; 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.27 = external hidden unnamed_addr constant [43 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: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur16backsolveSchurQREiPKdiPd(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, ptr noundef, i32 noundef, ptr noundef) #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur22stepCalcBacksolveSchurEiiiPiS1_S1_iPdS2_(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, ptr noundef %4, ptr noundef %5, ptr noundef %6, i32 noundef %7, ptr noundef %8, ptr noundef %9) #6 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 ptr, align 8
  %19 = alloca i32, align 4
  %20 = alloca ptr, align 8
  %21 = alloca ptr, 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 i32, align 4
  %28 = alloca ptr, align 8
  %29 = alloca i32, align 4
  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 !9
  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 ptr %6, ptr %18, align 8, !tbaa !5
  store i32 %7, ptr %19, align 4, !tbaa !9
  store ptr %8, ptr %20, align 8, !tbaa !5
  store ptr %9, ptr %21, align 8, !tbaa !5
  %30 = load ptr, ptr %12, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #7
  %31 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %30, i32 0, i32 3
  %32 = load i32, ptr %31, align 8, !tbaa !11
  %33 = sext i32 %32 to i64
  %34 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %33, i64 8)
  %35 = extractvalue { i64, i1 } %34, 1
  %36 = extractvalue { i64, i1 } %34, 0
  %37 = select i1 %35, i64 -1, i64 %36
  %38 = call noalias noundef nonnull ptr @_Znam(i64 noundef %37) #8
  store ptr %38, ptr %25, align 8, !tbaa !5
  store i32 0, ptr %24, align 4, !tbaa !9
  br label %39

39:                                               ; preds = %133, %10
  %40 = load i32, ptr %24, align 4, !tbaa !9
  %41 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %30, i32 0, i32 3
  %42 = load i32, ptr %41, align 8, !tbaa !11
  %43 = icmp slt i32 %40, %42
  br i1 %43, label %44, label %136

44:                                               ; preds = %39
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #7
  %45 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %30, i32 0, i32 10
  %46 = load ptr, ptr %45, align 8, !tbaa !29
  %47 = load i32, ptr %24, align 4, !tbaa !9
  %48 = sext i32 %47 to i64
  %49 = getelementptr inbounds i32, ptr %46, i64 %48
  %50 = load i32, ptr %49, align 4, !tbaa !9
  store i32 %50, ptr %26, align 4, !tbaa !9
  %51 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %30, i32 0, i32 11
  %52 = load ptr, ptr %51, align 8, !tbaa !30
  %53 = load i32, ptr %24, align 4, !tbaa !9
  %54 = sext i32 %53 to i64
  %55 = getelementptr inbounds i32, ptr %52, i64 %54
  %56 = load i32, ptr %55, align 4, !tbaa !31
  switch i32 %56, label %126 [
    i32 0, label %57
    i32 1, label %62
    i32 2, label %92
    i32 3, label %121
  ]

57:                                               ; preds = %44
  %58 = load ptr, ptr %25, align 8, !tbaa !5
  %59 = load i32, ptr %24, align 4, !tbaa !9
  %60 = sext i32 %59 to i64
  %61 = getelementptr inbounds double, ptr %58, i64 %60
  store double 0.000000e+00, ptr %61, align 8, !tbaa !33
  br label %129

62:                                               ; preds = %44
  store i32 0, ptr %23, align 4, !tbaa !9
  br label %63

63:                                               ; preds = %88, %62
  %64 = load i32, ptr %23, align 4, !tbaa !9
  %65 = load i32, ptr %13, align 4, !tbaa !9
  %66 = icmp slt i32 %64, %65
  br i1 %66, label %67, label %91

67:                                               ; preds = %63
  %68 = load ptr, ptr %16, align 8, !tbaa !5
  %69 = load i32, ptr %23, align 4, !tbaa !9
  %70 = sext i32 %69 to i64
  %71 = getelementptr inbounds i32, ptr %68, i64 %70
  %72 = load i32, ptr %71, align 4, !tbaa !9
  %73 = load i32, ptr %26, align 4, !tbaa !9
  %74 = icmp eq i32 %72, %73
  br i1 %74, label %75, label %87

75:                                               ; preds = %67
  %76 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %30, i32 0, i32 13
  %77 = load ptr, ptr %76, align 8, !tbaa !34
  %78 = load i32, ptr %23, align 4, !tbaa !9
  %79 = sext i32 %78 to i64
  %80 = getelementptr inbounds double, ptr %77, i64 %79
  %81 = load double, ptr %80, align 8, !tbaa !33
  %82 = fneg double %81
  %83 = load ptr, ptr %25, align 8, !tbaa !5
  %84 = load i32, ptr %24, align 4, !tbaa !9
  %85 = sext i32 %84 to i64
  %86 = getelementptr inbounds double, ptr %83, i64 %85
  store double %82, ptr %86, align 8, !tbaa !33
  br label %91

87:                                               ; preds = %67
  br label %88

88:                                               ; preds = %87
  %89 = load i32, ptr %23, align 4, !tbaa !9
  %90 = add nsw i32 %89, 1
  store i32 %90, ptr %23, align 4, !tbaa !9
  br label %63, !llvm.loop !35

91:                                               ; preds = %75, %63
  br label %129

92:                                               ; preds = %44
  store i32 0, ptr %23, align 4, !tbaa !9
  br label %93

93:                                               ; preds = %117, %92
  %94 = load i32, ptr %23, align 4, !tbaa !9
  %95 = load i32, ptr %15, align 4, !tbaa !9
  %96 = icmp slt i32 %94, %95
  br i1 %96, label %97, label %120

97:                                               ; preds = %93
  %98 = load ptr, ptr %18, align 8, !tbaa !5
  %99 = load i32, ptr %23, align 4, !tbaa !9
  %100 = sext i32 %99 to i64
  %101 = getelementptr inbounds i32, ptr %98, i64 %100
  %102 = load i32, ptr %101, align 4, !tbaa !9
  %103 = load i32, ptr %26, align 4, !tbaa !9
  %104 = icmp eq i32 %102, %103
  br i1 %104, label %105, label %116

