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

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%"class.qpOASES::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::Indexlist" = type <{ ptr, ptr, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.qpOASES::Options" = type <{ i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, double, double, double, double, double, double, double, double, double, double, double, i32, [4 x i8], double, i32, [4 x i8], double, i32, [4 x i8], double, double, double, double, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.qpOASES::Flipper" = type { i32, i32, %"class.qpOASES::Bounds", %"class.qpOASES::Constraints", ptr, ptr, ptr }
%"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" }

@_ZTVN7qpOASES8QProblemE = external dso_local unnamed_addr constant { [38 x ptr] }, align 8
@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [103 x i8], align 1

declare void @_ZN7qpOASES11ConstraintsC1Ev(ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #0

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nounwind
declare void @_ZN7qpOASES9QProblemBD2Ev(ptr noundef nonnull align 8 dereferenceable(800)) unnamed_addr #1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7qpOASES8QProblemC2EiiNS_11HessianTypeENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, i32 noundef %4) unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %6 = alloca ptr, align 8
  %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 i32, align 4
  %13 = alloca i32, align 4
  store ptr %0, ptr %6, align 8, !tbaa !5
  store i32 %1, ptr %7, align 4, !tbaa !9
  store i32 %2, ptr %8, align 4, !tbaa !9
  store i32 %3, ptr %9, align 4, !tbaa !11
  store i32 %4, ptr %10, align 4, !tbaa !13
  %14 = load ptr, ptr %6, align 8
  %15 = load i32, ptr %7, align 4, !tbaa !9
  %16 = load i32, ptr %9, align 4, !tbaa !11
  %17 = load i32, ptr %10, align 4, !tbaa !13
  call void @_ZN7qpOASES9QProblemBC2EiNS_11HessianTypeENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %14, i32 noundef %15, i32 noundef %16, i32 noundef %17)
  store ptr getelementptr inbounds inrange(-16, 288) ({ [38 x ptr] }, ptr @_ZTVN7qpOASES8QProblemE, i32 0, i32 0, i32 2), ptr %14, align 8, !tbaa !15
  %18 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 5
  invoke void @_ZN7qpOASES11ConstraintsC1Ev(ptr noundef nonnull align 8 dereferenceable(120) %18)
          to label %19 unwind label %27

19:                                               ; preds = %5
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #8
  %20 = load i32, ptr %7, align 4, !tbaa !9
  %21 = icmp sle i32 %20, 0
  br i1 %21, label %22, label %35

22:                                               ; preds = %19
  store i32 1, ptr %7, align 4, !tbaa !9
  %23 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %24 unwind label %31

24:                                               ; preds = %22
  %25 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %23, i32 noundef 3, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 91, i32 noundef 1)
          to label %26 unwind label %31

26:                                               ; preds = %24
  br label %35

27:                                               ; preds = %5
  %28 = landingpad { ptr, i32 }
          cleanup
  %29 = extractvalue { ptr, i32 } %28, 0
  store ptr %29, ptr %11, align 8
  %30 = extractvalue { ptr, i32 } %28, 1
  store i32 %30, ptr %12, align 4
  br label %303

31:                                               ; preds = %296, %280, %271, %262, %254, %241, %232, %223, %208, %199, %191, %171, %158, %154, %124, %115, %95, %71, %46, %40, %38, %24, %22
  %32 = landingpad { ptr, i32 }
          cleanup
  %33 = extractvalue { ptr, i32 } %32, 0
  store ptr %33, ptr %11, align 8
  %34 = extractvalue { ptr, i32 } %32, 1
  store i32 %34, ptr %12, align 4
  br label %302

35:                                               ; preds = %26, %19
  %36 = load i32, ptr %8, align 4, !tbaa !9
  %37 = icmp slt i32 %36, 0
  br i1 %37, label %38, label %43

38:                                               ; preds = %35
  store i32 0, ptr %8, align 4, !tbaa !9
  %39 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %40 unwind label %31

40:                                               ; preds = %38
  %41 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %39, i32 noundef 3, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 97, i32 noundef 1)
          to label %42 unwind label %31

42:                                               ; preds = %40
  br label %43

43:                                               ; preds = %42, %35
  %44 = load i32, ptr %8, align 4, !tbaa !9
  %45 = icmp sgt i32 %44, 0
  br i1 %45, label %46, label %95

46:                                               ; preds = %43
  %47 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 1
  store i32 0, ptr %47, align 8, !tbaa !17
  %48 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 2
  store ptr null, ptr %48, align 8, !tbaa !31
  %49 = load i32, ptr %8, align 4, !tbaa !9
  %50 = sext i32 %49 to i64
  %51 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %50, i64 8)
  %52 = extractvalue { i64, i1 } %51, 1
  %53 = extractvalue { i64, i1 } %51, 0
  %54 = select i1 %52, i64 -1, i64 %53
  %55 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %54) #9
          to label %56 unwind label %31

56:                                               ; preds = %46
  %57 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 3
  store ptr %55, ptr %57, align 8, !tbaa !32
  store i32 0, ptr %13, align 4, !tbaa !9
  br label %58

