; 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.34 = external hidden unnamed_addr constant [69 x i8], align 1
@.str.35 = external hidden unnamed_addr constant [66 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: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36)) #7 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20addToSchurComplementEiNS_15SchurUpdateTypeEiPKiPKdiS3_S5_d(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, ptr noundef %4, ptr noundef %5, i32 noundef %6, ptr noundef %7, ptr noundef %8, double noundef %9) #8 align 2 {
  %11 = alloca i32, align 4
  %12 = alloca ptr, align 8
  %13 = alloca i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca i32, align 4
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca i32, align 4
  %19 = alloca ptr, align 8
  %20 = alloca ptr, align 8
  %21 = alloca double, align 8
  %22 = alloca i32, align 4
  %23 = alloca i32, align 4
  %24 = alloca i32, align 4
  %25 = alloca ptr, align 8
  %26 = alloca i32, align 4
  %27 = alloca ptr, align 8
  %28 = alloca ptr, align 8
  %29 = alloca i32, align 4
  %30 = alloca i32, align 4
  %31 = alloca double, align 8
  %32 = alloca i32, align 4
  %33 = alloca ptr, align 8
  %34 = alloca ptr, align 8
  store ptr %0, ptr %12, align 8, !tbaa !5
  store i32 %1, ptr %13, align 4, !tbaa !9
  store i32 %2, ptr %14, align 4, !tbaa !11
  store i32 %3, ptr %15, align 4, !tbaa !9
  store ptr %4, ptr %16, align 8, !tbaa !5
  store ptr %5, ptr %17, align 8, !tbaa !5
  store i32 %6, ptr %18, align 4, !tbaa !9
  store ptr %7, ptr %19, align 8, !tbaa !5
  store ptr %8, ptr %20, align 8, !tbaa !5
  store double %9, ptr %21, align 8, !tbaa !13
  %35 = load ptr, ptr %12, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #9
  %36 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 16
  %37 = call noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36) %36)
  store i32 %37, ptr %23, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #9
  %38 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 17
  %39 = call noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36) %38)
  store i32 %39, ptr %24, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #9
  %40 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %41 = load i32, ptr %40, align 8, !tbaa !15
  %42 = sext i32 %41 to i64
  %43 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %42, i64 8)
  %44 = extractvalue { i64, i1 } %43, 1
  %45 = extractvalue { i64, i1 } %43, 0
  %46 = select i1 %44, i64 -1, i64 %45
  %47 = call noalias noundef nonnull ptr @_Znam(i64 noundef %46) #10
  store ptr %47, ptr %25, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #9
  %48 = load i32, ptr %23, align 4, !tbaa !9
  %49 = load i32, ptr %24, align 4, !tbaa !9
  %50 = add nsw i32 %48, %49
  store i32 %50, ptr %26, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #9
  %51 = load i32, ptr %26, align 4, !tbaa !9
  %52 = sext i32 %51 to i64
  %53 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %52, i64 8)
  %54 = extractvalue { i64, i1 } %53, 1
  %55 = extractvalue { i64, i1 } %53, 0
  %56 = select i1 %54, i64 -1, i64 %55
  %57 = call noalias noundef nonnull ptr @_Znam(i64 noundef %56) #10
  store ptr %57, ptr %27, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #9
  %58 = load i32, ptr %26, align 4, !tbaa !9
  %59 = sext i32 %58 to i64
  %60 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %59, i64 8)
  %61 = extractvalue { i64, i1 } %60, 1
  %62 = extractvalue { i64, i1 } %60, 0
  %63 = select i1 %61, i64 -1, i64 %62
  %64 = call noalias noundef nonnull ptr @_Znam(i64 noundef %63) #10
  store ptr %64, ptr %28, align 8, !tbaa !5
  store i32 0, ptr %22, align 4, !tbaa !9
  br label %65

65:                                               ; preds = %74, %10
  %66 = load i32, ptr %22, align 4, !tbaa !9
  %67 = load i32, ptr %26, align 4, !tbaa !9
  %68 = icmp slt i32 %66, %67
  br i1 %68, label %69, label %77

69:                                               ; preds = %65
  %70 = load ptr, ptr %27, align 8, !tbaa !5
  %71 = load i32, ptr %22, align 4, !tbaa !9
  %72 = sext i32 %71 to i64
  %73 = getelementptr inbounds double, ptr %70, i64 %72
  store double 0.000000e+00, ptr %73, align 8, !tbaa !13
  br label %74

74:                                               ; preds = %69
  %75 = load i32, ptr %22, align 4, !tbaa !9
  %76 = add nsw i32 %75, 1
  store i32 %76, ptr %22, align 4, !tbaa !9
  br label %65, !llvm.loop !32

77:                                               ; preds = %65
  store i32 0, ptr %22, align 4, !tbaa !9
  br label %78

78:                                               ; preds = %96, %77
  %79 = load i32, ptr %22, align 4, !tbaa !9
  %80 = load i32, ptr %15, align 4, !tbaa !9
  %81 = icmp slt i32 %79, %80
  br i1 %81, label %82, label %99

82:                                               ; preds = %78
  %83 = load ptr, ptr %17, align 8, !tbaa !5
  %84 = load i32, ptr %22, align 4, !tbaa !9
  %85 = sext i32 %84 to i64
  %86 = getelementptr inbounds double, ptr %83, i64 %85
  %87 = load double, ptr %86, align 8, !tbaa !13
  %88 = load ptr, ptr %27, align 8, !tbaa !5
  %89 = load ptr, ptr %16, align 8, !tbaa !5
  %90 = load i32, ptr %22, align 4, !tbaa !9
  %91 = sext i32 %90 to i64
  %92 = getelementptr inbounds i32, ptr %89, i64 %91
  %93 = load i32, ptr %92, align 4, !tbaa !9
  %94 = sext i32 %93 to i64
  %95 = getelementptr inbounds double, ptr %88, i64 %94
  store double %87, ptr %95, align 8, !tbaa !13
  br label %96

96:                                               ; preds = %82
  %97 = load i32, ptr %22, align 4, !tbaa !9
  %98 = add nsw i32 %97, 1
  store i32 %98, ptr %22, align 4, !tbaa !9
  br label %78, !llvm.loop !34

99:                                               ; preds = %78
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #9
  %100 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 1
  %101 = load ptr, ptr %100, align 8, !tbaa !35
  %102 = load i32, ptr %26, align 4, !tbaa !9
  %103 = load ptr, ptr %27, align 8, !tbaa !5
  %104 = load ptr, ptr %28, align 8, !tbaa !5
  %105 = load ptr, ptr %101, align 8, !tbaa !36
  %106 = getelementptr inbounds ptr, ptr %105, i64 5
  %107 = load ptr, ptr %106, align 8
  %108 = call noundef i32 %107(ptr noundef nonnull align 8 dereferenceable(8) %101, i32 noundef %102, ptr noundef %103, ptr noundef %104)
  store i32 %108, ptr %29, align 4, !tbaa !38
  %109 = load i32, ptr %29, align 4, !tbaa !38
  %110 = icmp ne i32 %109, 0
  br i1 %110, label %111, label %114

111:                                              ; preds = %99
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.34)
  %112 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %113 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %112, i32 noundef 102, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 3186, i32 noundef 1)
  store i32 %113, ptr %11, align 4
  store i32 1, ptr %30, align 4
  br label %411

114:                                              ; preds = %99
  %115 = load ptr, ptr %28, align 8, !tbaa !5
  %116 = load ptr, ptr %25, align 8, !tbaa !5
  %117 = call noundef i32 @_ZN7qpOASES14SQProblemSchur18computeMTransTimesEdPKddPd(ptr noundef nonnull align 8 dereferenceable(1256) %35, double noundef 1.000000e+00, ptr noundef %115, double noundef 0.000000e+00, ptr noundef %116)
  store i32 0, ptr %22, align 4, !tbaa !9
  br label %118

118:                                              ; preds = %138, %114
  %119 = load i32, ptr %22, align 4, !tbaa !9
  %120 = load i32, ptr %18, align 4, !tbaa !9
  %121 = icmp slt i32 %119, %120
  br i1 %121, label %122, label %141

122:                                              ; preds = %118
  %123 = load ptr, ptr %20, align 8, !tbaa !5
  %124 = load i32, ptr %22, 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 !13
  %128 = load ptr, ptr %25, align 8, !tbaa !5
  %129 = load ptr, ptr %19, align 8, !tbaa !5
  %130 = load i32, ptr %22, align 4, !tbaa !9
  %131 = sext i32 %130 to i64
  %132 = getelementptr inbounds i32, ptr %129, i64 %131
  %133 = load i32, ptr %132, align 4, !tbaa !9
  %134 = sext i32 %133 to i64
  %135 = getelementptr inbounds double, ptr %128, i64 %134
  %136 = load double, ptr %135, align 8, !tbaa !13
  %137 = fsub double %136, %127
  store double %137, ptr %135, align 8, !tbaa !13
  br label %138

138:                                              ; preds = %122
  %139 = load i32, ptr %22, align 4, !tbaa !9
  %140 = add nsw i32 %139, 1
  store i32 %140, ptr %22, align 4, !tbaa !9
  br label %118, !llvm.loop !40

141:                                              ; preds = %118
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #9
  %142 = load double, ptr %21, align 8, !tbaa !13
  %143 = fneg double %142
  store double %143, ptr %31, align 8, !tbaa !13
  store i32 0, ptr %22, align 4, !tbaa !9
  br label %144