105:                                              ; preds = %97
  %106 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %30, i32 0, i32 14
  %107 = load ptr, ptr %106, align 8, !tbaa !37
  %108 = load i32, ptr %23, align 4, !tbaa !9
  %109 = sext i32 %108 to i64
  %110 = getelementptr inbounds double, ptr %107, i64 %109
  %111 = load double, ptr %110, align 8, !tbaa !33
  %112 = load ptr, ptr %25, align 8, !tbaa !5
  %113 = load i32, ptr %24, align 4, !tbaa !9
  %114 = sext i32 %113 to i64
  %115 = getelementptr inbounds double, ptr %112, i64 %114
  store double %111, ptr %115, align 8, !tbaa !33
  br label %120

116:                                              ; preds = %97
  br label %117

117:                                              ; preds = %116
  %118 = load i32, ptr %23, align 4, !tbaa !9
  %119 = add nsw i32 %118, 1
  store i32 %119, ptr %23, align 4, !tbaa !9
  br label %93, !llvm.loop !38

120:                                              ; preds = %105, %93
  br label %129

121:                                              ; preds = %44
  %122 = load ptr, ptr %25, align 8, !tbaa !5
  %123 = load i32, ptr %24, align 4, !tbaa !9
  %124 = sext i32 %123 to i64
  %125 = getelementptr inbounds double, ptr %122, i64 %124
  store double 0.000000e+00, ptr %125, align 8, !tbaa !33
  br label %129

126:                                              ; preds = %44
  %127 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %128 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %127, i32 noundef 9, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2619, i32 noundef 1)
  store i32 %128, ptr %11, align 4
  store i32 1, ptr %27, align 4
  br label %130

129:                                              ; preds = %121, %120, %91, %57
  store i32 0, ptr %27, align 4
  br label %130

130:                                              ; preds = %129, %126
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #7
  %131 = load i32, ptr %27, align 4
  switch i32 %131, label %268 [
    i32 0, label %132
  ]

132:                                              ; preds = %130
  br label %133

133:                                              ; preds = %132
  %134 = load i32, ptr %24, align 4, !tbaa !9
  %135 = add nsw i32 %134, 1
  store i32 %135, ptr %24, align 4, !tbaa !9
  br label %39, !llvm.loop !39

136:                                              ; preds = %39
  %137 = load ptr, ptr %21, align 8, !tbaa !5
  %138 = load ptr, ptr %25, align 8, !tbaa !5
  %139 = call noundef i32 @_ZN7qpOASES14SQProblemSchur18computeMTransTimesEdPKddPd(ptr noundef nonnull align 8 dereferenceable(1256) %30, double noundef 1.000000e+00, ptr noundef %137, double noundef -1.000000e+00, ptr noundef %138)
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #7
  %140 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %30, i32 0, i32 3
  %141 = load i32, ptr %140, align 8, !tbaa !11
  %142 = sext i32 %141 to i64
  %143 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %142, i64 8)
  %144 = extractvalue { i64, i1 } %143, 1
  %145 = extractvalue { i64, i1 } %143, 0
  %146 = select i1 %144, i64 -1, i64 %145
  %147 = call noalias noundef nonnull ptr @_Znam(i64 noundef %146) #8
  store ptr %147, ptr %28, align 8, !tbaa !5
  %148 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %30, i32 0, i32 3
  %149 = load i32, ptr %148, align 8, !tbaa !11
  %150 = load ptr, ptr %25, align 8, !tbaa !5
  %151 = load ptr, ptr %28, align 8, !tbaa !5
  %152 = call noundef i32 @_ZN7qpOASES14SQProblemSchur16backsolveSchurQREiPKdiPd(ptr noundef nonnull align 8 dereferenceable(1256) %30, i32 noundef %149, ptr noundef %150, i32 noundef 1, ptr noundef %151)
  %153 = load ptr, ptr %28, align 8, !tbaa !5
  %154 = load ptr, ptr %20, align 8, !tbaa !5
  %155 = call noundef i32 @_ZN7qpOASES14SQProblemSchur13computeMTimesEdPKddPd(ptr noundef nonnull align 8 dereferenceable(1256) %30, double noundef -1.000000e+00, ptr noundef %153, double noundef 1.000000e+00, ptr noundef %154)
  %156 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %30, i32 0, i32 1
  %157 = load ptr, ptr %156, align 8, !tbaa !40
  %158 = load i32, ptr %19, align 4, !tbaa !9
  %159 = load ptr, ptr %20, align 8, !tbaa !5
  %160 = load ptr, ptr %21, align 8, !tbaa !5
  %161 = load ptr, ptr %157, align 8, !tbaa !41
  %162 = getelementptr inbounds ptr, ptr %161, i64 5
  %163 = load ptr, ptr %162, align 8
  %164 = call noundef i32 %163(ptr noundef nonnull align 8 dereferenceable(8) %157, i32 noundef %158, ptr noundef %159, ptr noundef %160)
  store i32 %164, ptr %22, align 4, !tbaa !43
  %165 = load i32, ptr %22, align 4, !tbaa !43
  %166 = icmp ne i32 %165, 0
  br i1 %166, label %167, label %170

167:                                              ; preds = %136
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.27)
  %168 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %169 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %168, i32 noundef 102, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2636, i32 noundef 1)
  store i32 %169, ptr %11, align 4
  store i32 1, ptr %27, align 4
  br label %267

170:                                              ; preds = %136
  store i32 0, ptr %24, align 4, !tbaa !9
  br label %171

171:                                              ; preds = %255, %170
  %172 = load i32, ptr %24, align 4, !tbaa !9
  %173 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %30, i32 0, i32 3
  %174 = load i32, ptr %173, align 8, !tbaa !11
  %175 = icmp slt i32 %172, %174
  br i1 %175, label %176, label %258