58:                                               ; preds = %68, %56
  %59 = load i32, ptr %13, align 4, !tbaa !9
  %60 = load i32, ptr %8, align 4, !tbaa !9
  %61 = icmp slt i32 %59, %60
  br i1 %61, label %62, label %71

62:                                               ; preds = %58
  %63 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 3
  %64 = load ptr, ptr %63, align 8, !tbaa !32
  %65 = load i32, ptr %13, align 4, !tbaa !9
  %66 = sext i32 %65 to i64
  %67 = getelementptr inbounds double, ptr %64, i64 %66
  store double 0.000000e+00, ptr %67, align 8, !tbaa !33
  br label %68

68:                                               ; preds = %62
  %69 = load i32, ptr %13, align 4, !tbaa !9
  %70 = add nsw i32 %69, 1
  store i32 %70, ptr %13, align 4, !tbaa !9
  br label %58, !llvm.loop !34

71:                                               ; preds = %58
  %72 = load i32, ptr %8, align 4, !tbaa !9
  %73 = sext i32 %72 to i64
  %74 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %73, i64 8)
  %75 = extractvalue { i64, i1 } %74, 1
  %76 = extractvalue { i64, i1 } %74, 0
  %77 = select i1 %75, i64 -1, i64 %76
  %78 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %77) #9
          to label %79 unwind label %31

79:                                               ; preds = %71
  %80 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 4
  store ptr %78, ptr %80, align 8, !tbaa !36
  store i32 0, ptr %13, align 4, !tbaa !9
  br label %81

81:                                               ; preds = %91, %79
  %82 = load i32, ptr %13, align 4, !tbaa !9
  %83 = load i32, ptr %8, align 4, !tbaa !9
  %84 = icmp slt i32 %82, %83
  br i1 %84, label %85, label %94

85:                                               ; preds = %81
  %86 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 4
  %87 = load ptr, ptr %86, align 8, !tbaa !36
  %88 = load i32, ptr %13, align 4, !tbaa !9
  %89 = sext i32 %88 to i64
  %90 = getelementptr inbounds double, ptr %87, i64 %89
  store double 0.000000e+00, ptr %90, align 8, !tbaa !33
  br label %91

91:                                               ; preds = %85
  %92 = load i32, ptr %13, align 4, !tbaa !9
  %93 = add nsw i32 %92, 1
  store i32 %93, ptr %13, align 4, !tbaa !9
  br label %81, !llvm.loop !37

94:                                               ; preds = %81
  br label %115

95:                                               ; preds = %43
  %96 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 1
  store i32 1, ptr %96, align 8, !tbaa !17
  %97 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 48) #9
          to label %98 unwind label %31

98:                                               ; preds = %95
  invoke void @_ZN7qpOASES11DenseMatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(32) %97)
          to label %99 unwind label %111

99:                                               ; preds = %98
  %100 = icmp eq ptr %97, null
  br i1 %100, label %106, label %101

101:                                              ; preds = %99
  %102 = load ptr, ptr %97, align 8, !tbaa !15
  %103 = getelementptr i8, ptr %102, i64 -24
  %104 = load i64, ptr %103, align 8
  %105 = getelementptr inbounds i8, ptr %97, i64 %104
  br label %106

106:                                              ; preds = %101, %99
  %107 = phi ptr [ %105, %101 ], [ null, %99 ]
  %108 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 2
  store ptr %107, ptr %108, align 8, !tbaa !31
  %109 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 3
  store ptr null, ptr %109, align 8, !tbaa !32
  %110 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 4
  store ptr null, ptr %110, align 8, !tbaa !36
  br label %115

111:                                              ; preds = %98
  %112 = landingpad { ptr, i32 }
          cleanup
  %113 = extractvalue { ptr, i32 } %112, 0
  store ptr %113, ptr %11, align 8
  %114 = extractvalue { ptr, i32 } %112, 1
  store i32 %114, ptr %12, align 4
  call void @_ZdlPvm(ptr noundef %97, i64 noundef 48) #10
  br label %302

115:                                              ; preds = %106, %94
  %116 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 5
  %117 = load i32, ptr %8, align 4, !tbaa !9
  %118 = invoke noundef i32 @_ZN7qpOASES11Constraints4initEi(ptr noundef nonnull align 8 dereferenceable(120) %116, i32 noundef %117)
          to label %119 unwind label %31

119:                                              ; preds = %115
  %120 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 10
  %121 = load ptr, ptr %120, align 8, !tbaa !38
  %122 = icmp eq ptr %121, null
  br i1 %122, label %124, label %123

123:                                              ; preds = %119
  call void @_ZdaPv(ptr noundef %121) #10
  br label %124

124:                                              ; preds = %123, %119
  %125 = load i32, ptr %7, align 4, !tbaa !9
  %126 = load i32, ptr %8, align 4, !tbaa !9
  %127 = add nsw i32 %125, %126
  %128 = sext i32 %127 to i64
  %129 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %128, i64 8)
  %130 = extractvalue { i64, i1 } %129, 1
  %131 = extractvalue { i64, i1 } %129, 0
  %132 = select i1 %130, i64 -1, i64 %131
  %133 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %132) #9
          to label %134 unwind label %31

