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

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

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

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [104 x i8], align 1

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #0

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

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

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

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800)) #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES9QProblemB8hotstartEPKdS2_S2_RiPdPKNS_6BoundsE(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef nonnull align 4 dereferenceable(4) %4, ptr noundef %5, ptr noundef %6) #5 align 2 {
  %8 = alloca i32, align 4
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca i32, align 4
  %17 = alloca i32, align 4
  %18 = alloca i32, align 4
  %19 = alloca double, align 8
  %20 = alloca double, align 8
  %21 = alloca i32, align 4
  %22 = alloca i32, align 4
  %23 = alloca i32, align 4
  %24 = alloca i32, align 4
  %25 = alloca double, align 8
  %26 = alloca double, align 8
  %27 = alloca double, align 8
  %28 = alloca i32, align 4
  %29 = alloca ptr, align 8
  %30 = alloca ptr, align 8
  %31 = alloca double, align 8
  store ptr %0, ptr %9, align 8, !tbaa !5
  store ptr %1, ptr %10, align 8, !tbaa !5
  store ptr %2, ptr %11, align 8, !tbaa !5
  store ptr %3, ptr %12, align 8, !tbaa !5
  store ptr %4, ptr %13, align 8, !tbaa !5
  store ptr %5, ptr %14, align 8, !tbaa !5
  store ptr %6, ptr %15, align 8, !tbaa !5
  %32 = load ptr, ptr %9, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #8
  %33 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %32)
  store i32 %33, ptr %18, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #8
  store double 0.000000e+00, ptr %19, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #8
  store double 0.000000e+00, ptr %20, align 8, !tbaa !11
  %34 = load i32, ptr %18, align 4, !tbaa !9
  %35 = icmp eq i32 %34, 0
  br i1 %35, label %36, label %39

36:                                               ; preds = %7
  %37 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %38 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %37, i32 noundef 29, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 426, i32 noundef 1)
  store i32 %38, ptr %8, align 4
  store i32 1, ptr %21, align 4
  br label %398

39:                                               ; preds = %7
  %40 = load ptr, ptr %15, align 8, !tbaa !5
  %41 = icmp ne ptr %40, null
  br i1 %41, label %42, label %70

42:                                               ; preds = %39
  %43 = load ptr, ptr %14, align 8, !tbaa !5
  %44 = icmp ne ptr %43, null
  br i1 %44, label %45, label %47

45:                                               ; preds = %42
  %46 = call noundef double @_ZN7qpOASES10getCPUtimeEv()
  store double %46, ptr %19, align 8, !tbaa !11
  br label %47

47:                                               ; preds = %45, %42
  %48 = load ptr, ptr %15, align 8, !tbaa !5
  %49 = load ptr, ptr %32, align 8, !tbaa !13
  %50 = getelementptr inbounds ptr, ptr %49, i64 17
  %51 = load ptr, ptr %50, align 8
  %52 = call noundef i32 %51(ptr noundef nonnull align 8 dereferenceable(800) %32, ptr noundef %48)
  %53 = icmp ne i32 %52, 0
  br i1 %53, label %54, label %57

54:                                               ; preds = %47
  %55 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %56 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %55, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 436, i32 noundef 1)
  store i32 %56, ptr %8, align 4
  store i32 1, ptr %21, align 4
  br label %398

57:                                               ; preds = %47
  %58 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 12
  store i32 2, ptr %58, align 8, !tbaa !15
  %59 = load ptr, ptr %14, align 8, !tbaa !5
  %60 = icmp ne ptr %59, null
  br i1 %60, label %61, label %69

61:                                               ; preds = %57
  %62 = call noundef double @_ZN7qpOASES10getCPUtimeEv()
  %63 = load double, ptr %19, align 8, !tbaa !11
  %64 = fsub double %62, %63
  store double %64, ptr %20, align 8, !tbaa !11
  %65 = load double, ptr %20, align 8, !tbaa !11
  %66 = load ptr, ptr %14, align 8, !tbaa !5
  %67 = load double, ptr %66, align 8, !tbaa !11
  %68 = fsub double %67, %65
  store double %68, ptr %66, align 8, !tbaa !11
  br label %69