144:                                              ; preds = %165, %141
  %145 = load i32, ptr %22, align 4, !tbaa !9
  %146 = load i32, ptr %15, align 4, !tbaa !9
  %147 = icmp slt i32 %145, %146
  br i1 %147, label %148, label %168

148:                                              ; preds = %144
  %149 = load ptr, ptr %17, align 8, !tbaa !5
  %150 = load i32, ptr %22, align 4, !tbaa !9
  %151 = sext i32 %150 to i64
  %152 = getelementptr inbounds double, ptr %149, i64 %151
  %153 = load double, ptr %152, align 8, !tbaa !13
  %154 = load ptr, ptr %28, align 8, !tbaa !5
  %155 = load ptr, ptr %16, align 8, !tbaa !5
  %156 = load i32, ptr %22, align 4, !tbaa !9
  %157 = sext i32 %156 to i64
  %158 = getelementptr inbounds i32, ptr %155, i64 %157
  %159 = load i32, ptr %158, align 4, !tbaa !9
  %160 = sext i32 %159 to i64
  %161 = getelementptr inbounds double, ptr %154, i64 %160
  %162 = load double, ptr %161, align 8, !tbaa !13
  %163 = load double, ptr %31, align 8, !tbaa !13
  %164 = call double @llvm.fmuladd.f64(double %153, double %162, double %163)
  store double %164, ptr %31, align 8, !tbaa !13
  br label %165

165:                                              ; preds = %148
  %166 = load i32, ptr %22, align 4, !tbaa !9
  %167 = add nsw i32 %166, 1
  store i32 %167, ptr %22, align 4, !tbaa !9
  br label %144, !llvm.loop !41

168:                                              ; preds = %144
  store i32 0, ptr %22, align 4, !tbaa !9
  br label %169

169:                                              ; preds = %191, %168
  %170 = load i32, ptr %22, align 4, !tbaa !9
  %171 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %172 = load i32, ptr %171, align 8, !tbaa !15
  %173 = icmp slt i32 %170, %172
  br i1 %173, label %174, label %194

174:                                              ; preds = %169
  %175 = load ptr, ptr %25, align 8, !tbaa !5
  %176 = load i32, ptr %22, align 4, !tbaa !9
  %177 = sext i32 %176 to i64
  %178 = getelementptr inbounds double, ptr %175, i64 %177
  %179 = load double, ptr %178, align 8, !tbaa !13
  %180 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 2
  %181 = load ptr, ptr %180, align 8, !tbaa !42
  %182 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %183 = load i32, ptr %182, align 8, !tbaa !15
  %184 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 4
  %185 = load i32, ptr %184, align 4, !tbaa !43
  %186 = mul nsw i32 %183, %185
  %187 = load i32, ptr %22, align 4, !tbaa !9
  %188 = add nsw i32 %186, %187
  %189 = sext i32 %188 to i64
  %190 = getelementptr inbounds double, ptr %181, i64 %189
  store double %179, ptr %190, align 8, !tbaa !13
  br label %191

191:                                              ; preds = %174
  %192 = load i32, ptr %22, align 4, !tbaa !9
  %193 = add nsw i32 %192, 1
  store i32 %193, ptr %22, align 4, !tbaa !9
  br label %169, !llvm.loop !44

194:                                              ; preds = %169
  store i32 0, ptr %22, align 4, !tbaa !9
  br label %195

195:                                              ; preds = %217, %194
  %196 = load i32, ptr %22, align 4, !tbaa !9
  %197 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %198 = load i32, ptr %197, align 8, !tbaa !15
  %199 = icmp slt i32 %196, %198
  br i1 %199, label %200, label %220

200:                                              ; preds = %195
  %201 = load ptr, ptr %25, align 8, !tbaa !5
  %202 = load i32, ptr %22, align 4, !tbaa !9
  %203 = sext i32 %202 to i64
  %204 = getelementptr inbounds double, ptr %201, i64 %203
  %205 = load double, ptr %204, align 8, !tbaa !13
  %206 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 2
  %207 = load ptr, ptr %206, align 8, !tbaa !42
  %208 = load i32, ptr %22, align 4, !tbaa !9
  %209 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 4
  %210 = load i32, ptr %209, align 4, !tbaa !43
  %211 = mul nsw i32 %208, %210
  %212 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %213 = load i32, ptr %212, align 8, !tbaa !15
  %214 = add nsw i32 %211, %213
  %215 = sext i32 %214 to i64
  %216 = getelementptr inbounds double, ptr %207, i64 %215
  store double %205, ptr %216, align 8, !tbaa !13
  br label %217

217:                                              ; preds = %200
  %218 = load i32, ptr %22, align 4, !tbaa !9
  %219 = add nsw i32 %218, 1
  store i32 %219, ptr %22, align 4, !tbaa !9
  br label %195, !llvm.loop !45

220:                                              ; preds = %195
  %221 = load double, ptr %31, align 8, !tbaa !13
  %222 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 2
  %223 = load ptr, ptr %222, align 8, !tbaa !42
  %224 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %225 = load i32, ptr %224, align 8, !tbaa !15
  %226 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 4
  %227 = load i32, ptr %226, align 4, !tbaa !43
  %228 = mul nsw i32 %225, %227
  %229 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %230 = load i32, ptr %229, align 8, !tbaa !15
  %231 = add nsw i32 %228, %230
  %232 = sext i32 %231 to i64
  %233 = getelementptr inbounds double, ptr %223, i64 %232
  store double %221, ptr %233, align 8, !tbaa !13
  %234 = load i32, ptr %13, align 4, !tbaa !9
  %235 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 10
  %236 = load ptr, ptr %235, align 8, !tbaa !46
  %237 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %238 = load i32, ptr %237, align 8, !tbaa !15
  %239 = sext i32 %238 to i64
  %240 = getelementptr inbounds i32, ptr %236, i64 %239
  store i32 %234, ptr %240, align 4, !tbaa !9
  %241 = load i32, ptr %14, align 4, !tbaa !11
  %242 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 11
  %243 = load ptr, ptr %242, align 8, !tbaa !47
  %244 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %245 = load i32, ptr %244, align 8, !tbaa !15
  %246 = sext i32 %245 to i64
  %247 = getelementptr inbounds i32, ptr %243, i64 %246
  store i32 %241, ptr %247, align 4, !tbaa !11
  %248 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 12
  %249 = load i32, ptr %248, align 8, !tbaa !48
  %250 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 15
  %251 = load ptr, ptr %250, align 8, !tbaa !49
  %252 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %253 = load i32, ptr %252, align 8, !tbaa !15
  %254 = sext i32 %253 to i64
  %255 = getelementptr inbounds i32, ptr %251, i64 %254
  %256 = load i32, ptr %255, align 4, !tbaa !9
  %257 = load i32, ptr %15, align 4, !tbaa !9
  %258 = add nsw i32 %256, %257
  %259 = icmp slt i32 %249, %258
  br i1 %259, label %260, label %324

260:                                              ; preds = %220
  call void @llvm.lifetime.start.p0(i64 4, ptr %32) #9
  %261 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 12
  %262 = load i32, ptr %261, align 8, !tbaa !48
  %263 = mul nsw i32 2, %262
  %264 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 12
  %265 = load i32, ptr %264, align 8, !tbaa !48
  %266 = load i32, ptr %15, align 4, !tbaa !9
  %267 = mul nsw i32 2, %266
  %268 = add nsw i32 %265, %267
  %269 = call noundef i32 @_ZN7qpOASES6getMaxEii(i32 noundef %263, i32 noundef %268)
  store i32 %269, ptr %32, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #9
  %270 = load i32, ptr %32, align 4, !tbaa !9
  %271 = sext i32 %270 to i64
  %272 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %271, i64 8)
  %273 = extractvalue { i64, i1 } %272, 1
  %274 = extractvalue { i64, i1 } %272, 0
  %275 = select i1 %273, i64 -1, i64 %274
  %276 = call noalias noundef nonnull ptr @_Znam(i64 noundef %275) #10
  store ptr %276, ptr %33, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #9
  %277 = load i32, ptr %32, align 4, !tbaa !9
  %278 = sext i32 %277 to i64
  %279 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %278, i64 4)
  %280 = extractvalue { i64, i1 } %279, 1
  %281 = extractvalue { i64, i1 } %279, 0
  %282 = select i1 %280, i64 -1, i64 %281
  %283 = call noalias noundef nonnull ptr @_Znam(i64 noundef %282) #10
  store ptr %283, ptr %34, align 8, !tbaa !5
  %284 = load ptr, ptr %33, align 8, !tbaa !5
  %285 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 13
  %286 = load ptr, ptr %285, align 8, !tbaa !50
  %287 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 15
  %288 = load ptr, ptr %287, align 8, !tbaa !49
  %289 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %290 = load i32, ptr %289, align 8, !tbaa !15
  %291 = sext i32 %290 to i64
  %292 = getelementptr inbounds i32, ptr %288, i64 %291
  %293 = load i32, ptr %292, align 4, !tbaa !9
  %294 = zext i32 %293 to i64
  %295 = mul i64 %294, 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %284, ptr align 8 %286, i64 %295, i1 false)
  %296 = load ptr, ptr %34, align 8, !tbaa !5
  %297 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 14
  %298 = load ptr, ptr %297, align 8, !tbaa !51
  %299 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 15
  %300 = load ptr, ptr %299, align 8, !tbaa !49
  %301 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %302 = load i32, ptr %301, align 8, !tbaa !15
  %303 = sext i32 %302 to i64
  %304 = getelementptr inbounds i32, ptr %300, i64 %303
  %305 = load i32, ptr %304, align 4, !tbaa !9
  %306 = zext i32 %305 to i64
  %307 = mul i64 %306, 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %296, ptr align 4 %298, i64 %307, i1 false)
  %308 = load i32, ptr %32, align 4, !tbaa !9
  %309 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 12
  store i32 %308, ptr %309, align 8, !tbaa !48
  %310 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 13
  %311 = load ptr, ptr %310, align 8, !tbaa !50
  %312 = icmp eq ptr %311, null
  br i1 %312, label %314, label %313