176:                                              ; preds = %171
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #7
  %177 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %30, i32 0, i32 10
  %178 = load ptr, ptr %177, align 8, !tbaa !29
  %179 = load i32, ptr %24, align 4, !tbaa !9
  %180 = sext i32 %179 to i64
  %181 = getelementptr inbounds i32, ptr %178, i64 %180
  %182 = load i32, ptr %181, align 4, !tbaa !9
  store i32 %182, ptr %29, align 4, !tbaa !9
  %183 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %30, i32 0, i32 11
  %184 = load ptr, ptr %183, align 8, !tbaa !30
  %185 = load i32, ptr %24, align 4, !tbaa !9
  %186 = sext i32 %185 to i64
  %187 = getelementptr inbounds i32, ptr %184, i64 %186
  %188 = load i32, ptr %187, align 4, !tbaa !31
  switch i32 %188, label %248 [
    i32 0, label %251
    i32 1, label %189
    i32 2, label %218
    i32 3, label %251
  ]

189:                                              ; preds = %176
  store i32 0, ptr %23, align 4, !tbaa !9
  br label %190

190:                                              ; preds = %214, %189
  %191 = load i32, ptr %23, align 4, !tbaa !9
  %192 = load i32, ptr %13, align 4, !tbaa !9
  %193 = icmp slt i32 %191, %192
  br i1 %193, label %194, label %217

194:                                              ; preds = %190
  %195 = load ptr, ptr %16, align 8, !tbaa !5
  %196 = load i32, ptr %23, align 4, !tbaa !9
  %197 = sext i32 %196 to i64
  %198 = getelementptr inbounds i32, ptr %195, i64 %197
  %199 = load i32, ptr %198, align 4, !tbaa !9
  %200 = load i32, ptr %29, align 4, !tbaa !9
  %201 = icmp eq i32 %199, %200
  br i1 %201, label %202, label %213

202:                                              ; preds = %194
  %203 = load ptr, ptr %28, align 8, !tbaa !5
  %204 = load i32, ptr %24, align 4, !tbaa !9
  %205 = sext i32 %204 to i64
  %206 = getelementptr inbounds double, ptr %203, i64 %205
  %207 = load double, ptr %206, align 8, !tbaa !33
  %208 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %30, i32 0, i32 18
  %209 = load ptr, ptr %208, align 8, !tbaa !45
  %210 = load i32, ptr %23, align 4, !tbaa !9
  %211 = sext i32 %210 to i64
  %212 = getelementptr inbounds double, ptr %209, i64 %211
  store double %207, ptr %212, align 8, !tbaa !33
  br label %217

213:                                              ; preds = %194
  br label %214

214:                                              ; preds = %213
  %215 = load i32, ptr %23, align 4, !tbaa !9
  %216 = add nsw i32 %215, 1
  store i32 %216, ptr %23, align 4, !tbaa !9
  br label %190, !llvm.loop !46

217:                                              ; preds = %202, %190
  br label %251

218:                                              ; preds = %176
  store i32 0, ptr %23, align 4, !tbaa !9
  br label %219

219:                                              ; preds = %244, %218
  %220 = load i32, ptr %23, align 4, !tbaa !9
  %221 = load i32, ptr %15, align 4, !tbaa !9
  %222 = icmp slt i32 %220, %221
  br i1 %222, label %223, label %247

223:                                              ; preds = %219
  %224 = load ptr, ptr %18, align 8, !tbaa !5
  %225 = load i32, ptr %23, align 4, !tbaa !9
  %226 = sext i32 %225 to i64
  %227 = getelementptr inbounds i32, ptr %224, i64 %226
  %228 = load i32, ptr %227, align 4, !tbaa !9
  %229 = load i32, ptr %29, align 4, !tbaa !9
  %230 = icmp eq i32 %228, %229
  br i1 %230, label %231, label %243

231:                                              ; preds = %223
  %232 = load ptr, ptr %28, align 8, !tbaa !5
  %233 = load i32, ptr %24, align 4, !tbaa !9
  %234 = sext i32 %233 to i64
  %235 = getelementptr inbounds double, ptr %232, i64 %234
  %236 = load double, ptr %235, align 8, !tbaa !33
  %237 = fneg double %236
  %238 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %30, i32 0, i32 18
  %239 = load ptr, ptr %238, align 8, !tbaa !47
  %240 = load i32, ptr %23, align 4, !tbaa !9
  %241 = sext i32 %240 to i64
  %242 = getelementptr inbounds double, ptr %239, i64 %241
  store double %237, ptr %242, align 8, !tbaa !33
  br label %247

243:                                              ; preds = %223
  br label %244

244:                                              ; preds = %243
  %245 = load i32, ptr %23, align 4, !tbaa !9
  %246 = add nsw i32 %245, 1
  store i32 %246, ptr %23, align 4, !tbaa !9
  br label %219, !llvm.loop !48

247:                                              ; preds = %231, %219
  br label %251

248:                                              ; preds = %176
  %249 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %250 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %249, i32 noundef 9, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2672, i32 noundef 1)
  store i32 %250, ptr %11, align 4
  store i32 1, ptr %27, align 4
  br label %252

251:                                              ; preds = %247, %217, %176, %176
  store i32 0, ptr %27, align 4
  br label %252

252:                                              ; preds = %251, %248
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #7
  %253 = load i32, ptr %27, align 4
  switch i32 %253, label %267 [
    i32 0, label %254
  ]

254:                                              ; preds = %252
  br label %255

255:                                              ; preds = %254
  %256 = load i32, ptr %24, align 4, !tbaa !9
  %257 = add nsw i32 %256, 1
  store i32 %257, ptr %24, align 4, !tbaa !9
  br label %171, !llvm.loop !49

258:                                              ; preds = %171
  %259 = load ptr, ptr %28, align 8, !tbaa !5
  %260 = icmp eq ptr %259, null
  br i1 %260, label %262, label %261

261:                                              ; preds = %258
  call void @_ZdaPv(ptr noundef %259) #9
  br label %262

262:                                              ; preds = %261, %258
  %263 = load ptr, ptr %25, align 8, !tbaa !5
  %264 = icmp eq ptr %263, null
  br i1 %264, label %266, label %265

265:                                              ; preds = %262
  call void @_ZdaPv(ptr noundef %263) #9
  br label %266

266:                                              ; preds = %265, %262
  store i32 0, ptr %11, align 4
  store i32 1, ptr %27, align 4
  br label %267

267:                                              ; preds = %266, %252, %167
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #7
  br label %268