134:                                              ; preds = %124
  %135 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 10
  store ptr %133, ptr %135, align 8, !tbaa !38
  store i32 0, ptr %13, align 4, !tbaa !9
  br label %136

136:                                              ; preds = %148, %134
  %137 = load i32, ptr %13, align 4, !tbaa !9
  %138 = load i32, ptr %7, align 4, !tbaa !9
  %139 = load i32, ptr %8, align 4, !tbaa !9
  %140 = add nsw i32 %138, %139
  %141 = icmp slt i32 %137, %140
  br i1 %141, label %142, label %151

142:                                              ; preds = %136
  %143 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 10
  %144 = load ptr, ptr %143, align 8, !tbaa !38
  %145 = load i32, ptr %13, align 4, !tbaa !9
  %146 = sext i32 %145 to i64
  %147 = getelementptr inbounds double, ptr %144, i64 %146
  store double 0.000000e+00, ptr %147, align 8, !tbaa !33
  br label %148

148:                                              ; preds = %142
  %149 = load i32, ptr %13, align 4, !tbaa !9
  %150 = add nsw i32 %149, 1
  store i32 %150, ptr %13, align 4, !tbaa !9
  br label %136, !llvm.loop !39

151:                                              ; preds = %136
  %152 = load i32, ptr %10, align 4, !tbaa !13
  %153 = icmp eq i32 %152, 1
  br i1 %153, label %154, label %184

154:                                              ; preds = %151
  %155 = load i32, ptr %7, align 4, !tbaa !9
  %156 = load i32, ptr %8, align 4, !tbaa !9
  %157 = invoke noundef i32 @_ZN7qpOASES6getMinEii(i32 noundef %155, i32 noundef %156)
          to label %158 unwind label %31

158:                                              ; preds = %154
  %159 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 8
  store i32 %157, ptr %159, align 8, !tbaa !40
  %160 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 8
  %161 = load i32, ptr %160, align 8, !tbaa !40
  %162 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 8
  %163 = load i32, ptr %162, align 8, !tbaa !40
  %164 = mul nsw i32 %161, %163
  %165 = sext i32 %164 to i64
  %166 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %165, i64 8)
  %167 = extractvalue { i64, i1 } %166, 1
  %168 = extractvalue { i64, i1 } %166, 0
  %169 = select i1 %167, i64 -1, i64 %168
  %170 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %169) #9
          to label %171 unwind label %31

171:                                              ; preds = %158
  %172 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 6
  store ptr %170, ptr %172, align 8, !tbaa !41
  %173 = load i32, ptr %7, align 4, !tbaa !9
  %174 = load i32, ptr %7, align 4, !tbaa !9
  %175 = mul nsw i32 %173, %174
  %176 = sext i32 %175 to i64
  %177 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %176, i64 8)
  %178 = extractvalue { i64, i1 } %177, 1
  %179 = extractvalue { i64, i1 } %177, 0
  %180 = select i1 %178, i64 -1, i64 %179
  %181 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %180) #9
          to label %182 unwind label %31

182:                                              ; preds = %171
  %183 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 7
  store ptr %181, ptr %183, align 8, !tbaa !42
  br label %188

184:                                              ; preds = %151
  %185 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 8
  store i32 0, ptr %185, align 8, !tbaa !40
  %186 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 6
  store ptr null, ptr %186, align 8, !tbaa !41
  %187 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 7
  store ptr null, ptr %187, align 8, !tbaa !42
  br label %188

188:                                              ; preds = %184, %182
  %189 = load i32, ptr %8, align 4, !tbaa !9
  %190 = icmp sgt i32 %189, 0
  br i1 %190, label %191, label %219

191:                                              ; preds = %188
  %192 = load i32, ptr %8, align 4, !tbaa !9
  %193 = sext i32 %192 to i64
  %194 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %193, i64 8)
  %195 = extractvalue { i64, i1 } %194, 1
  %196 = extractvalue { i64, i1 } %194, 0
  %197 = select i1 %195, i64 -1, i64 %196
  %198 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %197) #9
          to label %199 unwind label %31

199:                                              ; preds = %191
  %200 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 9
  store ptr %198, ptr %200, align 8, !tbaa !43
  %201 = load i32, ptr %8, align 4, !tbaa !9
  %202 = sext i32 %201 to i64
  %203 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %202, i64 8)
  %204 = extractvalue { i64, i1 } %203, 1
  %205 = extractvalue { i64, i1 } %203, 0
  %206 = select i1 %204, i64 -1, i64 %205
  %207 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %206) #9
          to label %208 unwind label %31

208:                                              ; preds = %199
  %209 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 10
  store ptr %207, ptr %209, align 8, !tbaa !44
  %210 = load i32, ptr %8, align 4, !tbaa !9
  %211 = sext i32 %210 to i64
  %212 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %211, i64 8)
  %213 = extractvalue { i64, i1 } %212, 1
  %214 = extractvalue { i64, i1 } %212, 0
  %215 = select i1 %213, i64 -1, i64 %214
  %216 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %215) #9
          to label %217 unwind label %31