69:                                               ; preds = %61, %57
  br label %70

70:                                               ; preds = %69, %39
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #8
  store i32 0, ptr %22, align 4, !tbaa !29
  %71 = load ptr, ptr %11, align 8, !tbaa !5
  %72 = load ptr, ptr %12, align 8, !tbaa !5
  %73 = call noundef i32 @_ZNK7qpOASES9QProblemB19areBoundsConsistentEPKdS2_(ptr noundef nonnull align 8 dereferenceable(800) %32, ptr noundef %71, ptr noundef %72)
  %74 = icmp ne i32 %73, 0
  br i1 %74, label %75, label %78

75:                                               ; preds = %70
  %76 = load i32, ptr %22, align 4, !tbaa !29
  %77 = call noundef i32 @_ZN7qpOASES9QProblemB20setInfeasibilityFlagENS_11returnValueENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %32, i32 noundef %76, i32 noundef 1)
  store i32 %77, ptr %8, align 4
  store i32 1, ptr %21, align 4
  br label %397

78:                                               ; preds = %70
  %79 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 17
  %80 = load i32, ptr %79, align 8, !tbaa !31
  %81 = add i32 %80, 1
  store i32 %81, ptr %79, align 8, !tbaa !31
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #8
  %82 = load ptr, ptr %13, align 8, !tbaa !5
  %83 = load i32, ptr %82, align 4, !tbaa !9
  store i32 %83, ptr %23, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #8
  store i32 0, ptr %24, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #8
  store double 1.000000e+20, ptr %25, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #8
  store double 0.000000e+00, ptr %26, align 8, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #8
  %84 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 23
  %85 = getelementptr inbounds %"class.qpOASES::Options", ptr %84, i32 0, i32 19
  %86 = load double, ptr %85, align 8, !tbaa !32
  store double %86, ptr %27, align 8, !tbaa !11
  %87 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 8
  %88 = load i32, ptr %87, align 8, !tbaa !33
  %89 = icmp eq i32 %88, 0
  br i1 %89, label %90, label %102

90:                                               ; preds = %78
  %91 = load ptr, ptr %32, align 8, !tbaa !13
  %92 = getelementptr inbounds ptr, ptr %91, i64 13
  %93 = load ptr, ptr %92, align 8
  %94 = call noundef i32 %93(ptr noundef nonnull align 8 dereferenceable(800) %32)
  store i32 %94, ptr %22, align 4, !tbaa !29
  %95 = load i32, ptr %22, align 4, !tbaa !29
  %96 = icmp ne i32 %95, 0
  br i1 %96, label %97, label %101

97:                                               ; preds = %90
  %98 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %99 = load i32, ptr %22, align 4, !tbaa !29
  %100 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %98, i32 noundef %99, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 470, i32 noundef 1)
  store i32 %100, ptr %8, align 4
  store i32 1, ptr %21, align 4
  br label %396

101:                                              ; preds = %90
  br label %102

102:                                              ; preds = %101, %78
  call void @llvm.lifetime.start.p0(i64 4, ptr %28) #8
  store i32 1, ptr %28, align 4, !tbaa !34
  %103 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 23
  %104 = getelementptr inbounds %"class.qpOASES::Options", ptr %103, i32 0, i32 2
  %105 = load i32, ptr %104, align 8, !tbaa !35
  %106 = icmp eq i32 %105, 0
  br i1 %106, label %107, label %115

107:                                              ; preds = %102
  %108 = load ptr, ptr %10, align 8, !tbaa !5
  %109 = load ptr, ptr %11, align 8, !tbaa !5
  %110 = load ptr, ptr %12, align 8, !tbaa !5
  %111 = load ptr, ptr %13, align 8, !tbaa !5
  %112 = load ptr, ptr %14, align 8, !tbaa !5
  %113 = load i32, ptr %28, align 4, !tbaa !34
  %114 = call noundef i32 @_ZN7qpOASES9QProblemB18solveRegularisedQPEPKdS2_S2_RiPdiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %32, ptr noundef %108, ptr noundef %109, ptr noundef %110, ptr noundef nonnull align 4 dereferenceable(4) %111, ptr noundef %112, i32 noundef 0, i32 noundef %113)
  store i32 %114, ptr %22, align 4, !tbaa !29
  br label %385