268:                                              ; preds = %267, %130
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #7
  %269 = load i32, ptr %11, align 4
  ret i32 %269
}

; 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) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur13computeMTimesEdPKddPd(ptr noundef nonnull align 8 dereferenceable(1256), double noundef, ptr noundef, double noundef, ptr noundef) #6 align 2

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !10, i64 1080}
!12 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !13, i64 0, !6, i64 1064, !6, i64 1072, !10, i64 1080, !10, i64 1084, !6, i64 1088, !6, i64 1096, !20, i64 1104, !20, i64 1112, !10, i64 1120, !6, i64 1128, !6, i64 1136, !10, i64 1144, !6, i64 1152, !6, i64 1160, !6, i64 1168, !19, i64 1176, !19, i64 1216}
!13 = !{!"_ZTSN7qpOASES9SQProblemE", !14, i64 0}
!14 = !{!"_ZTSN7qpOASES8QProblemE", !15, i64 0, !16, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !27, i64 832, !6, i64 952, !6, i64 960, !10, i64 968, !6, i64 976, !6, i64 984, !6, i64 992, !6, i64 1000, !6, i64 1008, !6, i64 1016, !6, i64 1024, !6, i64 1032, !6, i64 1040, !6, i64 1048, !6, i64 1056}
!15 = !{!"_ZTSN7qpOASES9QProblemBE", !16, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !17, i64 48, !6, i64 168, !16, i64 176, !6, i64 184, !6, i64 192, !20, i64 200, !21, i64 208, !16, i64 212, !16, i64 216, !22, i64 220, !20, i64 224, !10, i64 232, !6, i64 240, !20, i64 248, !20, i64 256, !10, i64 264, !23, i64 272, !26, i64 496, !28, i64 768}
!16 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!17 = !{!"_ZTSN7qpOASES6BoundsE", !18, i64 0, !19, i64 40, !19, i64 80}
!18 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !16, i64 32, !16, i64 36}
!19 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!20 = !{!"double", !7, i64 0}
!21 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!22 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES7OptionsE", !24, i64 0, !16, i64 4, !16, i64 8, !16, i64 12, !16, i64 16, !16, i64 20, !16, i64 24, !10, i64 28, !10, i64 32, !16, i64 36, !20, i64 40, !20, i64 48, !20, i64 56, !20, i64 64, !20, i64 72, !20, i64 80, !20, i64 88, !20, i64 96, !20, i64 104, !20, i64 112, !20, i64 120, !25, i64 128, !20, i64 136, !10, i64 144, !20, i64 152, !10, i64 160, !20, i64 168, !20, i64 176, !20, i64 184, !20, i64 192, !16, i64 200, !16, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!24 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!25 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !17, i64 8, !27, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!27 = !{!"_ZTSN7qpOASES11ConstraintsE", !18, i64 0, !19, i64 40, !19, i64 80}
!28 = !{!"_ZTSN7qpOASES13TabularOutputE", !10, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28}
!29 = !{!12, !6, i64 1128}
!30 = !{!12, !6, i64 1136}
!31 = !{!32, !32, i64 0}
!32 = !{!"_ZTSN7qpOASES15SchurUpdateTypeE", !7, i64 0}
!33 = !{!20, !20, i64 0}
!34 = !{!14, !6, i64 1008}
!35 = distinct !{!35, !36}
!36 = !{!"llvm.loop.mustprogress"}
!37 = !{!14, !6, i64 1016}
!38 = distinct !{!38, !36}
!39 = distinct !{!39, !36}
!40 = !{!12, !6, i64 1064}
!41 = !{!42, !42, i64 0}
!42 = !{!"vtable pointer", !8, i64 0}
!43 = !{!44, !44, i64 0}
!44 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!45 = !{!15, !6, i64 240}
!46 = distinct !{!46, !36}
!47 = !{!14, !6, i64 1048}
!48 = distinct !{!48, !36}
!49 = distinct !{!49, !36}


; 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.27 = external hidden unnamed_addr constant [43 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 uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur16backsolveSchurQREiPKdiPd(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur22stepCalcBacksolveSchurEiiiPiS1_S1_iPdS2_(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 readnone %5, ptr nocapture noundef readonly %6, i32 noundef %7, ptr noundef %8, ptr noundef %9) local_unnamed_addr #4 align 2 {
  %11 = getelementptr inbounds i8, ptr %0, i64 1080
  %12 = load i32, ptr %11, align 8, !tbaa !5
  %13 = sext i32 %12 to i64
  %14 = icmp slt i32 %12, 0
  %15 = shl nsw i64 %13, 3
  %16 = select i1 %14, i64 -1, i64 %15
  %17 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %16) #5
  %18 = icmp sgt i32 %12, 0
  br i1 %18, label %.lr.ph94, label %._crit_edge

.lr.ph94:                                         ; preds = %10
  %19 = getelementptr inbounds i8, ptr %0, i64 1128
  %20 = load ptr, ptr %19, align 8, !tbaa !27
  %21 = getelementptr inbounds i8, ptr %0, i64 1136
  %22 = load ptr, ptr %21, align 8, !tbaa !28
  %23 = icmp sgt i32 %3, 0
  %24 = getelementptr inbounds i8, ptr %0, i64 1016
  %25 = load ptr, ptr %24, align 8
  %26 = icmp sgt i32 %1, 0
  %27 = getelementptr inbounds i8, ptr %0, i64 1008
  %28 = load ptr, ptr %27, align 8
  %wide.trip.count165 = zext nneg i32 %12 to i64
  br i1 %26, label %.lr.ph94.split.us.preheader, label %.lr.ph94.split

.lr.ph94.split.us.preheader:                      ; preds = %.lr.ph94
  %wide.trip.count155 = zext nneg i32 %3 to i64
  %wide.trip.count160 = zext nneg i32 %1 to i64
  br label %.lr.ph94.split.us