217:                                              ; preds = %208
  %218 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 11
  store ptr %216, ptr %218, align 8, !tbaa !45
  br label %223

219:                                              ; preds = %188
  %220 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 9
  store ptr null, ptr %220, align 8, !tbaa !43
  %221 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 10
  store ptr null, ptr %221, align 8, !tbaa !44
  %222 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 11
  store ptr null, ptr %222, align 8, !tbaa !45
  br label %223

223:                                              ; preds = %219, %217
  %224 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 12
  store ptr null, ptr %224, align 8, !tbaa !46
  %225 = load i32, ptr %7, align 4, !tbaa !9
  %226 = sext i32 %225 to i64
  %227 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %226, i64 8)
  %228 = extractvalue { i64, i1 } %227, 1
  %229 = extractvalue { i64, i1 } %227, 0
  %230 = select i1 %228, i64 -1, i64 %229
  %231 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %230) #9
          to label %232 unwind label %31

232:                                              ; preds = %223
  %233 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 13
  store ptr %231, ptr %233, align 8, !tbaa !47
  %234 = load i32, ptr %7, align 4, !tbaa !9
  %235 = sext i32 %234 to i64
  %236 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %235, i64 8)
  %237 = extractvalue { i64, i1 } %236, 1
  %238 = extractvalue { i64, i1 } %236, 0
  %239 = select i1 %237, i64 -1, i64 %238
  %240 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %239) #9
          to label %241 unwind label %31

241:                                              ; preds = %232
  %242 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 15
  store ptr %240, ptr %242, align 8, !tbaa !48
  %243 = load i32, ptr %7, align 4, !tbaa !9
  %244 = sext i32 %243 to i64
  %245 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %244, i64 8)
  %246 = extractvalue { i64, i1 } %245, 1
  %247 = extractvalue { i64, i1 } %245, 0
  %248 = select i1 %246, i64 -1, i64 %247
  %249 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %248) #9
          to label %250 unwind label %31

250:                                              ; preds = %241
  %251 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 17
  store ptr %249, ptr %251, align 8, !tbaa !49
  %252 = load i32, ptr %8, align 4, !tbaa !9
  %253 = icmp sgt i32 %252, 0
  br i1 %253, label %254, label %291

254:                                              ; preds = %250
  %255 = load i32, ptr %8, align 4, !tbaa !9
  %256 = sext i32 %255 to i64
  %257 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %256, i64 8)
  %258 = extractvalue { i64, i1 } %257, 1
  %259 = extractvalue { i64, i1 } %257, 0
  %260 = select i1 %258, i64 -1, i64 %259
  %261 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %260) #9
          to label %262 unwind label %31

262:                                              ; preds = %254
  %263 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 14
  store ptr %261, ptr %263, align 8, !tbaa !50
  %264 = load i32, ptr %8, align 4, !tbaa !9
  %265 = sext i32 %264 to i64
  %266 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %265, i64 8)
  %267 = extractvalue { i64, i1 } %266, 1
  %268 = extractvalue { i64, i1 } %266, 0
  %269 = select i1 %267, i64 -1, i64 %268
  %270 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %269) #9
          to label %271 unwind label %31

271:                                              ; preds = %262
  %272 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 16
  store ptr %270, ptr %272, align 8, !tbaa !51
  %273 = load i32, ptr %8, align 4, !tbaa !9
  %274 = sext i32 %273 to i64
  %275 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %274, i64 8)
  %276 = extractvalue { i64, i1 } %275, 1
  %277 = extractvalue { i64, i1 } %275, 0
  %278 = select i1 %276, i64 -1, i64 %277
  %279 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %278) #9
          to label %280 unwind label %31

280:                                              ; preds = %271
  %281 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 18
  store ptr %279, ptr %281, align 8, !tbaa !52
  %282 = load i32, ptr %8, align 4, !tbaa !9
  %283 = sext i32 %282 to i64
  %284 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %283, i64 8)
  %285 = extractvalue { i64, i1 } %284, 1
  %286 = extractvalue { i64, i1 } %284, 0
  %287 = select i1 %285, i64 -1, i64 %286
  %288 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %287) #9
          to label %289 unwind label %31

289:                                              ; preds = %280
  %290 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 19
  store ptr %288, ptr %290, align 8, !tbaa !53
  br label %296

291:                                              ; preds = %250
  %292 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 14
  store ptr null, ptr %292, align 8, !tbaa !50
  %293 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 16
  store ptr null, ptr %293, align 8, !tbaa !51
  %294 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 18
  store ptr null, ptr %294, align 8, !tbaa !52
  %295 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %14, i32 0, i32 19
  store ptr null, ptr %295, align 8, !tbaa !53
  br label %296

296:                                              ; preds = %291, %289
  %297 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %14, i32 0, i32 24
  %298 = load i32, ptr %7, align 4, !tbaa !9
  %299 = load i32, ptr %8, align 4, !tbaa !9
  %300 = invoke noundef i32 @_ZN7qpOASES7Flipper4initEjj(ptr noundef nonnull align 8 dereferenceable(272) %297, i32 noundef %298, i32 noundef %299)
          to label %301 unwind label %31