115:                                              ; preds = %102
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #8
  %116 = load i32, ptr %18, align 4, !tbaa !9
  %117 = sext i32 %116 to i64
  %118 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %117, i64 8)
  %119 = extractvalue { i64, i1 } %118, 1
  %120 = extractvalue { i64, i1 } %118, 0
  %121 = select i1 %119, i64 -1, i64 %120
  %122 = call noalias noundef nonnull ptr @_Znam(i64 noundef %121) #9
  store ptr %122, ptr %29, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #8
  %123 = load i32, ptr %18, align 4, !tbaa !9
  %124 = sext i32 %123 to i64
  %125 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %124, i64 8)
  %126 = extractvalue { i64, i1 } %125, 1
  %127 = extractvalue { i64, i1 } %125, 0
  %128 = select i1 %126, i64 -1, i64 %127
  %129 = call noalias noundef nonnull ptr @_Znam(i64 noundef %128) #9
  store ptr %129, ptr %30, align 8, !tbaa !5
  %130 = load ptr, ptr %12, align 8, !tbaa !5
  %131 = icmp ne ptr %130, null
  br i1 %131, label %132, label %163

132:                                              ; preds = %115
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %133

133:                                              ; preds = %159, %132
  %134 = load i32, ptr %16, align 4, !tbaa !9
  %135 = load i32, ptr %18, align 4, !tbaa !9
  %136 = icmp slt i32 %134, %135
  br i1 %136, label %137, label %162

137:                                              ; preds = %133
  %138 = load ptr, ptr %12, align 8, !tbaa !5
  %139 = load i32, ptr %16, align 4, !tbaa !9
  %140 = sext i32 %139 to i64
  %141 = getelementptr inbounds double, ptr %138, i64 %140
  %142 = load double, ptr %141, align 8, !tbaa !11
  %143 = fcmp olt double %142, 1.000000e+20
  br i1 %143, label %144, label %158

144:                                              ; preds = %137
  %145 = load ptr, ptr %12, align 8, !tbaa !5
  %146 = load i32, ptr %16, align 4, !tbaa !9
  %147 = sext i32 %146 to i64
  %148 = getelementptr inbounds double, ptr %145, i64 %147
  %149 = load double, ptr %148, align 8, !tbaa !11
  %150 = load double, ptr %27, align 8, !tbaa !11
  %151 = fcmp ogt double %149, %150
  br i1 %151, label %152, label %158

152:                                              ; preds = %144
  %153 = load ptr, ptr %12, align 8, !tbaa !5
  %154 = load i32, ptr %16, align 4, !tbaa !9
  %155 = sext i32 %154 to i64
  %156 = getelementptr inbounds double, ptr %153, i64 %155
  %157 = load double, ptr %156, align 8, !tbaa !11
  store double %157, ptr %27, align 8, !tbaa !11
  br label %158

158:                                              ; preds = %152, %144, %137
  br label %159

159:                                              ; preds = %158
  %160 = load i32, ptr %16, align 4, !tbaa !9
  %161 = add nsw i32 %160, 1
  store i32 %161, ptr %16, align 4, !tbaa !9
  br label %133, !llvm.loop !36

162:                                              ; preds = %133
  br label %163

163:                                              ; preds = %162, %115
  %164 = load ptr, ptr %11, align 8, !tbaa !5
  %165 = icmp ne ptr %164, null
  br i1 %165, label %166, label %199

166:                                              ; preds = %163
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %167

167:                                              ; preds = %195, %166
  %168 = load i32, ptr %16, align 4, !tbaa !9
  %169 = load i32, ptr %18, align 4, !tbaa !9
  %170 = icmp slt i32 %168, %169
  br i1 %170, label %171, label %198