313:                                              ; preds = %260
  call void @_ZdaPv(ptr noundef %311) #11
  br label %314

314:                                              ; preds = %313, %260
  %315 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 14
  %316 = load ptr, ptr %315, align 8, !tbaa !51
  %317 = icmp eq ptr %316, null
  br i1 %317, label %319, label %318

318:                                              ; preds = %314
  call void @_ZdaPv(ptr noundef %316) #11
  br label %319

319:                                              ; preds = %318, %314
  %320 = load ptr, ptr %33, align 8, !tbaa !5
  %321 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 13
  store ptr %320, ptr %321, align 8, !tbaa !50
  %322 = load ptr, ptr %34, align 8, !tbaa !5
  %323 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 14
  store ptr %322, ptr %323, align 8, !tbaa !51
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %32) #9
  br label %324

324:                                              ; preds = %319, %220
  store i32 0, ptr %22, align 4, !tbaa !9
  br label %325

325:                                              ; preds = %366, %324
  %326 = load i32, ptr %22, align 4, !tbaa !9
  %327 = load i32, ptr %15, align 4, !tbaa !9
  %328 = icmp slt i32 %326, %327
  br i1 %328, label %329, label %369

329:                                              ; preds = %325
  %330 = load ptr, ptr %17, align 8, !tbaa !5
  %331 = load i32, ptr %22, align 4, !tbaa !9
  %332 = sext i32 %331 to i64
  %333 = getelementptr inbounds double, ptr %330, i64 %332
  %334 = load double, ptr %333, align 8, !tbaa !13
  %335 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 13
  %336 = load ptr, ptr %335, align 8, !tbaa !50
  %337 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 15
  %338 = load ptr, ptr %337, align 8, !tbaa !49
  %339 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %340 = load i32, ptr %339, align 8, !tbaa !15
  %341 = sext i32 %340 to i64
  %342 = getelementptr inbounds i32, ptr %338, i64 %341
  %343 = load i32, ptr %342, align 4, !tbaa !9
  %344 = load i32, ptr %22, align 4, !tbaa !9
  %345 = add nsw i32 %343, %344
  %346 = sext i32 %345 to i64
  %347 = getelementptr inbounds double, ptr %336, i64 %346
  store double %334, ptr %347, align 8, !tbaa !13
  %348 = load ptr, ptr %16, align 8, !tbaa !5
  %349 = load i32, ptr %22, align 4, !tbaa !9
  %350 = sext i32 %349 to i64
  %351 = getelementptr inbounds i32, ptr %348, i64 %350
  %352 = load i32, ptr %351, align 4, !tbaa !9
  %353 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 14
  %354 = load ptr, ptr %353, align 8, !tbaa !51
  %355 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 15
  %356 = load ptr, ptr %355, align 8, !tbaa !49
  %357 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %358 = load i32, ptr %357, align 8, !tbaa !15
  %359 = sext i32 %358 to i64
  %360 = getelementptr inbounds i32, ptr %356, i64 %359
  %361 = load i32, ptr %360, align 4, !tbaa !9
  %362 = load i32, ptr %22, align 4, !tbaa !9
  %363 = add nsw i32 %361, %362
  %364 = sext i32 %363 to i64
  %365 = getelementptr inbounds i32, ptr %354, i64 %364
  store i32 %352, ptr %365, align 4, !tbaa !9
  br label %366

366:                                              ; preds = %329
  %367 = load i32, ptr %22, align 4, !tbaa !9
  %368 = add nsw i32 %367, 1
  store i32 %368, ptr %22, align 4, !tbaa !9
  br label %325, !llvm.loop !52

369:                                              ; preds = %325
  %370 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 15
  %371 = load ptr, ptr %370, align 8, !tbaa !49
  %372 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %373 = load i32, ptr %372, align 8, !tbaa !15
  %374 = sext i32 %373 to i64
  %375 = getelementptr inbounds i32, ptr %371, i64 %374
  %376 = load i32, ptr %375, align 4, !tbaa !9
  %377 = load i32, ptr %15, align 4, !tbaa !9
  %378 = add nsw i32 %376, %377
  %379 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 15
  %380 = load ptr, ptr %379, align 8, !tbaa !49
  %381 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %382 = load i32, ptr %381, align 8, !tbaa !15
  %383 = add nsw i32 %382, 1
  %384 = sext i32 %383 to i64
  %385 = getelementptr inbounds i32, ptr %380, i64 %384
  store i32 %378, ptr %385, align 4, !tbaa !9
  %386 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %387 = load i32, ptr %386, align 8, !tbaa !15
  %388 = add nsw i32 %387, 1
  store i32 %388, ptr %386, align 8, !tbaa !15
  %389 = load ptr, ptr %28, align 8, !tbaa !5
  %390 = icmp eq ptr %389, null
  br i1 %390, label %392, label %391

391:                                              ; preds = %369
  call void @_ZdaPv(ptr noundef %389) #11
  br label %392

392:                                              ; preds = %391, %369
  %393 = load ptr, ptr %27, align 8, !tbaa !5
  %394 = icmp eq ptr %393, null
  br i1 %394, label %396, label %395

395:                                              ; preds = %392
  call void @_ZdaPv(ptr noundef %393) #11
  br label %396

396:                                              ; preds = %395, %392
  %397 = load ptr, ptr %25, align 8, !tbaa !5
  %398 = icmp eq ptr %397, null
  br i1 %398, label %400, label %399

399:                                              ; preds = %396
  call void @_ZdaPv(ptr noundef %397) #11
  br label %400

400:                                              ; preds = %399, %396
  %401 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %35, i32 0, i32 23
  %402 = getelementptr inbounds %"class.qpOASES::Options", ptr %401, i32 0, i32 0
  %403 = load i32, ptr %402, align 8, !tbaa !53
  %404 = icmp eq i32 %403, 3
  br i1 %404, label %405, label %410

405:                                              ; preds = %400
  %406 = load i32, ptr %13, align 4, !tbaa !9
  %407 = load i32, ptr %14, align 4, !tbaa !11
  %408 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %35, i32 0, i32 3
  %409 = load i32, ptr %408, align 8, !tbaa !15
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.35, i32 noundef %406, i32 noundef %407, i32 noundef %409)
  br label %410

410:                                              ; preds = %405, %400
  store i32 0, ptr %11, align 4
  store i32 1, ptr %30, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #9
  br label %411

411:                                              ; preds = %410, %111
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #9
  %412 = load i32, ptr %11, align 4
  ret i32 %412
}

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur18computeMTransTimesEdPKddPd(ptr noundef nonnull align 8 dereferenceable(1256), double noundef, ptr noundef, double noundef, ptr noundef) #8 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN7qpOASES6getMaxEii(i32 noundef, i32 noundef) #7

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 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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 = { 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, !12, i64 0}
!12 = !{!"_ZTSN7qpOASES15SchurUpdateTypeE", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"double", !7, i64 0}
!15 = !{!16, !10, i64 1080}
!16 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !17, i64 0, !6, i64 1064, !6, i64 1072, !10, i64 1080, !10, i64 1084, !6, i64 1088, !6, i64 1096, !14, i64 1104, !14, i64 1112, !10, i64 1120, !6, i64 1128, !6, i64 1136, !10, i64 1144, !6, i64 1152, !6, i64 1160, !6, i64 1168, !23, i64 1176, !23, i64 1216}
!17 = !{!"_ZTSN7qpOASES9SQProblemE", !18, i64 0}
!18 = !{!"_ZTSN7qpOASES8QProblemE", !19, i64 0, !20, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !30, 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}
!19 = !{!"_ZTSN7qpOASES9QProblemBE", !20, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !21, i64 48, !6, i64 168, !20, i64 176, !6, i64 184, !6, i64 192, !14, i64 200, !24, i64 208, !20, i64 212, !20, i64 216, !25, i64 220, !14, i64 224, !10, i64 232, !6, i64 240, !14, i64 248, !14, i64 256, !10, i64 264, !26, i64 272, !29, i64 496, !31, i64 768}
!20 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!21 = !{!"_ZTSN7qpOASES6BoundsE", !22, i64 0, !23, i64 40, !23, i64 80}
!22 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !20, i64 32, !20, i64 36}
!23 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!24 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!25 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES7OptionsE", !27, i64 0, !20, i64 4, !20, i64 8, !20, i64 12, !20, i64 16, !20, i64 20, !20, i64 24, !10, i64 28, !10, i64 32, !20, i64 36, !14, i64 40, !14, i64 48, !14, i64 56, !14, i64 64, !14, i64 72, !14, i64 80, !14, i64 88, !14, i64 96, !14, i64 104, !14, i64 112, !14, i64 120, !28, i64 128, !14, i64 136, !10, i64 144, !14, i64 152, !10, i64 160, !14, i64 168, !14, i64 176, !14, i64 184, !14, i64 192, !20, i64 200, !20, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!27 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!28 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!29 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !21, i64 8, !30, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!30 = !{!"_ZTSN7qpOASES11ConstraintsE", !22, i64 0, !23, i64 40, !23, i64 80}
!31 = !{!"_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}
!32 = distinct !{!32, !33}
!33 = !{!"llvm.loop.mustprogress"}
!34 = distinct !{!34, !33}
!35 = !{!16, !6, i64 1064}
!36 = !{!37, !37, i64 0}
!37 = !{!"vtable pointer", !8, i64 0}
!38 = !{!39, !39, i64 0}
!39 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!40 = distinct !{!40, !33}
!41 = distinct !{!41, !33}
!42 = !{!16, !6, i64 1072}
!43 = !{!16, !10, i64 1084}
!44 = distinct !{!44, !33}
!45 = distinct !{!45, !33}
!46 = !{!16, !6, i64 1128}
!47 = !{!16, !6, i64 1136}
!48 = !{!16, !10, i64 1144}
!49 = !{!16, !6, i64 1168}
!50 = !{!16, !6, i64 1152}
!51 = !{!16, !6, i64 1160}
!52 = distinct !{!52, !33}
!53 = !{!19, !27, i64 272}