301:                                              ; preds = %296
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #8
  ret void

302:                                              ; preds = %111, %31
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #8
  call void @_ZN7qpOASES11ConstraintsD1Ev(ptr noundef nonnull align 8 dereferenceable(120) %18) #8
  br label %303

303:                                              ; preds = %302, %27
  call void @_ZN7qpOASES9QProblemBD2Ev(ptr noundef nonnull align 8 dereferenceable(800) %14) #8
  br label %304

304:                                              ; preds = %303
  %305 = load ptr, ptr %11, align 8
  %306 = load i32, ptr %12, align 4
  %307 = insertvalue { ptr, i32 } poison, ptr %305, 0
  %308 = insertvalue { ptr, i32 } %307, i32 %306, 1
  resume { ptr, i32 } %308
}

declare void @_ZN7qpOASES9QProblemBC2EiNS_11HessianTypeENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, i32 noundef, i32 noundef) unnamed_addr #0

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #3

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #0

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

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare { i64, i1 } @llvm.umul.with.overflow.i64(i64, i64) #4

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) #5

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7qpOASES11DenseMatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #6

declare noundef i32 @_ZN7qpOASES11Constraints4initEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) #0

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN7qpOASES6getMinEii(i32 noundef, i32 noundef) #7

declare noundef i32 @_ZN7qpOASES7Flipper4initEjj(ptr noundef nonnull align 8 dereferenceable(272), i32 noundef, i32 noundef) #0

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #3

; Function Attrs: nounwind
declare void @_ZN7qpOASES11ConstraintsD1Ev(ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #1

attributes #0 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { 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 #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #5 = { 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 #6 = { 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 #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 = { nounwind }
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, !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 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!15 = !{!16, !16, i64 0}
!16 = !{!"vtable pointer", !8, i64 0}
!17 = !{!18, !14, i64 800}
!18 = !{!"_ZTSN7qpOASES8QProblemE", !19, i64 0, !14, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !29, 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", !14, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !20, i64 48, !6, i64 168, !14, i64 176, !6, i64 184, !6, i64 192, !23, i64 200, !24, i64 208, !14, i64 212, !14, i64 216, !12, i64 220, !23, i64 224, !10, i64 232, !6, i64 240, !23, i64 248, !23, i64 256, !10, i64 264, !25, i64 272, !28, i64 496, !30, i64 768}
!20 = !{!"_ZTSN7qpOASES6BoundsE", !21, i64 0, !22, i64 40, !22, i64 80}
!21 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !14, i64 32, !14, i64 36}
!22 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!23 = !{!"double", !7, i64 0}
!24 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!25 = !{!"_ZTSN7qpOASES7OptionsE", !26, i64 0, !14, i64 4, !14, i64 8, !14, i64 12, !14, i64 16, !14, i64 20, !14, i64 24, !10, i64 28, !10, i64 32, !14, i64 36, !23, i64 40, !23, i64 48, !23, i64 56, !23, i64 64, !23, i64 72, !23, i64 80, !23, i64 88, !23, i64 96, !23, i64 104, !23, i64 112, !23, i64 120, !27, i64 128, !23, i64 136, !10, i64 144, !23, i64 152, !10, i64 160, !23, i64 168, !23, i64 176, !23, i64 184, !23, i64 192, !14, i64 200, !14, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!26 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!27 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!28 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !20, i64 8, !29, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!29 = !{!"_ZTSN7qpOASES11ConstraintsE", !21, i64 0, !22, i64 40, !22, i64 80}
!30 = !{!"_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}
!31 = !{!18, !6, i64 808}
!32 = !{!18, !6, i64 816}
!33 = !{!23, !23, i64 0}
!34 = distinct !{!34, !35}
!35 = !{!"llvm.loop.mustprogress"}
!36 = !{!18, !6, i64 824}
!37 = distinct !{!37, !35}
!38 = !{!19, !6, i64 192}
!39 = distinct !{!39, !35}
!40 = !{!18, !10, i64 968}
!41 = !{!18, !6, i64 952}
!42 = !{!18, !6, i64 960}
!43 = !{!18, !6, i64 976}
!44 = !{!18, !6, i64 984}
!45 = !{!18, !6, i64 992}
!46 = !{!18, !6, i64 1000}
!47 = !{!18, !6, i64 1008}
!48 = !{!18, !6, i64 1024}
!49 = !{!18, !6, i64 1040}
!50 = !{!18, !6, i64 1016}
!51 = !{!18, !6, i64 1032}
!52 = !{!18, !6, i64 1048}
!53 = !{!18, !6, i64 1056}


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

@_ZTVN7qpOASES8QProblemE = external dso_local unnamed_addr constant { [38 x ptr] }, align 8
@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [103 x i8], align 1

declare void @_ZN7qpOASES11ConstraintsC1Ev(ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #0