171:                                              ; preds = %167
  %172 = load ptr, ptr %11, align 8, !tbaa !5
  %173 = load i32, ptr %16, align 4, !tbaa !9
  %174 = sext i32 %173 to i64
  %175 = getelementptr inbounds double, ptr %172, i64 %174
  %176 = load double, ptr %175, align 8, !tbaa !11
  %177 = fcmp ogt double %176, -1.000000e+20
  br i1 %177, label %178, label %194

178:                                              ; preds = %171
  %179 = load ptr, ptr %11, align 8, !tbaa !5
  %180 = load i32, ptr %16, align 4, !tbaa !9
  %181 = sext i32 %180 to i64
  %182 = getelementptr inbounds double, ptr %179, i64 %181
  %183 = load double, ptr %182, align 8, !tbaa !11
  %184 = load double, ptr %27, align 8, !tbaa !11
  %185 = fneg double %184
  %186 = fcmp olt double %183, %185
  br i1 %186, label %187, label %194

187:                                              ; preds = %178
  %188 = load ptr, ptr %11, align 8, !tbaa !5
  %189 = load i32, ptr %16, align 4, !tbaa !9
  %190 = sext i32 %189 to i64
  %191 = getelementptr inbounds double, ptr %188, i64 %190
  %192 = load double, ptr %191, align 8, !tbaa !11
  %193 = fneg double %192
  store double %193, ptr %27, align 8, !tbaa !11
  br label %194

194:                                              ; preds = %187, %178, %171
  br label %195

195:                                              ; preds = %194
  %196 = load i32, ptr %16, align 4, !tbaa !9
  %197 = add nsw i32 %196, 1
  store i32 %197, ptr %16, align 4, !tbaa !9
  br label %167, !llvm.loop !38

198:                                              ; preds = %167
  br label %199

199:                                              ; preds = %198, %163
  %200 = load double, ptr %27, align 8, !tbaa !11
  %201 = load i32, ptr %18, align 4, !tbaa !9
  %202 = load ptr, ptr %11, align 8, !tbaa !5
  %203 = load ptr, ptr %30, align 8, !tbaa !5
  %204 = load ptr, ptr %12, align 8, !tbaa !5
  %205 = load ptr, ptr %29, align 8, !tbaa !5
  %206 = call noundef i32 @_ZNK7qpOASES9QProblemB15updateFarBoundsEdiPKdPdS2_S3_(ptr noundef nonnull align 8 dereferenceable(800) %32, double noundef %200, i32 noundef %201, ptr noundef %202, ptr noundef %203, ptr noundef %204, ptr noundef %205)
  br label %207

207:                                              ; preds = %363, %199
  %208 = load i32, ptr %23, align 4, !tbaa !9
  %209 = load ptr, ptr %13, align 8, !tbaa !5
  store i32 %208, ptr %209, align 4, !tbaa !9
  %210 = load ptr, ptr %14, align 8, !tbaa !5
  %211 = icmp ne ptr %210, null
  br i1 %211, label %212, label %217

212:                                              ; preds = %207
  %213 = load ptr, ptr %14, align 8, !tbaa !5
  %214 = load double, ptr %213, align 8, !tbaa !11
  %215 = load double, ptr %26, align 8, !tbaa !11
  %216 = fsub double %214, %215
  store double %216, ptr %25, align 8, !tbaa !11
  br label %217