; 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.34 = external hidden unnamed_addr constant [69 x i8], align 1
@.str.35 = external hidden unnamed_addr constant [66 x i8], align 1

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

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) local_unnamed_addr #1

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #2

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 #2

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

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #4

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20addToSchurComplementEiNS_15SchurUpdateTypeEiPKiPKdiS3_S5_d(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, ptr nocapture noundef readonly %4, ptr nocapture noundef readonly %5, i32 noundef %6, ptr nocapture noundef readonly %7, ptr nocapture noundef readonly %8, double noundef %9) local_unnamed_addr #6 align 2 {
  %11 = getelementptr inbounds i8, ptr %0, i64 1176
  %12 = tail call noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36) %11)
  %13 = getelementptr inbounds i8, ptr %0, i64 1216
  %14 = tail call noundef i32 @_ZNK7qpOASES9Indexlist9getLengthEv(ptr noundef nonnull align 8 dereferenceable(36) %13)
  %15 = getelementptr inbounds i8, ptr %0, i64 1080
  %16 = load i32, ptr %15, align 8, !tbaa !5
  %17 = sext i32 %16 to i64
  %18 = icmp slt i32 %16, 0
  %19 = shl nsw i64 %17, 3
  %20 = select i1 %18, i64 -1, i64 %19
  %21 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %20) #9
  %22 = ptrtoint ptr %21 to i64
  %23 = add i32 %14, %12
  %24 = zext nneg i32 %23 to i64
  %25 = icmp slt i32 %23, 0
  %26 = shl nuw nsw i64 %24, 3
  %27 = select i1 %25, i64 -1, i64 %26
  %28 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %27) #9
  %29 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %27) #9
  %30 = icmp sgt i32 %23, 0
  br i1 %30, label %.lr.ph.preheader, label %.preheader90

.lr.ph.preheader:                                 ; preds = %10
  %31 = add nsw i32 %23, -1
  %32 = zext nneg i32 %31 to i64
  %33 = shl nuw nsw i64 %32, 3
  %34 = add nuw nsw i64 %33, 8
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(1) %28, i8 0, i64 %34, i1 false), !tbaa !27
  br label %.preheader90

.preheader90:                                     ; preds = %.lr.ph.preheader, %10
  %35 = icmp sgt i32 %3, 0
  br i1 %35, label %.lr.ph93.preheader, label %._crit_edge

.lr.ph93.preheader:                               ; preds = %.preheader90
  %wide.trip.count = zext nneg i32 %3 to i64
  %xtraiter = and i64 %wide.trip.count, 3
  %36 = icmp ult i32 %3, 4
  br i1 %36, label %._crit_edge.loopexit.unr-lcssa, label %.lr.ph93.preheader.new

.lr.ph93.preheader.new:                           ; preds = %.lr.ph93.preheader
  %unroll_iter = and i64 %wide.trip.count, 2147483644
  br label %.lr.ph93

.lr.ph93:                                         ; preds = %.lr.ph93, %.lr.ph93.preheader.new
  %indvars.iv = phi i64 [ 0, %.lr.ph93.preheader.new ], [ %indvars.iv.next.3, %.lr.ph93 ]
  %niter = phi i64 [ 0, %.lr.ph93.preheader.new ], [ %niter.next.3, %.lr.ph93 ]
  %37 = getelementptr inbounds double, ptr %5, i64 %indvars.iv
  %38 = load double, ptr %37, align 8, !tbaa !27
  %39 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv
  %40 = load i32, ptr %39, align 4, !tbaa !28
  %41 = sext i32 %40 to i64
  %42 = getelementptr inbounds double, ptr %28, i64 %41
  store double %38, ptr %42, align 8, !tbaa !27
  %indvars.iv.next = or disjoint i64 %indvars.iv, 1
  %43 = getelementptr inbounds double, ptr %5, i64 %indvars.iv.next
  %44 = load double, ptr %43, align 8, !tbaa !27
  %45 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv.next
  %46 = load i32, ptr %45, align 4, !tbaa !28
  %47 = sext i32 %46 to i64
  %48 = getelementptr inbounds double, ptr %28, i64 %47
  store double %44, ptr %48, align 8, !tbaa !27
  %indvars.iv.next.1 = or disjoint i64 %indvars.iv, 2
  %49 = getelementptr inbounds double, ptr %5, i64 %indvars.iv.next.1
  %50 = load double, ptr %49, align 8, !tbaa !27
  %51 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv.next.1
  %52 = load i32, ptr %51, align 4, !tbaa !28
  %53 = sext i32 %52 to i64
  %54 = getelementptr inbounds double, ptr %28, i64 %53
  store double %50, ptr %54, align 8, !tbaa !27
  %indvars.iv.next.2 = or disjoint i64 %indvars.iv, 3
  %55 = getelementptr inbounds double, ptr %5, i64 %indvars.iv.next.2
  %56 = load double, ptr %55, align 8, !tbaa !27
  %57 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv.next.2
  %58 = load i32, ptr %57, align 4, !tbaa !28
  %59 = sext i32 %58 to i64
  %60 = getelementptr inbounds double, ptr %28, i64 %59
  store double %56, ptr %60, 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 %._crit_edge.loopexit.unr-lcssa, label %.lr.ph93, !llvm.loop !29

._crit_edge.loopexit.unr-lcssa:                   ; preds = %.lr.ph93, %.lr.ph93.preheader
  %indvars.iv.unr = phi i64 [ 0, %.lr.ph93.preheader ], [ %indvars.iv.next.3, %.lr.ph93 ]
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %._crit_edge, label %.lr.ph93.epil

.lr.ph93.epil:                                    ; preds = %._crit_edge.loopexit.unr-lcssa, %.lr.ph93.epil
  %indvars.iv.epil = phi i64 [ %indvars.iv.next.epil, %.lr.ph93.epil ], [ %indvars.iv.unr, %._crit_edge.loopexit.unr-lcssa ]
  %epil.iter = phi i64 [ %epil.iter.next, %.lr.ph93.epil ], [ 0, %._crit_edge.loopexit.unr-lcssa ]
  %61 = getelementptr inbounds double, ptr %5, i64 %indvars.iv.epil
  %62 = load double, ptr %61, align 8, !tbaa !27
  %63 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv.epil
  %64 = load i32, ptr %63, align 4, !tbaa !28
  %65 = sext i32 %64 to i64
  %66 = getelementptr inbounds double, ptr %28, i64 %65
  store double %62, ptr %66, 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 %._crit_edge, label %.lr.ph93.epil, !llvm.loop !31

._crit_edge:                                      ; preds = %._crit_edge.loopexit.unr-lcssa, %.lr.ph93.epil, %.preheader90
  %67 = getelementptr inbounds i8, ptr %0, i64 1064
  %68 = load ptr, ptr %67, align 8, !tbaa !33
  %69 = load ptr, ptr %68, align 8, !tbaa !34
  %70 = getelementptr inbounds i8, ptr %69, i64 40
  %71 = load ptr, ptr %70, align 8
  %72 = tail call noundef i32 %71(ptr noundef nonnull align 8 dereferenceable(8) %68, i32 noundef %23, ptr noundef nonnull %28, ptr noundef nonnull %29)
  %.not = icmp eq i32 %72, 0
  br i1 %.not, label %76, label %73

73:                                               ; preds = %._crit_edge
  tail call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.34)
  %74 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %75 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %74, i32 noundef 102, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 3186, i32 noundef 1)
  br label %320

76:                                               ; preds = %._crit_edge
  %77 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur18computeMTransTimesEdPKddPd(ptr noundef nonnull align 8 dereferenceable(1256) %0, double noundef 1.000000e+00, ptr noundef nonnull %29, double noundef 0.000000e+00, ptr noundef nonnull %21)
  %78 = icmp sgt i32 %6, 0
  br i1 %78, label %.lr.ph96.preheader, label %._crit_edge97

.lr.ph96.preheader:                               ; preds = %76
  %wide.trip.count117 = zext nneg i32 %6 to i64
  %xtraiter163 = and i64 %wide.trip.count117, 1
  %79 = icmp eq i32 %6, 1
  br i1 %79, label %._crit_edge97.loopexit.unr-lcssa, label %.lr.ph96.preheader.new

.lr.ph96.preheader.new:                           ; preds = %.lr.ph96.preheader
  %unroll_iter166 = and i64 %wide.trip.count117, 2147483646
  br label %.lr.ph96