.lr.ph94.split.us:                                ; preds = %.lr.ph94.split.us.preheader, %.loopexit86.us
  %indvars.iv162 = phi i64 [ 0, %.lr.ph94.split.us.preheader ], [ %indvars.iv.next163, %.loopexit86.us ]
  %29 = getelementptr inbounds i32, ptr %20, i64 %indvars.iv162
  %30 = load i32, ptr %29, align 4, !tbaa !29
  %31 = getelementptr inbounds i32, ptr %22, i64 %indvars.iv162
  %32 = load i32, ptr %31, align 4, !tbaa !30
  switch i32 %32, label %.split.us [
    i32 0, label %.loopexit86.us.sink.split
    i32 1, label %.preheader83.us
    i32 2, label %.preheader85.us
    i32 3, label %.loopexit86.us.sink.split
  ]

33:                                               ; preds = %.lr.ph.us
  %indvars.iv.next153 = add nuw nsw i64 %indvars.iv152, 1
  %exitcond156.not = icmp eq i64 %indvars.iv.next153, %wide.trip.count155
  br i1 %exitcond156.not, label %.loopexit86.us, label %.lr.ph.us, !llvm.loop !32

.lr.ph.us:                                        ; preds = %.preheader85.us, %33
  %indvars.iv152 = phi i64 [ %indvars.iv.next153, %33 ], [ 0, %.preheader85.us ]
  %34 = getelementptr inbounds i32, ptr %6, i64 %indvars.iv152
  %35 = load i32, ptr %34, align 4, !tbaa !29
  %36 = icmp eq i32 %35, %30
  br i1 %36, label %37, label %33

37:                                               ; preds = %.lr.ph.us
  %38 = getelementptr inbounds double, ptr %25, i64 %indvars.iv152
  %39 = load double, ptr %38, align 8, !tbaa !34
  br label %.loopexit86.us.sink.split

40:                                               ; preds = %.preheader83.us
  %indvars.iv.next158 = add nuw nsw i64 %indvars.iv157, 1
  %exitcond161.not = icmp eq i64 %indvars.iv.next158, %wide.trip.count160
  br i1 %exitcond161.not, label %.loopexit86.us, label %.preheader83.us, !llvm.loop !35

.preheader83.us:                                  ; preds = %.lr.ph94.split.us, %40
  %indvars.iv157 = phi i64 [ %indvars.iv.next158, %40 ], [ 0, %.lr.ph94.split.us ]
  %41 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv157
  %42 = load i32, ptr %41, align 4, !tbaa !29
  %43 = icmp eq i32 %42, %30
  br i1 %43, label %44, label %40

44:                                               ; preds = %.preheader83.us
  %45 = getelementptr inbounds double, ptr %28, i64 %indvars.iv157
  %46 = load double, ptr %45, align 8, !tbaa !34
  %47 = fneg double %46
  br label %.loopexit86.us.sink.split

.loopexit86.us.sink.split:                        ; preds = %.lr.ph94.split.us, %.lr.ph94.split.us, %37, %44
  %.sink = phi double [ %47, %44 ], [ %39, %37 ], [ 0.000000e+00, %.lr.ph94.split.us ], [ 0.000000e+00, %.lr.ph94.split.us ]
  %48 = getelementptr inbounds double, ptr %17, i64 %indvars.iv162
  store double %.sink, ptr %48, align 8, !tbaa !34
  br label %.loopexit86.us

.loopexit86.us:                                   ; preds = %33, %40, %.loopexit86.us.sink.split, %.preheader85.us
  %indvars.iv.next163 = add nuw nsw i64 %indvars.iv162, 1
  %exitcond166.not = icmp eq i64 %indvars.iv.next163, %wide.trip.count165
  br i1 %exitcond166.not, label %._crit_edge, label %.lr.ph94.split.us, !llvm.loop !36

.preheader85.us:                                  ; preds = %.lr.ph94.split.us
  br i1 %23, label %.lr.ph.us, label %.loopexit86.us

.lr.ph94.split:                                   ; preds = %.lr.ph94
  br i1 %23, label %.lr.ph94.split.split.us.preheader, label %.lr.ph94.split.split

.lr.ph94.split.split.us.preheader:                ; preds = %.lr.ph94.split
  %wide.trip.count145 = zext nneg i32 %3 to i64
  br label %.lr.ph94.split.split.us

.lr.ph94.split.split.us:                          ; preds = %.lr.ph94.split.split.us.preheader, %.preheader83.us98
  %indvars.iv147 = phi i64 [ 0, %.lr.ph94.split.split.us.preheader ], [ %indvars.iv.next148, %.preheader83.us98 ]
  %49 = getelementptr inbounds i32, ptr %20, i64 %indvars.iv147
  %50 = load i32, ptr %49, align 4, !tbaa !29
  %51 = getelementptr inbounds i32, ptr %22, i64 %indvars.iv147
  %52 = load i32, ptr %51, align 4, !tbaa !30
  switch i32 %52, label %.split.us [
    i32 0, label %.preheader83.us98.sink.split
    i32 1, label %.preheader83.us98
    i32 2, label %.preheader85.us99
    i32 3, label %.preheader83.us98.sink.split
  ]

53:                                               ; preds = %.preheader85.us99
  %indvars.iv.next143 = add nuw nsw i64 %indvars.iv142, 1
  %exitcond146.not = icmp eq i64 %indvars.iv.next143, %wide.trip.count145
  br i1 %exitcond146.not, label %.preheader83.us98, label %.preheader85.us99, !llvm.loop !32

.preheader85.us99:                                ; preds = %.lr.ph94.split.split.us, %53
  %indvars.iv142 = phi i64 [ %indvars.iv.next143, %53 ], [ 0, %.lr.ph94.split.split.us ]
  %54 = getelementptr inbounds i32, ptr %6, i64 %indvars.iv142
  %55 = load i32, ptr %54, align 4, !tbaa !29
  %56 = icmp eq i32 %55, %50
  br i1 %56, label %57, label %53

57:                                               ; preds = %.preheader85.us99
  %58 = getelementptr inbounds double, ptr %25, i64 %indvars.iv142
  %59 = load double, ptr %58, align 8, !tbaa !34
  br label %.preheader83.us98.sink.split