217:                                              ; preds = %212, %207
  %218 = load ptr, ptr %10, align 8, !tbaa !5
  %219 = load ptr, ptr %30, align 8, !tbaa !5
  %220 = load ptr, ptr %29, align 8, !tbaa !5
  %221 = load ptr, ptr %13, align 8, !tbaa !5
  %222 = load i32, ptr %24, align 4, !tbaa !9
  %223 = load i32, ptr %28, align 4, !tbaa !34
  %224 = call noundef i32 @_ZN7qpOASES9QProblemB18solveRegularisedQPEPKdS2_S2_RiPdiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %32, ptr noundef %218, ptr noundef %219, ptr noundef %220, ptr noundef nonnull align 4 dereferenceable(4) %221, ptr noundef %25, i32 noundef %222, i32 noundef %223)
  store i32 %224, ptr %22, align 4, !tbaa !29
  %225 = load ptr, ptr %13, align 8, !tbaa !5
  %226 = load i32, ptr %225, align 4, !tbaa !9
  store i32 %226, ptr %24, align 4, !tbaa !9
  %227 = load double, ptr %25, align 8, !tbaa !11
  %228 = load double, ptr %26, align 8, !tbaa !11
  %229 = fadd double %228, %227
  store double %229, ptr %26, align 8, !tbaa !11
  store i32 0, ptr %28, align 4, !tbaa !34
  store i32 0, ptr %17, align 4, !tbaa !9
  %230 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 23
  %231 = getelementptr inbounds %"class.qpOASES::Options", ptr %230, i32 0, i32 20
  %232 = load double, ptr %231, align 8, !tbaa !39
  %233 = load double, ptr %27, align 8, !tbaa !11
  %234 = fmul double %233, %232
  store double %234, ptr %27, align 8, !tbaa !11
  %235 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 13
  %236 = load i32, ptr %235, align 4, !tbaa !40
  %237 = icmp eq i32 %236, 1
  br i1 %237, label %238, label %250

238:                                              ; preds = %217
  %239 = load double, ptr %27, align 8, !tbaa !11
  %240 = fcmp oge double %239, 1.000000e+20
  br i1 %240, label %241, label %242

241:                                              ; preds = %238
  store i32 61, ptr %22, align 4, !tbaa !29
  br label %368

242:                                              ; preds = %238
  %243 = load double, ptr %27, align 8, !tbaa !11
  %244 = load i32, ptr %18, align 4, !tbaa !9
  %245 = load ptr, ptr %11, align 8, !tbaa !5
  %246 = load ptr, ptr %30, align 8, !tbaa !5
  %247 = load ptr, ptr %12, align 8, !tbaa !5
  %248 = load ptr, ptr %29, align 8, !tbaa !5
  %249 = call noundef i32 @_ZNK7qpOASES9QProblemB15updateFarBoundsEdiPKdPdS2_S3_(ptr noundef nonnull align 8 dereferenceable(800) %32, double noundef %243, i32 noundef %244, ptr noundef %245, ptr noundef %246, ptr noundef %247, ptr noundef %248)
  br label %363

250:                                              ; preds = %217
  %251 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 12
  %252 = load i32, ptr %251, align 8, !tbaa !15
  %253 = icmp eq i32 %252, 5
  br i1 %253, label %254, label %361

254:                                              ; preds = %250
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #8
  %255 = load double, ptr %27, align 8, !tbaa !11
  %256 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 23
  %257 = getelementptr inbounds %"class.qpOASES::Options", ptr %256, i32 0, i32 20
  %258 = load double, ptr %257, align 8, !tbaa !39
  %259 = fdiv double %255, %258
  %260 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 23
  %261 = getelementptr inbounds %"class.qpOASES::Options", ptr %260, i32 0, i32 11
  %262 = load double, ptr %261, align 8, !tbaa !41
  %263 = fmul double %259, %262
  store double %263, ptr %31, align 8, !tbaa !11
  store i32 0, ptr %17, align 4, !tbaa !9
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %264

264:                                              ; preds = %337, %254
  %265 = load i32, ptr %16, align 4, !tbaa !9
  %266 = load i32, ptr %18, align 4, !tbaa !9
  %267 = icmp slt i32 %265, %266
  br i1 %267, label %268, label %340

268:                                              ; preds = %264
  %269 = load ptr, ptr %11, align 8, !tbaa !5
  %270 = icmp eq ptr %269, null
  br i1 %270, label %283, label %271