.lr.ph96:                                         ; preds = %.lr.ph96, %.lr.ph96.preheader.new
  %indvars.iv114 = phi i64 [ 0, %.lr.ph96.preheader.new ], [ %indvars.iv.next115.1, %.lr.ph96 ]
  %niter167 = phi i64 [ 0, %.lr.ph96.preheader.new ], [ %niter167.next.1, %.lr.ph96 ]
  %80 = getelementptr inbounds double, ptr %8, i64 %indvars.iv114
  %81 = load double, ptr %80, align 8, !tbaa !27
  %82 = getelementptr inbounds i32, ptr %7, i64 %indvars.iv114
  %83 = load i32, ptr %82, align 4, !tbaa !28
  %84 = sext i32 %83 to i64
  %85 = getelementptr inbounds double, ptr %21, i64 %84
  %86 = load double, ptr %85, align 8, !tbaa !27
  %87 = fsub double %86, %81
  store double %87, ptr %85, align 8, !tbaa !27
  %indvars.iv.next115 = or disjoint i64 %indvars.iv114, 1
  %88 = getelementptr inbounds double, ptr %8, i64 %indvars.iv.next115
  %89 = load double, ptr %88, align 8, !tbaa !27
  %90 = getelementptr inbounds i32, ptr %7, i64 %indvars.iv.next115
  %91 = load i32, ptr %90, align 4, !tbaa !28
  %92 = sext i32 %91 to i64
  %93 = getelementptr inbounds double, ptr %21, i64 %92
  %94 = load double, ptr %93, align 8, !tbaa !27
  %95 = fsub double %94, %89
  store double %95, ptr %93, align 8, !tbaa !27
  %indvars.iv.next115.1 = add nuw nsw i64 %indvars.iv114, 2
  %niter167.next.1 = add i64 %niter167, 2
  %niter167.ncmp.1 = icmp eq i64 %niter167.next.1, %unroll_iter166
  br i1 %niter167.ncmp.1, label %._crit_edge97.loopexit.unr-lcssa, label %.lr.ph96, !llvm.loop !36

._crit_edge97.loopexit.unr-lcssa:                 ; preds = %.lr.ph96, %.lr.ph96.preheader
  %indvars.iv114.unr = phi i64 [ 0, %.lr.ph96.preheader ], [ %indvars.iv.next115.1, %.lr.ph96 ]
  %lcmp.mod165.not = icmp eq i64 %xtraiter163, 0
  br i1 %lcmp.mod165.not, label %._crit_edge97, label %.lr.ph96.epil

.lr.ph96.epil:                                    ; preds = %._crit_edge97.loopexit.unr-lcssa
  %96 = getelementptr inbounds double, ptr %8, i64 %indvars.iv114.unr
  %97 = load double, ptr %96, align 8, !tbaa !27
  %98 = getelementptr inbounds i32, ptr %7, i64 %indvars.iv114.unr
  %99 = load i32, ptr %98, align 4, !tbaa !28
  %100 = sext i32 %99 to i64
  %101 = getelementptr inbounds double, ptr %21, i64 %100
  %102 = load double, ptr %101, align 8, !tbaa !27
  %103 = fsub double %102, %97
  store double %103, ptr %101, align 8, !tbaa !27
  br label %._crit_edge97

._crit_edge97:                                    ; preds = %.lr.ph96.epil, %._crit_edge97.loopexit.unr-lcssa, %76
  %104 = fneg double %9
  br i1 %35, label %.lr.ph101.preheader, label %.preheader89

.lr.ph101.preheader:                              ; preds = %._crit_edge97
  %wide.trip.count122 = zext nneg i32 %3 to i64
  %xtraiter168 = and i64 %wide.trip.count122, 3
  %105 = icmp ult i32 %3, 4
  br i1 %105, label %.preheader89.loopexit.unr-lcssa, label %.lr.ph101.preheader.new

.lr.ph101.preheader.new:                          ; preds = %.lr.ph101.preheader
  %unroll_iter172 = and i64 %wide.trip.count122, 2147483644
  br label %.lr.ph101

.preheader89.loopexit.unr-lcssa:                  ; preds = %.lr.ph101, %.lr.ph101.preheader
  %.lcssa.ph = phi double [ poison, %.lr.ph101.preheader ], [ %166, %.lr.ph101 ]
  %indvars.iv119.unr = phi i64 [ 0, %.lr.ph101.preheader ], [ %indvars.iv.next120.3, %.lr.ph101 ]
  %.08098.unr = phi double [ %104, %.lr.ph101.preheader ], [ %166, %.lr.ph101 ]
  %lcmp.mod170.not = icmp eq i64 %xtraiter168, 0
  br i1 %lcmp.mod170.not, label %.preheader89, label %.lr.ph101.epil

.lr.ph101.epil:                                   ; preds = %.preheader89.loopexit.unr-lcssa, %.lr.ph101.epil
  %indvars.iv119.epil = phi i64 [ %indvars.iv.next120.epil, %.lr.ph101.epil ], [ %indvars.iv119.unr, %.preheader89.loopexit.unr-lcssa ]
  %.08098.epil = phi double [ %113, %.lr.ph101.epil ], [ %.08098.unr, %.preheader89.loopexit.unr-lcssa ]
  %epil.iter169 = phi i64 [ %epil.iter169.next, %.lr.ph101.epil ], [ 0, %.preheader89.loopexit.unr-lcssa ]
  %106 = getelementptr inbounds double, ptr %5, i64 %indvars.iv119.epil
  %107 = load double, ptr %106, align 8, !tbaa !27
  %108 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv119.epil
  %109 = load i32, ptr %108, align 4, !tbaa !28
  %110 = sext i32 %109 to i64
  %111 = getelementptr inbounds double, ptr %29, i64 %110
  %112 = load double, ptr %111, align 8, !tbaa !27
  %113 = tail call double @llvm.fmuladd.f64(double %107, double %112, double %.08098.epil)
  %indvars.iv.next120.epil = add nuw nsw i64 %indvars.iv119.epil, 1
  %epil.iter169.next = add i64 %epil.iter169, 1
  %epil.iter169.cmp.not = icmp eq i64 %epil.iter169.next, %xtraiter168
  br i1 %epil.iter169.cmp.not, label %.preheader89, label %.lr.ph101.epil, !llvm.loop !37

.preheader89:                                     ; preds = %.preheader89.loopexit.unr-lcssa, %.lr.ph101.epil, %._crit_edge97
  %.080.lcssa = phi double [ %104, %._crit_edge97 ], [ %.lcssa.ph, %.preheader89.loopexit.unr-lcssa ], [ %113, %.lr.ph101.epil ]
  %114 = load i32, ptr %15, align 8, !tbaa !5
  %115 = icmp sgt i32 %114, 0
  br i1 %115, label %.lr.ph103, label %.preheader.._crit_edge107_crit_edge

.lr.ph103:                                        ; preds = %.preheader89
  %116 = getelementptr inbounds i8, ptr %0, i64 1072
  %117 = load ptr, ptr %116, align 8, !tbaa !38
  %118 = getelementptr inbounds i8, ptr %0, i64 1084
  %119 = load i32, ptr %118, align 4, !tbaa !39
  %120 = mul nsw i32 %119, %114
  %121 = sext i32 %120 to i64
  %wide.trip.count127 = zext nneg i32 %114 to i64
  %invariant.gep = getelementptr double, ptr %117, i64 %121
  %min.iters.check = icmp ult i32 %114, 10
  br i1 %min.iters.check, label %scalar.ph.preheader, label %vector.memcheck

scalar.ph.preheader:                              ; preds = %middle.block, %vector.memcheck, %.lr.ph103
  %indvars.iv124.ph = phi i64 [ 0, %vector.memcheck ], [ 0, %.lr.ph103 ], [ %n.vec, %middle.block ]
  %xtraiter174 = and i64 %wide.trip.count127, 3
  %lcmp.mod175.not = icmp eq i64 %xtraiter174, 0
  br i1 %lcmp.mod175.not, label %scalar.ph.prol.loopexit, label %scalar.ph.prol

scalar.ph.prol:                                   ; preds = %scalar.ph.preheader, %scalar.ph.prol
  %indvars.iv124.prol = phi i64 [ %indvars.iv.next125.prol, %scalar.ph.prol ], [ %indvars.iv124.ph, %scalar.ph.preheader ]
  %prol.iter = phi i64 [ %prol.iter.next, %scalar.ph.prol ], [ 0, %scalar.ph.preheader ]
  %122 = getelementptr inbounds double, ptr %21, i64 %indvars.iv124.prol
  %123 = load double, ptr %122, align 8, !tbaa !27
  %gep.prol = getelementptr double, ptr %invariant.gep, i64 %indvars.iv124.prol
  store double %123, ptr %gep.prol, align 8, !tbaa !27
  %indvars.iv.next125.prol = add nuw nsw i64 %indvars.iv124.prol, 1
  %prol.iter.next = add i64 %prol.iter, 1
  %prol.iter.cmp.not = icmp eq i64 %prol.iter.next, %xtraiter174
  br i1 %prol.iter.cmp.not, label %scalar.ph.prol.loopexit, label %scalar.ph.prol, !llvm.loop !40

scalar.ph.prol.loopexit:                          ; preds = %scalar.ph.prol, %scalar.ph.preheader
  %indvars.iv124.unr = phi i64 [ %indvars.iv124.ph, %scalar.ph.preheader ], [ %indvars.iv.next125.prol, %scalar.ph.prol ]
  %124 = sub nsw i64 %indvars.iv124.ph, %wide.trip.count127
  %125 = icmp ugt i64 %124, -4
  br i1 %125, label %.preheader, label %scalar.ph

vector.memcheck:                                  ; preds = %.lr.ph103
  %126 = ptrtoint ptr %117 to i64
  %127 = shl nsw i64 %121, 3
  %128 = add i64 %127, %126
  %129 = sub i64 %128, %22
  %diff.check = icmp ult i64 %129, 32
  br i1 %diff.check, label %scalar.ph.preheader, label %vector.ph

vector.ph:                                        ; preds = %vector.memcheck
  %n.vec = and i64 %wide.trip.count127, 2147483644
  br label %vector.body