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nounwind
declare void @_ZN7qpOASES9QProblemBD2Ev(ptr noundef nonnull align 8 dereferenceable(800)) unnamed_addr #1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7qpOASES8QProblemC2EiiNS_11HessianTypeENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, i32 noundef %4) unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  tail call void @_ZN7qpOASES9QProblemBC2EiNS_11HessianTypeENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %1, i32 noundef %3, i32 noundef %4)
  store ptr getelementptr inbounds inrange(-16, 288) (i8, ptr @_ZTVN7qpOASES8QProblemE, i64 16), ptr %0, align 8, !tbaa !5
  %6 = getelementptr inbounds i8, ptr %0, i64 832
  invoke void @_ZN7qpOASES11ConstraintsC1Ev(ptr noundef nonnull align 8 dereferenceable(120) %6)
          to label %7 unwind label %13

7:                                                ; preds = %5
  %8 = icmp slt i32 %1, 1
  br i1 %8, label %9, label %17

9:                                                ; preds = %7
  %10 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %11 unwind label %15

11:                                               ; preds = %9
  %12 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %10, i32 noundef 3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 91, i32 noundef 1)
          to label %17 unwind label %15

13:                                               ; preds = %5
  %14 = landingpad { ptr, i32 }
          cleanup
  br label %129

15:                                               ; preds = %124, %115, %112, %109, %105, %100, %97, %92, %85, %82, %78, %67, %60, %52, %.loopexit, %.thread, %30, %24, %21, %19, %11, %9
  %16 = landingpad { ptr, i32 }
          cleanup
  br label %128

17:                                               ; preds = %11, %7
  %.049 = phi i32 [ 1, %11 ], [ %1, %7 ]
  %18 = icmp slt i32 %2, 0
  br i1 %18, label %19, label %23

19:                                               ; preds = %17
  %20 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %21 unwind label %15

21:                                               ; preds = %19
  %22 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %20, i32 noundef 3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 97, i32 noundef 1)
          to label %.thread unwind label %15

23:                                               ; preds = %17
  %.not = icmp eq i32 %2, 0
  br i1 %.not, label %.thread, label %24

24:                                               ; preds = %23
  %25 = getelementptr inbounds i8, ptr %0, i64 800
  store i32 0, ptr %25, align 8, !tbaa !8
  %26 = getelementptr inbounds i8, ptr %0, i64 808
  store ptr null, ptr %26, align 8, !tbaa !27
  %27 = zext nneg i32 %2 to i64
  %28 = shl nuw nsw i64 %27, 3
  %29 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %28) #7
          to label %30 unwind label %15

30:                                               ; preds = %24
  %31 = getelementptr inbounds i8, ptr %0, i64 816
  store ptr %29, ptr %31, align 8, !tbaa !28
  tail call void @llvm.memset.p0.i64(ptr nonnull align 8 %29, i8 0, i64 %28, i1 false), !tbaa !29
  %32 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %28) #7
          to label %.loopexit.loopexit unwind label %15

.loopexit.loopexit:                               ; preds = %30
  %33 = getelementptr inbounds i8, ptr %0, i64 824
  store ptr %32, ptr %33, align 8, !tbaa !30
  tail call void @llvm.memset.p0.i64(ptr nonnull align 8 %32, i8 0, i64 %28, i1 false), !tbaa !29
  br label %.loopexit

.thread:                                          ; preds = %21, %23
  %34 = getelementptr inbounds i8, ptr %0, i64 800
  store i32 1, ptr %34, align 8, !tbaa !8
  %35 = invoke noalias noundef nonnull dereferenceable(48) ptr @_Znwm(i64 noundef 48) #7
          to label %36 unwind label %15

36:                                               ; preds = %.thread
  invoke void @_ZN7qpOASES11DenseMatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(32) %35)
          to label %37 unwind label %44

37:                                               ; preds = %36
  %38 = load ptr, ptr %35, align 8, !tbaa !5
  %39 = getelementptr i8, ptr %38, i64 -24
  %40 = load i64, ptr %39, align 8
  %41 = getelementptr inbounds i8, ptr %35, i64 %40
  %42 = getelementptr inbounds i8, ptr %0, i64 808
  store ptr %41, ptr %42, align 8, !tbaa !27
  %43 = getelementptr inbounds i8, ptr %0, i64 816
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(16) %43, i8 0, i64 16, i1 false)
  br label %.loopexit

44:                                               ; preds = %36
  %45 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %35, i64 noundef 48) #8
  br label %128

.loopexit:                                        ; preds = %.loopexit.loopexit, %37
  %.not60 = phi i1 [ true, %37 ], [ false, %.loopexit.loopexit ]
  %.05058 = phi i32 [ 0, %37 ], [ %2, %.loopexit.loopexit ]
  %46 = invoke noundef i32 @_ZN7qpOASES11Constraints4initEi(ptr noundef nonnull align 8 dereferenceable(120) %6, i32 noundef %.05058)
          to label %47 unwind label %15

47:                                               ; preds = %.loopexit
  %48 = getelementptr inbounds i8, ptr %0, i64 192
  %49 = load ptr, ptr %48, align 8, !tbaa !31
  %50 = icmp eq ptr %49, null
  br i1 %50, label %52, label %51

51:                                               ; preds = %47
  tail call void @_ZdaPv(ptr noundef nonnull %49) #8
  br label %52