271:                                              ; preds = %268
  %272 = load ptr, ptr %30, align 8, !tbaa !5
  %273 = load i32, ptr %16, align 4, !tbaa !9
  %274 = sext i32 %273 to i64
  %275 = getelementptr inbounds double, ptr %272, i64 %274
  %276 = load double, ptr %275, align 8, !tbaa !11
  %277 = load ptr, ptr %11, align 8, !tbaa !5
  %278 = load i32, ptr %16, align 4, !tbaa !9
  %279 = sext i32 %278 to i64
  %280 = getelementptr inbounds double, ptr %277, i64 %279
  %281 = load double, ptr %280, align 8, !tbaa !11
  %282 = fcmp ogt double %276, %281
  br i1 %282, label %283, label %302

283:                                              ; preds = %271, %268
  %284 = load ptr, ptr %30, align 8, !tbaa !5
  %285 = load i32, ptr %16, align 4, !tbaa !9
  %286 = sext i32 %285 to i64
  %287 = getelementptr inbounds double, ptr %284, i64 %286
  %288 = load double, ptr %287, align 8, !tbaa !11
  %289 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 9
  %290 = load ptr, ptr %289, align 8, !tbaa !42
  %291 = load i32, ptr %16, align 4, !tbaa !9
  %292 = sext i32 %291 to i64
  %293 = getelementptr inbounds double, ptr %290, i64 %292
  %294 = load double, ptr %293, align 8, !tbaa !11
  %295 = fsub double %288, %294
  %296 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %295)
  %297 = load double, ptr %31, align 8, !tbaa !11
  %298 = fcmp olt double %296, %297
  br i1 %298, label %299, label %302

299:                                              ; preds = %283
  %300 = load i32, ptr %17, align 4, !tbaa !9
  %301 = add nsw i32 %300, 1
  store i32 %301, ptr %17, align 4, !tbaa !9
  br label %302

302:                                              ; preds = %299, %283, %271
  %303 = load ptr, ptr %12, align 8, !tbaa !5
  %304 = icmp eq ptr %303, null
  br i1 %304, label %317, label %305

305:                                              ; preds = %302
  %306 = load ptr, ptr %29, align 8, !tbaa !5
  %307 = load i32, ptr %16, align 4, !tbaa !9
  %308 = sext i32 %307 to i64
  %309 = getelementptr inbounds double, ptr %306, i64 %308
  %310 = load double, ptr %309, align 8, !tbaa !11
  %311 = load ptr, ptr %12, align 8, !tbaa !5
  %312 = load i32, ptr %16, align 4, !tbaa !9
  %313 = sext i32 %312 to i64
  %314 = getelementptr inbounds double, ptr %311, i64 %313
  %315 = load double, ptr %314, align 8, !tbaa !11
  %316 = fcmp olt double %310, %315
  br i1 %316, label %317, label %336

317:                                              ; preds = %305, %302
  %318 = load ptr, ptr %29, align 8, !tbaa !5
  %319 = load i32, ptr %16, align 4, !tbaa !9
  %320 = sext i32 %319 to i64
  %321 = getelementptr inbounds double, ptr %318, i64 %320
  %322 = load double, ptr %321, align 8, !tbaa !11
  %323 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 9
  %324 = load ptr, ptr %323, align 8, !tbaa !42
  %325 = load i32, ptr %16, align 4, !tbaa !9
  %326 = sext i32 %325 to i64
  %327 = getelementptr inbounds double, ptr %324, i64 %326
  %328 = load double, ptr %327, align 8, !tbaa !11
  %329 = fsub double %322, %328
  %330 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %329)
  %331 = load double, ptr %31, align 8, !tbaa !11
  %332 = fcmp olt double %330, %331
  br i1 %332, label %333, label %336

333:                                              ; preds = %317
  %334 = load i32, ptr %17, align 4, !tbaa !9
  %335 = add nsw i32 %334, 1
  store i32 %335, ptr %17, align 4, !tbaa !9
  br label %336

336:                                              ; preds = %333, %317, %305
  br label %337

337:                                              ; preds = %336
  %338 = load i32, ptr %16, align 4, !tbaa !9
  %339 = add nsw i32 %338, 1
  store i32 %339, ptr %16, align 4, !tbaa !9
  br label %264, !llvm.loop !43