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %130 = getelementptr inbounds double, ptr %21, i64 %index
  %131 = getelementptr inbounds i8, ptr %130, i64 16
  %wide.load = load <2 x double>, ptr %130, align 8, !tbaa !27
  %wide.load147 = load <2 x double>, ptr %131, align 8, !tbaa !27
  %132 = getelementptr double, ptr %invariant.gep, i64 %index
  %133 = getelementptr i8, ptr %132, i64 16
  store <2 x double> %wide.load, ptr %132, align 8, !tbaa !27
  store <2 x double> %wide.load147, ptr %133, align 8, !tbaa !27
  %index.next = add nuw i64 %index, 4
  %134 = icmp eq i64 %index.next, %n.vec
  br i1 %134, label %middle.block, label %vector.body, !llvm.loop !41

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %wide.trip.count127
  br i1 %cmp.n, label %.preheader, label %scalar.ph.preheader

.lr.ph101:                                        ; preds = %.lr.ph101, %.lr.ph101.preheader.new
  %indvars.iv119 = phi i64 [ 0, %.lr.ph101.preheader.new ], [ %indvars.iv.next120.3, %.lr.ph101 ]
  %.08098 = phi double [ %104, %.lr.ph101.preheader.new ], [ %166, %.lr.ph101 ]
  %niter173 = phi i64 [ 0, %.lr.ph101.preheader.new ], [ %niter173.next.3, %.lr.ph101 ]
  %135 = getelementptr inbounds double, ptr %5, i64 %indvars.iv119
  %136 = load double, ptr %135, align 8, !tbaa !27
  %137 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv119
  %138 = load i32, ptr %137, align 4, !tbaa !28
  %139 = sext i32 %138 to i64
  %140 = getelementptr inbounds double, ptr %29, i64 %139
  %141 = load double, ptr %140, align 8, !tbaa !27
  %142 = tail call double @llvm.fmuladd.f64(double %136, double %141, double %.08098)
  %indvars.iv.next120 = or disjoint i64 %indvars.iv119, 1
  %143 = getelementptr inbounds double, ptr %5, i64 %indvars.iv.next120
  %144 = load double, ptr %143, align 8, !tbaa !27
  %145 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv.next120
  %146 = load i32, ptr %145, align 4, !tbaa !28
  %147 = sext i32 %146 to i64
  %148 = getelementptr inbounds double, ptr %29, i64 %147
  %149 = load double, ptr %148, align 8, !tbaa !27
  %150 = tail call double @llvm.fmuladd.f64(double %144, double %149, double %142)
  %indvars.iv.next120.1 = or disjoint i64 %indvars.iv119, 2
  %151 = getelementptr inbounds double, ptr %5, i64 %indvars.iv.next120.1
  %152 = load double, ptr %151, align 8, !tbaa !27
  %153 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv.next120.1
  %154 = load i32, ptr %153, align 4, !tbaa !28
  %155 = sext i32 %154 to i64
  %156 = getelementptr inbounds double, ptr %29, i64 %155
  %157 = load double, ptr %156, align 8, !tbaa !27
  %158 = tail call double @llvm.fmuladd.f64(double %152, double %157, double %150)
  %indvars.iv.next120.2 = or disjoint i64 %indvars.iv119, 3
  %159 = getelementptr inbounds double, ptr %5, i64 %indvars.iv.next120.2
  %160 = load double, ptr %159, align 8, !tbaa !27
  %161 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv.next120.2
  %162 = load i32, ptr %161, align 4, !tbaa !28
  %163 = sext i32 %162 to i64
  %164 = getelementptr inbounds double, ptr %29, i64 %163
  %165 = load double, ptr %164, align 8, !tbaa !27
  %166 = tail call double @llvm.fmuladd.f64(double %160, double %165, double %158)
  %indvars.iv.next120.3 = add nuw nsw i64 %indvars.iv119, 4
  %niter173.next.3 = add i64 %niter173, 4
  %niter173.ncmp.3 = icmp eq i64 %niter173.next.3, %unroll_iter172
  br i1 %niter173.ncmp.3, label %.preheader89.loopexit.unr-lcssa, label %.lr.ph101, !llvm.loop !44

.preheader:                                       ; preds = %scalar.ph.prol.loopexit, %scalar.ph, %middle.block
  br i1 %115, label %.lr.ph106, label %.preheader.._crit_edge107_crit_edge

.preheader.._crit_edge107_crit_edge:              ; preds = %.preheader89, %.preheader
  %.phi.trans.insert = getelementptr inbounds i8, ptr %0, i64 1072
  %.pre = load ptr, ptr %.phi.trans.insert, align 8, !tbaa !38
  %.phi.trans.insert139 = getelementptr inbounds i8, ptr %0, i64 1084
  %.pre140 = load i32, ptr %.phi.trans.insert139, align 4, !tbaa !39
  %.pre144 = sext i32 %114 to i64
  br label %._crit_edge107

.lr.ph106:                                        ; preds = %.preheader
  %167 = getelementptr inbounds i8, ptr %0, i64 1072
  %168 = load ptr, ptr %167, align 8, !tbaa !38
  %169 = getelementptr inbounds i8, ptr %0, i64 1084
  %170 = load i32, ptr %169, align 4, !tbaa !39
  %171 = sext i32 %170 to i64
  %172 = zext nneg i32 %114 to i64
  %wide.trip.count132 = zext nneg i32 %114 to i64
  %invariant.gep145 = getelementptr double, ptr %168, i64 %172
  %min.iters.check152 = icmp ugt i32 %114, 13
  %ident.check.not = icmp eq i32 %170, 1
  %or.cond = select i1 %min.iters.check152, i1 %ident.check.not, i1 false
  br i1 %or.cond, label %vector.memcheck148, label %scalar.ph151.preheader

scalar.ph151.preheader:                           ; preds = %middle.block150, %vector.memcheck148, %.lr.ph106
  %indvars.iv129.ph = phi i64 [ 0, %vector.memcheck148 ], [ 0, %.lr.ph106 ], [ %n.vec155, %middle.block150 ]
  %xtraiter176 = and i64 %wide.trip.count127, 3
  %lcmp.mod177.not = icmp eq i64 %xtraiter176, 0
  br i1 %lcmp.mod177.not, label %scalar.ph151.prol.loopexit, label %scalar.ph151.prol

scalar.ph151.prol:                                ; preds = %scalar.ph151.preheader, %scalar.ph151.prol
  %indvars.iv129.prol = phi i64 [ %indvars.iv.next130.prol, %scalar.ph151.prol ], [ %indvars.iv129.ph, %scalar.ph151.preheader ]
  %prol.iter178 = phi i64 [ %prol.iter178.next, %scalar.ph151.prol ], [ 0, %scalar.ph151.preheader ]
  %173 = getelementptr inbounds double, ptr %21, i64 %indvars.iv129.prol
  %174 = load double, ptr %173, align 8, !tbaa !27
  %175 = mul nsw i64 %indvars.iv129.prol, %171
  %gep146.prol = getelementptr double, ptr %invariant.gep145, i64 %175
  store double %174, ptr %gep146.prol, align 8, !tbaa !27
  %indvars.iv.next130.prol = add nuw nsw i64 %indvars.iv129.prol, 1
  %prol.iter178.next = add i64 %prol.iter178, 1
  %prol.iter178.cmp.not = icmp eq i64 %prol.iter178.next, %xtraiter176
  br i1 %prol.iter178.cmp.not, label %scalar.ph151.prol.loopexit, label %scalar.ph151.prol, !llvm.loop !45

scalar.ph151.prol.loopexit:                       ; preds = %scalar.ph151.prol, %scalar.ph151.preheader
  %indvars.iv129.unr = phi i64 [ %indvars.iv129.ph, %scalar.ph151.preheader ], [ %indvars.iv.next130.prol, %scalar.ph151.prol ]
  %176 = sub nsw i64 %indvars.iv129.ph, %wide.trip.count127
  %177 = icmp ugt i64 %176, -4
  br i1 %177, label %._crit_edge107, label %scalar.ph151

vector.memcheck148:                               ; preds = %.lr.ph106
  %178 = ptrtoint ptr %168 to i64
  %179 = shl nuw nsw i64 %wide.trip.count127, 3
  %180 = add i64 %179, %178
  %181 = sub i64 %180, %22
  %diff.check149 = icmp ult i64 %181, 32
  br i1 %diff.check149, label %scalar.ph151.preheader, label %vector.ph153

vector.ph153:                                     ; preds = %vector.memcheck148
  %n.vec155 = and i64 %wide.trip.count127, 2147483644
  br label %vector.body157