52:                                               ; preds = %51, %47
  %53 = add nuw nsw i32 %.05058, %.049
  %54 = zext nneg i32 %53 to i64
  %55 = shl nuw nsw i64 %54, 3
  %56 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %55) #7
          to label %57 unwind label %15

57:                                               ; preds = %52
  store ptr %56, ptr %48, align 8, !tbaa !31
  %58 = shl nuw nsw i64 %54, 3
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(1) %56, i8 0, i64 %58, i1 false), !tbaa !29
  %59 = icmp eq i32 %4, 1
  br i1 %59, label %60, label %75

60:                                               ; preds = %57
  %61 = tail call noundef i32 @_ZN7qpOASES6getMinEii(i32 noundef %.049, i32 noundef %.05058)
  %62 = getelementptr inbounds i8, ptr %0, i64 968
  store i32 %61, ptr %62, align 8, !tbaa !32
  %63 = mul nsw i32 %61, %61
  %64 = zext nneg i32 %63 to i64
  %65 = shl nuw nsw i64 %64, 3
  %66 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %65) #7
          to label %67 unwind label %15

67:                                               ; preds = %60
  %68 = getelementptr inbounds i8, ptr %0, i64 952
  store ptr %66, ptr %68, align 8, !tbaa !33
  %69 = mul nuw nsw i32 %.049, %.049
  %70 = zext nneg i32 %69 to i64
  %71 = shl nuw nsw i64 %70, 3
  %72 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %71) #7
          to label %73 unwind label %15

73:                                               ; preds = %67
  %74 = getelementptr inbounds i8, ptr %0, i64 960
  store ptr %72, ptr %74, align 8, !tbaa !34
  br label %77

75:                                               ; preds = %57
  %76 = getelementptr inbounds i8, ptr %0, i64 952
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(20) %76, i8 0, i64 20, i1 false)
  br label %77

77:                                               ; preds = %75, %73
  br i1 %.not60, label %90, label %78

78:                                               ; preds = %77
  %79 = zext nneg i32 %.05058 to i64
  %80 = shl nuw nsw i64 %79, 3
  %81 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %80) #7
          to label %82 unwind label %15

82:                                               ; preds = %78
  %83 = getelementptr inbounds i8, ptr %0, i64 976
  store ptr %81, ptr %83, align 8, !tbaa !35
  %84 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %80) #7
          to label %85 unwind label %15

85:                                               ; preds = %82
  %86 = getelementptr inbounds i8, ptr %0, i64 984
  store ptr %84, ptr %86, align 8, !tbaa !36
  %87 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %80) #7
          to label %88 unwind label %15

88:                                               ; preds = %85
  %89 = getelementptr inbounds i8, ptr %0, i64 992
  store ptr %87, ptr %89, align 8, !tbaa !37
  br label %92

90:                                               ; preds = %77
  %91 = getelementptr inbounds i8, ptr %0, i64 976
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %91, i8 0, i64 24, i1 false)
  br label %92

92:                                               ; preds = %90, %88
  %93 = getelementptr inbounds i8, ptr %0, i64 1000
  store ptr null, ptr %93, align 8, !tbaa !38
  %94 = zext nneg i32 %.049 to i64
  %95 = shl nuw nsw i64 %94, 3
  %96 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %95) #7
          to label %97 unwind label %15

97:                                               ; preds = %92
  %98 = getelementptr inbounds i8, ptr %0, i64 1008
  store ptr %96, ptr %98, align 8, !tbaa !39
  %99 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %95) #7
          to label %100 unwind label %15

100:                                              ; preds = %97
  %101 = getelementptr inbounds i8, ptr %0, i64 1024
  store ptr %99, ptr %101, align 8, !tbaa !40
  %102 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %95) #7
          to label %103 unwind label %15

103:                                              ; preds = %100
  %104 = getelementptr inbounds i8, ptr %0, i64 1040
  store ptr %102, ptr %104, align 8, !tbaa !41
  br i1 %.not60, label %120, label %105

105:                                              ; preds = %103
  %106 = zext nneg i32 %.05058 to i64
  %107 = shl nuw nsw i64 %106, 3
  %108 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %107) #7
          to label %109 unwind label %15

109:                                              ; preds = %105
  %110 = getelementptr inbounds i8, ptr %0, i64 1016
  store ptr %108, ptr %110, align 8, !tbaa !42
  %111 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %107) #7
          to label %112 unwind label %15

112:                                              ; preds = %109
  %113 = getelementptr inbounds i8, ptr %0, i64 1032
  store ptr %111, ptr %113, align 8, !tbaa !43
  %114 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %107) #7
          to label %115 unwind label %15

115:                                              ; preds = %112
  %116 = getelementptr inbounds i8, ptr %0, i64 1048
  store ptr %114, ptr %116, align 8, !tbaa !44
  %117 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %107) #7
          to label %118 unwind label %15

118:                                              ; preds = %115
  %119 = getelementptr inbounds i8, ptr %0, i64 1056
  store ptr %117, ptr %119, align 8, !tbaa !45
  br label %124