.preheader83.us98.sink.split:                     ; preds = %.lr.ph94.split.split.us, %.lr.ph94.split.split.us, %57
  %.sink214 = phi double [ %59, %57 ], [ 0.000000e+00, %.lr.ph94.split.split.us ], [ 0.000000e+00, %.lr.ph94.split.split.us ]
  %60 = getelementptr inbounds double, ptr %17, i64 %indvars.iv147
  store double %.sink214, ptr %60, align 8, !tbaa !34
  br label %.preheader83.us98

.preheader83.us98:                                ; preds = %53, %.preheader83.us98.sink.split, %.lr.ph94.split.split.us
  %indvars.iv.next148 = add nuw nsw i64 %indvars.iv147, 1
  %exitcond151.not = icmp eq i64 %indvars.iv.next148, %wide.trip.count165
  br i1 %exitcond151.not, label %._crit_edge, label %.lr.ph94.split.split.us, !llvm.loop !36

.lr.ph94.split.split:                             ; preds = %.lr.ph94.split, %.preheader85
  %indvars.iv = phi i64 [ %indvars.iv.next, %.preheader85 ], [ 0, %.lr.ph94.split ]
  %61 = getelementptr inbounds i32, ptr %22, i64 %indvars.iv
  %62 = load i32, ptr %61, align 4, !tbaa !30
  switch i32 %62, label %.split.us [
    i32 0, label %.preheader85.sink.split
    i32 1, label %.preheader85
    i32 2, label %.preheader85
    i32 3, label %.preheader85.sink.split
  ]

.split.us:                                        ; preds = %.lr.ph94.split.split, %.lr.ph94.split.split.us, %.lr.ph94.split.us
  %63 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %64 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %63, i32 noundef 9, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2619, i32 noundef 1)
  br label %133

.preheader85.sink.split:                          ; preds = %.lr.ph94.split.split, %.lr.ph94.split.split
  %65 = getelementptr inbounds double, ptr %17, i64 %indvars.iv
  store double 0.000000e+00, ptr %65, align 8, !tbaa !34
  br label %.preheader85

.preheader85:                                     ; preds = %.preheader85.sink.split, %.lr.ph94.split.split, %.lr.ph94.split.split
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count165
  br i1 %exitcond.not, label %._crit_edge, label %.lr.ph94.split.split, !llvm.loop !36

._crit_edge:                                      ; preds = %.preheader85, %.preheader83.us98, %.loopexit86.us, %10
  %66 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur18computeMTransTimesEdPKddPd(ptr noundef nonnull align 8 dereferenceable(1256) %0, double noundef 1.000000e+00, ptr noundef %9, double noundef -1.000000e+00, ptr noundef nonnull %17)
  %67 = load i32, ptr %11, align 8, !tbaa !5
  %68 = sext i32 %67 to i64
  %69 = icmp slt i32 %67, 0
  %70 = shl nsw i64 %68, 3
  %71 = select i1 %69, i64 -1, i64 %70
  %72 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %71) #5
  %73 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur16backsolveSchurQREiPKdiPd(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %67, ptr noundef nonnull %17, i32 noundef 1, ptr noundef nonnull %72)
  %74 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur13computeMTimesEdPKddPd(ptr noundef nonnull align 8 dereferenceable(1256) %0, double noundef -1.000000e+00, ptr noundef nonnull %72, double noundef 1.000000e+00, ptr noundef %8)
  %75 = getelementptr inbounds i8, ptr %0, i64 1064
  %76 = load ptr, ptr %75, align 8, !tbaa !37
  %77 = load ptr, ptr %76, align 8, !tbaa !38
  %78 = getelementptr inbounds i8, ptr %77, i64 40
  %79 = load ptr, ptr %78, align 8
  %80 = tail call noundef i32 %79(ptr noundef nonnull align 8 dereferenceable(8) %76, i32 noundef %7, ptr noundef %8, ptr noundef %9)
  %.not = icmp eq i32 %80, 0
  br i1 %.not, label %.preheader82, label %126

.preheader82:                                     ; preds = %._crit_edge
  %81 = load i32, ptr %11, align 8, !tbaa !5
  %82 = icmp sgt i32 %81, 0
  br i1 %82, label %.lr.ph107, label %._crit_edge108

.lr.ph107:                                        ; preds = %.preheader82
  %83 = getelementptr inbounds i8, ptr %0, i64 1128
  %84 = load ptr, ptr %83, align 8, !tbaa !27
  %85 = getelementptr inbounds i8, ptr %0, i64 1136
  %86 = load ptr, ptr %85, align 8, !tbaa !28
  %87 = icmp sgt i32 %3, 0
  %88 = getelementptr inbounds i8, ptr %0, i64 1048
  %89 = load ptr, ptr %88, align 8
  %90 = icmp sgt i32 %1, 0
  %91 = getelementptr inbounds i8, ptr %0, i64 240
  %92 = load ptr, ptr %91, align 8
  %wide.trip.count195 = zext nneg i32 %81 to i64
  br i1 %87, label %.lr.ph107.split.us.preheader, label %.lr.ph107.split

.lr.ph107.split.us.preheader:                     ; preds = %.lr.ph107
  %wide.trip.count185 = zext nneg i32 %3 to i64
  %wide.trip.count190 = zext nneg i32 %1 to i64
  br label %.lr.ph107.split.us

.lr.ph107.split.us:                               ; preds = %.lr.ph107.split.us.preheader, %.loopexit.us
  %indvars.iv192 = phi i64 [ 0, %.lr.ph107.split.us.preheader ], [ %indvars.iv.next193, %.loopexit.us ]
  %93 = getelementptr inbounds i32, ptr %84, i64 %indvars.iv192
  %94 = load i32, ptr %93, align 4, !tbaa !29
  %95 = getelementptr inbounds i32, ptr %86, i64 %indvars.iv192
  %96 = load i32, ptr %95, align 4, !tbaa !30
  switch i32 %96, label %.split111.us [
    i32 0, label %.loopexit.us
    i32 1, label %.preheader.us
    i32 2, label %.preheader80.us
    i32 3, label %.loopexit.us
  ]

97:                                               ; preds = %.preheader80.us
  %indvars.iv.next183 = add nuw nsw i64 %indvars.iv182, 1
  %exitcond186.not = icmp eq i64 %indvars.iv.next183, %wide.trip.count185
  br i1 %exitcond186.not, label %.loopexit.us, label %.preheader80.us, !llvm.loop !40

