, %._crit_edge ], [ %.1.ph61, %118 ], [ %.2, %.outer ]
  %140 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %141 = sub nsw i32 %60, %140
  call void @_ZdaPv(ptr noundef nonnull %8) #10
  %142 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %143 = icmp sgt i32 %.1.ph.lcssa54, %142
  %144 = getelementptr inbounds i8, ptr %0, i64 272
  %145 = load i32, ptr %144, align 8, !tbaa !44
  %146 = icmp eq i32 %145, 3
  br i1 %143, label %147, label %153

147:                                              ; preds = %.outer._crit_edge
  br i1 %146, label %148, label %150

148:                                              ; preds = %147
  %149 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.41, i32 noundef %141, i32 noundef %.1.ph.lcssa54, i32 noundef %149)
  br label %150

150:                                              ; preds = %148, %147
  %151 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %152 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %151, i32 noundef 144, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3515, i32 noundef 1)
  br label %155

153:                                              ; preds = %.outer._crit_edge
  br i1 %146, label %154, label %155

154:                                              ; preds = %153
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.42, i32 noundef %141, i32 noundef %.1.ph.lcssa54)
  br label %155

155:                                              ; preds = %153, %154, %15, %150, %102, %12
  %.0 = phi i32 [ %14, %12 ], [ %104, %102 ], [ %152, %150 ], [ 0, %15 ], [ 0, %154 ], [ 0, %153 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #9
  ret i32 %.0
}

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) local_unnamed_addr #3

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #7 align 2

attributes #0 = { 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 #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
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 = { "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 = { 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 #7 = { 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 #8 = { builtin allocsize(0) }
attributes #9 = { nounwind }
attributes #10 = { 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, !16, i64 1080}
!6 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !7, i64 0, !13, i64 1064, !13, i64 1072, !16, i64 1080, !16, i64 1084, !13, i64 1088, !13, i64 1096, !18, i64 1104, !18, i64 1112, !16, i64 1120, !13, i64 1128, !13, i64 1136, !16, i64 1144, !13, i64 1152, !13, i64 1160, !13, i64 1168, !17, i64 1176, !17, i64 1216}
!7 = !{!"_ZTSN7qpOASES9SQProblemE", !8, i64 0}
!8 = !{!"_ZTSN7qpOASES8QProblemE", !9, i64 0, !10, i64 800, !13, i64 808, !13, i64 816, !13, i64 824, !25, i64 832, !13, i64 952, !13, i64 960, !16, i64 968, !13, i64 976, !13, i64 984, !13, i64 992, !13, i64 1000, !13, i64 1008, !13, i64 1016, !13, i64 1024, !13, i64 1032, !13, i64 1040, !13, i64 1048, !13, i64 1056}
!9 = !{!"_ZTSN7qpOASES9QProblemBE", !10, i64 8, !13, i64 16, !13, i64 24, !13, i64 32, !13, i64 40, !14, i64 48, !13, i64 168, !10, i64 176, !13, i64 184, !13, i64 192, !18, i64 200, !19, i64 208, !10, i64 212, !10, i64 216, !20, i64 220, !18, i64 224, !16, i64 232, !13, i64 240, !18, i64 248, !18, i64 256, !16, i64 264, !21, i64 272, !24, i64 496, !26, i64 768}
!10 = !{!"_ZTSN7qpOASES11BooleanTypeE", !11, i64 0}
!11 = !{!"omnipotent char", !12, i64 0}
!12 = !{!"Simple C++ TBAA"}
!13 = !{!"any pointer", !11, i64 0}
!14 = !{!"_ZTSN7qpOASES6BoundsE", !15, i64 0, !17, i64 40, !17, i64 80}
!15 = !{!"_ZTSN7qpOASES9SubjectToE", !16, i64 8, !13, i64 16, !13, i64 24, !10, i64 32, !10, i64 36}
!16 = !{!"int", !11, i64 0}
!17 = !{!"_ZTSN7qpOASES9IndexlistE", !13, i64 0, !13, i64 8, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28, !16, i64 32}
!18 = !{!"double", !11, i64 0}
!19 = !{!"_ZTSN7qpOASES14QProblemStatusE", !11, i64 0}
!20 = !{!"_ZTSN7qpOASES11HessianTypeE", !11, i64 0}
!21 = !{!"_ZTSN7qpOASES7OptionsE", !22, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !16, i64 28, !16, i64 32, !10, i64 36, !18, i64 40, !18, i64 48, !18, i64 56, !18, i64 64, !18, i64 72, !18, i64 80, !18, i64 88, !18, i64 96, !18, i64 104, !18, i64 112, !18, i64 120, !23, i64 128, !18, i64 136, !16, i64 144, !18, i64 152, !16, i64 160, !18, i64 168, !18, i64 176, !18, i64 184, !18, i64 192, !10, i64 200, !10, i64 204, !16, i64 208, !16, i64 212, !16, i64 216}
!22 = !{!"_ZTSN7qpOASES10PrintLevelE", !11, i64 0}
!23 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !11, i64 0}
!24 = !{!"_ZTSN7qpOASES7FlipperE", !16, i64 0, !16, i64 4, !14, i64 8, !25, i64 128, !13, i64 248, !13, i64 256, !13, i64 264}
!25 = !{!"_ZTSN7qpOASES11ConstraintsE", !15, i64 0, !17, i64 40, !17, i64 80}
!26 = !{!"_ZTSN7qpOASES13TabularOutputE", !16, i64 0, !16, i64 4, !16, i64 8, !16, i64 12, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28}
!27 = !{!6, !13, i64 1064}
!28 = !{!29, !29, i64 0}
!29 = !{!"vtable pointer", !12, i64 0}
!30 = !{!13, !13, i64 0}
!31 = !{!16, !16, i64 0}
!32 = distinct !{!32, !33, !34, !35}
!33 = !{!"llvm.loop.mustprogress"}
!34 = !{!"llvm.loop.isvectorized", i32 1}
!35 = !{!"llvm.loop.unroll.runtime.disable"}
!36 = distinct !{!36, !37}
!37 = !{!"llvm.loop.unroll.disable"}
!38 = distinct !{!38, !33, !34}
!39 = !{!6, !18, i64 1104}
!40 = !{!9, !13, i64 184}
!41 = !{!18, !18, i64 0}
!42 = !{!9, !13, i64 32}
!43 = !{!9, !13, i64 40}
!44 = !{!9, !22, i64 272}
!45 = distinct !{!45, !33}


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