vector.body157:                                   ; preds = %vector.body157, %vector.ph153
  %index158 = phi i64 [ 0, %vector.ph153 ], [ %index.next161, %vector.body157 ]
  %182 = getelementptr inbounds double, ptr %21, i64 %index158
  %183 = getelementptr inbounds i8, ptr %182, i64 16
  %wide.load159 = load <2 x double>, ptr %182, align 8, !tbaa !27
  %wide.load160 = load <2 x double>, ptr %183, align 8, !tbaa !27
  %184 = getelementptr double, ptr %invariant.gep145, i64 %index158
  %185 = getelementptr i8, ptr %184, i64 16
  store <2 x double> %wide.load159, ptr %184, align 8, !tbaa !27
  store <2 x double> %wide.load160, ptr %185, align 8, !tbaa !27
  %index.next161 = add nuw i64 %index158, 4
  %186 = icmp eq i64 %index.next161, %n.vec155
  br i1 %186, label %middle.block150, label %vector.body157, !llvm.loop !46

middle.block150:                                  ; preds = %vector.body157
  %cmp.n162 = icmp eq i64 %n.vec155, %wide.trip.count127
  br i1 %cmp.n162, label %._crit_edge107, label %scalar.ph151.preheader

scalar.ph:                                        ; preds = %scalar.ph.prol.loopexit, %scalar.ph
  %indvars.iv124 = phi i64 [ %indvars.iv.next125.3, %scalar.ph ], [ %indvars.iv124.unr, %scalar.ph.prol.loopexit ]
  %187 = getelementptr inbounds double, ptr %21, i64 %indvars.iv124
  %188 = load double, ptr %187, align 8, !tbaa !27
  %gep = getelementptr double, ptr %invariant.gep, i64 %indvars.iv124
  store double %188, ptr %gep, align 8, !tbaa !27
  %indvars.iv.next125 = add nuw nsw i64 %indvars.iv124, 1
  %189 = getelementptr inbounds double, ptr %21, i64 %indvars.iv.next125
  %190 = load double, ptr %189, align 8, !tbaa !27
  %gep.1 = getelementptr double, ptr %invariant.gep, i64 %indvars.iv.next125
  store double %190, ptr %gep.1, align 8, !tbaa !27
  %indvars.iv.next125.1 = add nuw nsw i64 %indvars.iv124, 2
  %191 = getelementptr inbounds double, ptr %21, i64 %indvars.iv.next125.1
  %192 = load double, ptr %191, align 8, !tbaa !27
  %gep.2 = getelementptr double, ptr %invariant.gep, i64 %indvars.iv.next125.1
  store double %192, ptr %gep.2, align 8, !tbaa !27
  %indvars.iv.next125.2 = add nuw nsw i64 %indvars.iv124, 3
  %193 = getelementptr inbounds double, ptr %21, i64 %indvars.iv.next125.2
  %194 = load double, ptr %193, align 8, !tbaa !27
  %gep.3 = getelementptr double, ptr %invariant.gep, i64 %indvars.iv.next125.2
  store double %194, ptr %gep.3, align 8, !tbaa !27
  %indvars.iv.next125.3 = add nuw nsw i64 %indvars.iv124, 4
  %exitcond128.not.3 = icmp eq i64 %indvars.iv.next125.3, %wide.trip.count127
  br i1 %exitcond128.not.3, label %.preheader, label %scalar.ph, !llvm.loop !47

scalar.ph151:                                     ; preds = %scalar.ph151.prol.loopexit, %scalar.ph151
  %indvars.iv129 = phi i64 [ %indvars.iv.next130.3, %scalar.ph151 ], [ %indvars.iv129.unr, %scalar.ph151.prol.loopexit ]
  %195 = getelementptr inbounds double, ptr %21, i64 %indvars.iv129
  %196 = load double, ptr %195, align 8, !tbaa !27
  %197 = mul nsw i64 %indvars.iv129, %171
  %gep146 = getelementptr double, ptr %invariant.gep145, i64 %197
  store double %196, ptr %gep146, align 8, !tbaa !27
  %indvars.iv.next130 = add nuw nsw i64 %indvars.iv129, 1
  %198 = getelementptr inbounds double, ptr %21, i64 %indvars.iv.next130
  %199 = load double, ptr %198, align 8, !tbaa !27
  %200 = mul nsw i64 %indvars.iv.next130, %171
  %gep146.1 = getelementptr double, ptr %invariant.gep145, i64 %200
  store double %199, ptr %gep146.1, align 8, !tbaa !27
  %indvars.iv.next130.1 = add nuw nsw i64 %indvars.iv129, 2
  %201 = getelementptr inbounds double, ptr %21, i64 %indvars.iv.next130.1
  %202 = load double, ptr %201, align 8, !tbaa !27
  %203 = mul nsw i64 %indvars.iv.next130.1, %171
  %gep146.2 = getelementptr double, ptr %invariant.gep145, i64 %203
  store double %202, ptr %gep146.2, align 8, !tbaa !27
  %indvars.iv.next130.2 = add nuw nsw i64 %indvars.iv129, 3
  %204 = getelementptr inbounds double, ptr %21, i64 %indvars.iv.next130.2
  %205 = load double, ptr %204, align 8, !tbaa !27
  %206 = mul nsw i64 %indvars.iv.next130.2, %171
  %gep146.3 = getelementptr double, ptr %invariant.gep145, i64 %206
  store double %205, ptr %gep146.3, align 8, !tbaa !27
  %indvars.iv.next130.3 = add nuw nsw i64 %indvars.iv129, 4
  %exitcond133.not.3 = icmp eq i64 %indvars.iv.next130.3, %wide.trip.count132
  br i1 %exitcond133.not.3, label %._crit_edge107, label %scalar.ph151, !llvm.loop !48

._crit_edge107:                                   ; preds = %scalar.ph151.prol.loopexit, %scalar.ph151, %middle.block150, %.preheader.._crit_edge107_crit_edge
  %.pre-phi = phi i64 [ %.pre144, %.preheader.._crit_edge107_crit_edge ], [ %172, %middle.block150 ], [ %172, %scalar.ph151 ], [ %172, %scalar.ph151.prol.loopexit ]
  %207 = phi i32 [ %.pre140, %.preheader.._crit_edge107_crit_edge ], [ %170, %middle.block150 ], [ %170, %scalar.ph151 ], [ %170, %scalar.ph151.prol.loopexit ]
  %208 = phi ptr [ %.pre, %.preheader.._crit_edge107_crit_edge ], [ %168, %middle.block150 ], [ %168, %scalar.ph151 ], [ %168, %scalar.ph151.prol.loopexit ]
  %209 = add i32 %207, 1
  %210 = mul i32 %209, %114
  %211 = sext i32 %210 to i64
  %212 = getelementptr inbounds double, ptr %208, i64 %211
  store double %.080.lcssa, ptr %212, align 8, !tbaa !27
  %213 = getelementptr inbounds i8, ptr %0, i64 1128
  %214 = load ptr, ptr %213, align 8, !tbaa !49
  %215 = getelementptr inbounds i32, ptr %214, i64 %.pre-phi
  store i32 %1, ptr %215, align 4, !tbaa !28
  %216 = getelementptr inbounds i8, ptr %0, i64 1136
  %217 = load ptr, ptr %216, align 8, !tbaa !50
  %218 = load i32, ptr %15, align 8, !tbaa !5
  %219 = sext i32 %218 to i64
  %220 = getelementptr inbounds i32, ptr %217, i64 %219
  store i32 %2, ptr %220, align 4, !tbaa !51
  %221 = getelementptr inbounds i8, ptr %0, i64 1144
  %222 = load i32, ptr %221, align 8, !tbaa !53
  %223 = getelementptr inbounds i8, ptr %0, i64 1168
  %224 = load ptr, ptr %223, align 8, !tbaa !54
  %225 = getelementptr inbounds i32, ptr %224, i64 %219
  %226 = load i32, ptr %225, align 4, !tbaa !28
  %227 = add nsw i32 %226, %3
  %228 = icmp slt i32 %222, %227
  br i1 %228, label %229, label %261

229:                                              ; preds = %._crit_edge107
  %230 = shl nsw i32 %222, 1
  %231 = shl nsw i32 %3, 1
  %232 = add nsw i32 %222, %231
  %233 = tail call noundef i32 @_ZN7qpOASES6getMaxEii(i32 noundef %230, i32 noundef %232)
  %234 = sext i32 %233 to i64
  %235 = icmp slt i32 %233, 0
  %236 = shl nsw i64 %234, 3
  %237 = select i1 %235, i64 -1, i64 %236
  %238 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %237) #9
  %239 = shl nsw i64 %234, 2
  %240 = select i1 %235, i64 -1, i64 %239
  %241 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %240) #9
  %242 = getelementptr inbounds i8, ptr %0, i64 1152
  %243 = load ptr, ptr %242, align 8, !tbaa !55
  %244 = load ptr, ptr %223, align 8, !tbaa !54
  %245 = load i32, ptr %15, align 8, !tbaa !5
  %246 = sext i32 %245 to i64
  %247 = getelementptr inbounds i32, ptr %244, i64 %246
  %248 = load i32, ptr %247, align 4, !tbaa !28
  %249 = zext i32 %248 to i64
  %250 = shl nuw nsw i64 %249, 3
  tail call void @llvm.memcpy.p0.p0.i64(ptr nonnull align 8 %238, ptr align 8 %243, i64 %250, i1 false)
  %251 = getelementptr inbounds i8, ptr %0, i64 1160
  %252 = load ptr, ptr %251, align 8, !tbaa !56
  %253 = shl nuw nsw i64 %249, 2
  tail call void @llvm.memcpy.p0.p0.i64(ptr nonnull align 4 %241, ptr align 4 %252, i64 %253, i1 false)
  store i32 %233, ptr %221, align 8, !tbaa !53
  %254 = icmp eq ptr %243, null
  br i1 %254, label %256, label %255