.preheader80.us:                                  ; preds = %.lr.ph107.split.us, %97
  %indvars.iv182 = phi i64 [ %indvars.iv.next183, %97 ], [ 0, %.lr.ph107.split.us ]
  %98 = getelementptr inbounds i32, ptr %6, i64 %indvars.iv182
  %99 = load i32, ptr %98, align 4, !tbaa !29
  %100 = icmp eq i32 %99, %94
  br i1 %100, label %101, label %97

101:                                              ; preds = %.preheader80.us
  %102 = getelementptr inbounds double, ptr %72, i64 %indvars.iv192
  %103 = load double, ptr %102, align 8, !tbaa !34
  %104 = fneg double %103
  %105 = getelementptr inbounds double, ptr %89, i64 %indvars.iv182
  store double %104, ptr %105, align 8, !tbaa !34
  br label %.loopexit.us

106:                                              ; preds = %.lr.ph105.us
  %indvars.iv.next188 = add nuw nsw i64 %indvars.iv187, 1
  %exitcond191.not = icmp eq i64 %indvars.iv.next188, %wide.trip.count190
  br i1 %exitcond191.not, label %.loopexit.us, label %.lr.ph105.us, !llvm.loop !41

.lr.ph105.us:                                     ; preds = %.preheader.us, %106
  %indvars.iv187 = phi i64 [ %indvars.iv.next188, %106 ], [ 0, %.preheader.us ]
  %107 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv187
  %108 = load i32, ptr %107, align 4, !tbaa !29
  %109 = icmp eq i32 %108, %94
  br i1 %109, label %110, label %106

110:                                              ; preds = %.lr.ph105.us
  %111 = getelementptr inbounds double, ptr %72, i64 %indvars.iv192
  %112 = load double, ptr %111, align 8, !tbaa !34
  %113 = getelementptr inbounds double, ptr %92, i64 %indvars.iv187
  store double %112, ptr %113, align 8, !tbaa !34
  br label %.loopexit.us

.loopexit.us:                                     ; preds = %97, %106, %.preheader.us, %110, %101, %.lr.ph107.split.us, %.lr.ph107.split.us
  %indvars.iv.next193 = add nuw nsw i64 %indvars.iv192, 1
  %exitcond196.not = icmp eq i64 %indvars.iv.next193, %wide.trip.count195
  br i1 %exitcond196.not, label %._crit_edge108, label %.lr.ph107.split.us, !llvm.loop !42

.preheader.us:                                    ; preds = %.lr.ph107.split.us
  br i1 %90, label %.lr.ph105.us, label %.loopexit.us

.lr.ph107.split:                                  ; preds = %.lr.ph107
  br i1 %90, label %.lr.ph107.split.split.us.preheader, label %.lr.ph107.split.split

.lr.ph107.split.split.us.preheader:               ; preds = %.lr.ph107.split
  %wide.trip.count175 = zext nneg i32 %1 to i64
  br label %.lr.ph107.split.split.us

.lr.ph107.split.split.us:                         ; preds = %.lr.ph107.split.split.us.preheader, %.preheader80.us117
  %indvars.iv177 = phi i64 [ 0, %.lr.ph107.split.split.us.preheader ], [ %indvars.iv.next178, %.preheader80.us117 ]
  %114 = getelementptr inbounds i32, ptr %84, i64 %indvars.iv177
  %115 = load i32, ptr %114, align 4, !tbaa !29
  %116 = getelementptr inbounds i32, ptr %86, i64 %indvars.iv177
  %117 = load i32, ptr %116, align 4, !tbaa !30
  switch i32 %117, label %.split111.us [
    i32 0, label %.preheader80.us117
    i32 1, label %.preheader.us115
    i32 2, label %.preheader80.us117
    i32 3, label %.preheader80.us117
  ]

118:                                              ; preds = %.preheader.us115
  %indvars.iv.next173 = add nuw nsw i64 %indvars.iv172, 1
  %exitcond176.not = icmp eq i64 %indvars.iv.next173, %wide.trip.count175
  br i1 %exitcond176.not, label %.preheader80.us117, label %.preheader.us115, !llvm.loop !41

.preheader.us115:                                 ; preds = %.lr.ph107.split.split.us, %118
  %indvars.iv172 = phi i64 [ %indvars.iv.next173, %118 ], [ 0, %.lr.ph107.split.split.us ]
  %119 = getelementptr inbounds i32, ptr %4, i64 %indvars.iv172
  %120 = load i32, ptr %119, align 4, !tbaa !29
  %121 = icmp eq i32 %120, %115
  br i1 %121, label %122, label %118

122:                                              ; preds = %.preheader.us115
  %123 = getelementptr inbounds double, ptr %72, i64 %indvars.iv177
  %124 = load double, ptr %123, align 8, !tbaa !34
  %125 = getelementptr inbounds double, ptr %92, i64 %indvars.iv172
  store double %124, ptr %125, align 8, !tbaa !34
  br label %.preheader80.us117

.preheader80.us117:                               ; preds = %118, %.lr.ph107.split.split.us, %122, %.lr.ph107.split.split.us, %.lr.ph107.split.split.us
  %indvars.iv.next178 = add nuw nsw i64 %indvars.iv177, 1
  %exitcond181.not = icmp eq i64 %indvars.iv.next178, %wide.trip.count195
  br i1 %exitcond181.not, label %._crit_edge108, label %.lr.ph107.split.split.us, !llvm.loop !42

126:                                              ; preds = %._crit_edge
  tail call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.27)
  %127 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %128 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %127, i32 noundef 102, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2636, i32 noundef 1)
  br label %133

.lr.ph107.split.split:                            ; preds = %.lr.ph107.split, %.preheader80
  %indvars.iv167 = phi i64 [ %indvars.iv.next168, %.preheader80 ], [ 0, %.lr.ph107.split ]
  %129 = getelementptr inbounds i32, ptr %86, i64 %indvars.iv167
  %130 = load i32, ptr %129, align 4, !tbaa !30
  %switch = icmp ult i32 %130, 4
  br i1 %switch, label %.preheader80, label %.split111.us