120:                                              ; preds = %103
  %121 = getelementptr inbounds i8, ptr %0, i64 1016
  store ptr null, ptr %121, align 8, !tbaa !42
  %122 = getelementptr inbounds i8, ptr %0, i64 1032
  store ptr null, ptr %122, align 8, !tbaa !43
  %123 = getelementptr inbounds i8, ptr %0, i64 1048
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(16) %123, i8 0, i64 16, i1 false)
  br label %124

124:                                              ; preds = %120, %118
  %125 = getelementptr inbounds i8, ptr %0, i64 496
  %126 = invoke noundef i32 @_ZN7qpOASES7Flipper4initEjj(ptr noundef nonnull align 8 dereferenceable(272) %125, i32 noundef %.049, i32 noundef %.05058)
          to label %127 unwind label %15

127:                                              ; preds = %124
  ret void

128:                                              ; preds = %44, %15
  %.pn = phi { ptr, i32 } [ %16, %15 ], [ %45, %44 ]
  tail call void @_ZN7qpOASES11ConstraintsD1Ev(ptr noundef nonnull align 8 dereferenceable(120) %6) #9
  br label %129

129:                                              ; preds = %128, %13
  %.pn.pn = phi { ptr, i32 } [ %.pn, %128 ], [ %14, %13 ]
  tail call void @_ZN7qpOASES9QProblemBD2Ev(ptr noundef nonnull align 8 dereferenceable(800) %0) #9
  resume { ptr, i32 } %.pn.pn
}

declare void @_ZN7qpOASES9QProblemBC2EiNS_11HessianTypeENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, i32 noundef, i32 noundef) unnamed_addr #0

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #0

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

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7qpOASES11DenseMatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) local_unnamed_addr #4

declare noundef i32 @_ZN7qpOASES11Constraints4initEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) local_unnamed_addr #0

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN7qpOASES6getMinEii(i32 noundef, i32 noundef) local_unnamed_addr #5

declare noundef i32 @_ZN7qpOASES7Flipper4initEjj(ptr noundef nonnull align 8 dereferenceable(272), i32 noundef, i32 noundef) local_unnamed_addr #0

; Function Attrs: nounwind
declare void @_ZN7qpOASES11ConstraintsD1Ev(ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #1

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #6

attributes #0 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { 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 #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress 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 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #7 = { builtin allocsize(0) }
attributes #8 = { builtin nounwind }
attributes #9 = { 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 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = !{!9, !11, i64 800}
!9 = !{!"_ZTSN7qpOASES8QProblemE", !10, i64 0, !11, 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}
!10 = !{!"_ZTSN7qpOASES9QProblemBE", !11, i64 8, !13, i64 16, !13, i64 24, !13, i64 32, !13, i64 40, !14, i64 48, !13, i64 168, !11, i64 176, !13, i64 184, !13, i64 192, !18, i64 200, !19, i64 208, !11, i64 212, !11, 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}
!11 = !{!"_ZTSN7qpOASES11BooleanTypeE", !12, i64 0}
!12 = !{!"omnipotent char", !7, i64 0}
!13 = !{!"any pointer", !12, i64 0}
!14 = !{!"_ZTSN7qpOASES6BoundsE", !15, i64 0, !17, i64 40, !17, i64 80}
!15 = !{!"_ZTSN7qpOASES9SubjectToE", !16, i64 8, !13, i64 16, !13, i64 24, !11, i64 32, !11, i64 36}
!16 = !{!"int", !12, 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", !12, i64 0}
!19 = !{!"_ZTSN7qpOASES14QProblemStatusE", !12, i64 0}
!20 = !{!"_ZTSN7qpOASES11HessianTypeE", !12, i64 0}
!21 = !{!"_ZTSN7qpOASES7OptionsE", !22, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !11, i64 24, !16, i64 28, !16, i64 32, !11, 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, !11, i64 200, !11, i64 204, !16, i64 208, !16, i64 212, !16, i64 216}
!22 = !{!"_ZTSN7qpOASES10PrintLevelE", !12, i64 0}
!23 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !12, 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 = !{!9, !13, i64 808}
!28 = !{!9, !13, i64 816}
!29 = !{!18, !18, i64 0}
!30 = !{!9, !13, i64 824}
!31 = !{!10, !13, i64 192}
!32 = !{!9, !16, i64 968}
!33 = !{!9, !13, i64 952}
!34 = !{!9, !13, i64 960}
!35 = !{!9, !13, i64 976}
!36 = !{!9, !13, i64 984}
!37 = !{!9, !13, i64 992}
!38 = !{!9, !13, i64 1000}
!39 = !{!9, !13, i64 1008}
!40 = !{!9, !13, i64 1024}
!41 = !{!9, !13, i64 1040}
!42 = !{!9, !13, i64 1016}
!43 = !{!9, !13, i64 1032}
!44 = !{!9, !13, i64 1048}
!45 = !{!9, !13, i64 1056}


; Effective O3 passes: ConstraintEliminationPass,CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LoopIdiomRecognizePass,LoopRotatePass,LoopSimplifyPass,MemCpyOptPass,ReassociatePass,SROAPass,SimplifyCFGPass,TailCallElimPass