255:                                              ; preds = %229
  tail call void @_ZdaPv(ptr noundef nonnull %243) #10
  %.pre141 = load ptr, ptr %251, align 8, !tbaa !56
  br label %256

256:                                              ; preds = %255, %229
  %257 = phi ptr [ %.pre141, %255 ], [ %252, %229 ]
  %258 = icmp eq ptr %257, null
  br i1 %258, label %260, label %259

259:                                              ; preds = %256
  tail call void @_ZdaPv(ptr noundef nonnull %257) #10
  br label %260

260:                                              ; preds = %259, %256
  store ptr %238, ptr %242, align 8, !tbaa !55
  store ptr %241, ptr %251, align 8, !tbaa !56
  %.pre142.pre = load ptr, ptr %223, align 8, !tbaa !54
  br label %261

261:                                              ; preds = %260, %._crit_edge107
  %.pre142 = phi ptr [ %.pre142.pre, %260 ], [ %224, %._crit_edge107 ]
  br i1 %35, label %.lr.ph110, label %._crit_edge111

.lr.ph110:                                        ; preds = %261
  %262 = getelementptr inbounds i8, ptr %0, i64 1152
  %263 = load ptr, ptr %262, align 8, !tbaa !55
  %264 = getelementptr inbounds i8, ptr %0, i64 1160
  %265 = load ptr, ptr %264, align 8, !tbaa !56
  %wide.trip.count137 = zext nneg i32 %3 to i64
  %xtraiter179 = and i64 %wide.trip.count137, 1
  %266 = icmp eq i32 %3, 1
  br i1 %266, label %._crit_edge111.loopexit.unr-lcssa, label %.lr.ph110.new

.lr.ph110.new:                                    ; preds = %.lr.ph110
  %unroll_iter182 = and i64 %wide.trip.count137, 2147483646
  br label %267

267:                                              ; preds = %267, %.lr.ph110.new
  %indvars.iv134 = phi i64 [ 0, %.lr.ph110.new ], [ %indvars.iv.next135.1, %267 ]
  %niter183 = phi i64 [ 0, %.lr.ph110.new ], [ %niter183.next.1, %267 ]
  %268 = getelementptr inbounds double, ptr %5, i64 %indvars.iv134
  %269 = load double, ptr %268, align 8, !tbaa !27
  %270 = load i32, ptr %15, align 8, !tbaa !5
  %271 = sext i32 %270 to i64
  %272 = getelementptr inbounds i32, ptr %.pre142, i64 %271
  %273 = load i32, ptr %272, align 4, !tbaa !28
  %274 = trunc nuw nsw i64 %indvars.iv134 to i32
  %275 = add nsw i32 %273, %274
  %276 = sext i32 %275 to i64
  %277 = getelementptr inbounds double, ptr %263, i64 %276
  store double %269, ptr %277, align 8, !tbaa !27
  %278 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv134
  %279 = load i32, ptr %278, align 4, !tbaa !28
  %280 = getelementptr inbounds i32, ptr %265, i64 %276
  store i32 %279, ptr %280, align 4, !tbaa !28
  %indvars.iv.next135 = or disjoint i64 %indvars.iv134, 1
  %281 = getelementptr inbounds double, ptr %5, i64 %indvars.iv.next135
  %282 = load double, ptr %281, align 8, !tbaa !27
  %283 = load i32, ptr %15, align 8, !tbaa !5
  %284 = sext i32 %283 to i64
  %285 = getelementptr inbounds i32, ptr %.pre142, i64 %284
  %286 = load i32, ptr %285, align 4, !tbaa !28
  %287 = trunc nuw nsw i64 %indvars.iv.next135 to i32
  %288 = add nsw i32 %286, %287
  %289 = sext i32 %288 to i64
  %290 = getelementptr inbounds double, ptr %263, i64 %289
  store double %282, ptr %290, align 8, !tbaa !27
  %291 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv.next135
  %292 = load i32, ptr %291, align 4, !tbaa !28
  %293 = getelementptr inbounds i32, ptr %265, i64 %289
  store i32 %292, ptr %293, align 4, !tbaa !28
  %indvars.iv.next135.1 = add nuw nsw i64 %indvars.iv134, 2
  %niter183.next.1 = add i64 %niter183, 2
  %niter183.ncmp.1 = icmp eq i64 %niter183.next.1, %unroll_iter182
  br i1 %niter183.ncmp.1, label %._crit_edge111.loopexit.unr-lcssa, label %267, !llvm.loop !57

._crit_edge111.loopexit.unr-lcssa:                ; preds = %267, %.lr.ph110
  %indvars.iv134.unr = phi i64 [ 0, %.lr.ph110 ], [ %indvars.iv.next135.1, %267 ]
  %lcmp.mod181.not = icmp eq i64 %xtraiter179, 0
  br i1 %lcmp.mod181.not, label %._crit_edge111, label %._crit_edge111.loopexit.epilog-lcssa

._crit_edge111.loopexit.epilog-lcssa:             ; preds = %._crit_edge111.loopexit.unr-lcssa
  %294 = getelementptr inbounds double, ptr %5, i64 %indvars.iv134.unr
  %295 = load double, ptr %294, align 8, !tbaa !27
  %296 = load i32, ptr %15, align 8, !tbaa !5
  %297 = sext i32 %296 to i64
  %298 = getelementptr inbounds i32, ptr %.pre142, i64 %297
  %299 = load i32, ptr %298, align 4, !tbaa !28
  %300 = trunc nuw nsw i64 %indvars.iv134.unr to i32
  %301 = add nsw i32 %299, %300
  %302 = sext i32 %301 to i64
  %303 = getelementptr inbounds double, ptr %263, i64 %302
  store double %295, ptr %303, align 8, !tbaa !27
  %304 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv134.unr
  %305 = load i32, ptr %304, align 4, !tbaa !28
  %306 = getelementptr inbounds i32, ptr %265, i64 %302
  store i32 %305, ptr %306, align 4, !tbaa !28
  br label %._crit_edge111

._crit_edge111:                                   ; preds = %._crit_edge111.loopexit.epilog-lcssa, %._crit_edge111.loopexit.unr-lcssa, %261
  %307 = load i32, ptr %15, align 8, !tbaa !5
  %308 = sext i32 %307 to i64
  %309 = getelementptr inbounds i32, ptr %.pre142, i64 %308
  %310 = load i32, ptr %309, align 4, !tbaa !28
  %311 = add nsw i32 %310, %3
  %312 = getelementptr i8, ptr %309, i64 4
  store i32 %311, ptr %312, align 4, !tbaa !28
  %313 = load i32, ptr %15, align 8, !tbaa !5
  %314 = add nsw i32 %313, 1
  store i32 %314, ptr %15, align 8, !tbaa !5
  tail call void @_ZdaPv(ptr noundef nonnull %29) #10
  tail call void @_ZdaPv(ptr noundef nonnull %28) #10
  tail call void @_ZdaPv(ptr noundef nonnull %21) #10
  %315 = getelementptr inbounds i8, ptr %0, i64 272
  %316 = load i32, ptr %315, align 8, !tbaa !58
  %317 = icmp eq i32 %316, 3
  br i1 %317, label %318, label %320

318:                                              ; preds = %._crit_edge111
  %319 = load i32, ptr %15, align 8, !tbaa !5
  tail call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.35, i32 noundef %1, i32 noundef %2, i32 noundef %319)
  br label %320

320:                                              ; preds = %._crit_edge111, %318, %73
  %.0 = phi i32 [ %75, %73 ], [ 0, %318 ], [ 0, %._crit_edge111 ]
  ret i32 %.0
}

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #7

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur18computeMTransTimesEdPKddPd(ptr noundef nonnull align 8 dereferenceable(1256), double noundef, ptr noundef, double noundef, ptr noundef) local_unnamed_addr #6 align 2

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

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #8

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 = { 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 #2 = { "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 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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 = { 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 nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #8 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #9 = { builtin allocsize(0) }
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 = !{!18, !18, i64 0}
!28 = !{!16, !16, i64 0}
!29 = distinct !{!29, !30}
!30 = !{!"llvm.loop.mustprogress"}
!31 = distinct !{!31, !32}
!32 = !{!"llvm.loop.unroll.disable"}
!33 = !{!6, !13, i64 1064}
!34 = !{!35, !35, i64 0}
!35 = !{!"vtable pointer", !12, i64 0}
!36 = distinct !{!36, !30}
!37 = distinct !{!37, !32}
!38 = !{!6, !13, i64 1072}
!39 = !{!6, !16, i64 1084}
!40 = distinct !{!40, !32}
!41 = distinct !{!41, !30, !42, !43}
!42 = !{!"llvm.loop.isvectorized", i32 1}
!43 = !{!"llvm.loop.unroll.runtime.disable"}
!44 = distinct !{!44, !30}
!45 = distinct !{!45, !32}
!46 = distinct !{!46, !30, !42, !43}
!47 = distinct !{!47, !30, !42}
!48 = distinct !{!48, !30, !42}
!49 = !{!6, !13, i64 1128}
!50 = !{!6, !13, i64 1136}
!51 = !{!52, !52, i64 0}
!52 = !{!"_ZTSN7qpOASES15SchurUpdateTypeE", !11, i64 0}
!53 = !{!6, !16, i64 1144}
!54 = !{!6, !13, i64 1168}
!55 = !{!6, !13, i64 1152}
!56 = !{!6, !13, i64 1160}
!57 = distinct !{!57, !30}
!58 = !{!9, !22, i64 272}


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