.split111.us:                                     ; preds = %.lr.ph107.split.split, %.lr.ph107.split.split.us, %.lr.ph107.split.us
  %131 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %132 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %131, i32 noundef 9, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2672, i32 noundef 1)
  br label %133

.preheader80:                                     ; preds = %.lr.ph107.split.split
  %indvars.iv.next168 = add nuw nsw i64 %indvars.iv167, 1
  %exitcond171.not = icmp eq i64 %indvars.iv.next168, %wide.trip.count195
  br i1 %exitcond171.not, label %._crit_edge108, label %.lr.ph107.split.split, !llvm.loop !42

._crit_edge108:                                   ; preds = %.preheader80, %.preheader80.us117, %.loopexit.us, %.preheader82
  tail call void @_ZdaPv(ptr noundef nonnull %72) #6
  tail call void @_ZdaPv(ptr noundef nonnull %17) #6
  br label %133

133:                                              ; preds = %.split111.us, %.split.us, %126, %._crit_edge108
  %.5 = phi i32 [ %64, %.split.us ], [ %128, %126 ], [ %132, %.split111.us ], [ 0, %._crit_edge108 ]
  ret i32 %.5
}

; 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 #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur13computeMTimesEdPKddPd(ptr noundef nonnull align 8 dereferenceable(1256), double noundef, ptr noundef, double noundef, ptr noundef) local_unnamed_addr #4 align 2

attributes #0 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { 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 uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { builtin allocsize(0) }
attributes #6 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !16, i64 1080}
!6 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !7, i64 0, !13, i64 1064, !13, i64 1072, !16, i64 1080, !16, i64 1084, !13, i64 1088, !13, i64 1096, !18, i64 1104, !18, i64 1112, !16, i64 1120, !13, i64 1128, !13, i64 1136, !16, i64 1144, !13, i64 1152, !13, i64 1160, !13, i64 1168, !17, i64 1176, !17, i64 1216}
!7 = !{!"_ZTSN7qpOASES9SQProblemE", !8, i64 0}
!8 = !{!"_ZTSN7qpOASES8QProblemE", !9, i64 0, !10, i64 800, !13, i64 808, !13, i64 816, !13, i64 824, !25, i64 832, !13, i64 952, !13, i64 960, !16, i64 968, !13, i64 976, !13, i64 984, !13, i64 992, !13, i64 1000, !13, i64 1008, !13, i64 1016, !13, i64 1024, !13, i64 1032, !13, i64 1040, !13, i64 1048, !13, i64 1056}
!9 = !{!"_ZTSN7qpOASES9QProblemBE", !10, i64 8, !13, i64 16, !13, i64 24, !13, i64 32, !13, i64 40, !14, i64 48, !13, i64 168, !10, i64 176, !13, i64 184, !13, i64 192, !18, i64 200, !19, i64 208, !10, i64 212, !10, i64 216, !20, i64 220, !18, i64 224, !16, i64 232, !13, i64 240, !18, i64 248, !18, i64 256, !16, i64 264, !21, i64 272, !24, i64 496, !26, i64 768}
!10 = !{!"_ZTSN7qpOASES11BooleanTypeE", !11, i64 0}
!11 = !{!"omnipotent char", !12, i64 0}
!12 = !{!"Simple C++ TBAA"}
!13 = !{!"any pointer", !11, i64 0}
!14 = !{!"_ZTSN7qpOASES6BoundsE", !15, i64 0, !17, i64 40, !17, i64 80}
!15 = !{!"_ZTSN7qpOASES9SubjectToE", !16, i64 8, !13, i64 16, !13, i64 24, !10, i64 32, !10, i64 36}
!16 = !{!"int", !11, i64 0}
!17 = !{!"_ZTSN7qpOASES9IndexlistE", !13, i64 0, !13, i64 8, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28, !16, i64 32}
!18 = !{!"double", !11, i64 0}
!19 = !{!"_ZTSN7qpOASES14QProblemStatusE", !11, i64 0}
!20 = !{!"_ZTSN7qpOASES11HessianTypeE", !11, i64 0}
!21 = !{!"_ZTSN7qpOASES7OptionsE", !22, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !16, i64 28, !16, i64 32, !10, i64 36, !18, i64 40, !18, i64 48, !18, i64 56, !18, i64 64, !18, i64 72, !18, i64 80, !18, i64 88, !18, i64 96, !18, i64 104, !18, i64 112, !18, i64 120, !23, i64 128, !18, i64 136, !16, i64 144, !18, i64 152, !16, i64 160, !18, i64 168, !18, i64 176, !18, i64 184, !18, i64 192, !10, i64 200, !10, i64 204, !16, i64 208, !16, i64 212, !16, i64 216}
!22 = !{!"_ZTSN7qpOASES10PrintLevelE", !11, i64 0}
!23 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !11, i64 0}
!24 = !{!"_ZTSN7qpOASES7FlipperE", !16, i64 0, !16, i64 4, !14, i64 8, !25, i64 128, !13, i64 248, !13, i64 256, !13, i64 264}
!25 = !{!"_ZTSN7qpOASES11ConstraintsE", !15, i64 0, !17, i64 40, !17, i64 80}
!26 = !{!"_ZTSN7qpOASES13TabularOutputE", !16, i64 0, !16, i64 4, !16, i64 8, !16, i64 12, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28}
!27 = !{!6, !13, i64 1128}
!28 = !{!6, !13, i64 1136}
!29 = !{!16, !16, i64 0}
!30 = !{!31, !31, i64 0}
!31 = !{!"_ZTSN7qpOASES15SchurUpdateTypeE", !11, i64 0}
!32 = distinct !{!32, !33}
!33 = !{!"llvm.loop.mustprogress"}
!34 = !{!18, !18, i64 0}
!35 = distinct !{!35, !33}
!36 = distinct !{!36, !33}
!37 = !{!6, !13, i64 1064}
!38 = !{!39, !39, i64 0}
!39 = !{!"vtable pointer", !12, i64 0}
!40 = distinct !{!40, !33}
!41 = distinct !{!41, !33}
!42 = distinct !{!42, !33}


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