340:                                              ; preds = %264
  %341 = load i32, ptr %17, align 4, !tbaa !9
  %342 = icmp eq i32 %341, 0
  br i1 %342, label %343, label %344

343:                                              ; preds = %340
  store i32 8, ptr %21, align 4
  br label %358

344:                                              ; preds = %340
  %345 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 12
  store i32 4, ptr %345, align 8, !tbaa !15
  %346 = load double, ptr %27, align 8, !tbaa !11
  %347 = fcmp oge double %346, 1.000000e+20
  br i1 %347, label %348, label %350

348:                                              ; preds = %344
  %349 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 14
  store i32 1, ptr %349, align 8, !tbaa !44
  store i32 62, ptr %22, align 4, !tbaa !29
  store i32 10, ptr %21, align 4
  br label %358

350:                                              ; preds = %344
  %351 = load double, ptr %27, align 8, !tbaa !11
  %352 = load i32, ptr %18, align 4, !tbaa !9
  %353 = load ptr, ptr %11, align 8, !tbaa !5
  %354 = load ptr, ptr %30, align 8, !tbaa !5
  %355 = load ptr, ptr %12, align 8, !tbaa !5
  %356 = load ptr, ptr %29, align 8, !tbaa !5
  %357 = call noundef i32 @_ZNK7qpOASES9QProblemB15updateFarBoundsEdiPKdPdS2_S3_(ptr noundef nonnull align 8 dereferenceable(800) %32, double noundef %351, i32 noundef %352, ptr noundef %353, ptr noundef %354, ptr noundef %355, ptr noundef %356)
  store i32 0, ptr %21, align 4
  br label %358

358:                                              ; preds = %350, %348, %343
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #8
  %359 = load i32, ptr %21, align 4
  switch i32 %359, label %400 [
    i32 0, label %360
    i32 8, label %367
    i32 10, label %368
  ]

360:                                              ; preds = %358
  br label %362

361:                                              ; preds = %250
  br label %367

362:                                              ; preds = %360
  br label %363

363:                                              ; preds = %362, %242
  %364 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %32, i32 0, i32 21
  %365 = load i32, ptr %364, align 8, !tbaa !45
  %366 = add nsw i32 %365, 1
  store i32 %366, ptr %364, align 8, !tbaa !45
  br label %207, !llvm.loop !46

367:                                              ; preds = %361, %358
  br label %368

368:                                              ; preds = %367, %358, %241
  %369 = load ptr, ptr %14, align 8, !tbaa !5
  %370 = icmp ne ptr %369, null
  br i1 %370, label %371, label %376

371:                                              ; preds = %368
  %372 = load double, ptr %26, align 8, !tbaa !11
  %373 = load double, ptr %20, align 8, !tbaa !11
  %374 = fadd double %372, %373
  %375 = load ptr, ptr %14, align 8, !tbaa !5
  store double %374, ptr %375, align 8, !tbaa !11
  br label %376

376:                                              ; preds = %371, %368
  %377 = load ptr, ptr %30, align 8, !tbaa !5
  %378 = icmp eq ptr %377, null
  br i1 %378, label %380, label %379

379:                                              ; preds = %376
  call void @_ZdaPv(ptr noundef %377) #10
  br label %380

380:                                              ; preds = %379, %376
  %381 = load ptr, ptr %29, align 8, !tbaa !5
  %382 = icmp eq ptr %381, null
  br i1 %382, label %384, label %383

383:                                              ; preds = %380
  call void @_ZdaPv(ptr noundef %381) #10
  br label %384

384:                                              ; preds = %383, %380
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #8
  br label %385

385:                                              ; preds = %384, %107
  %386 = load i32, ptr %22, align 4, !tbaa !29
  %387 = icmp ne i32 %386, 0
  br i1 %387, label %388, label %392

388:                                              ; preds = %385
  %389 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %390 = load i32, ptr %22, align 4, !tbaa !29
  %391 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %389, i32 noundef %390, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 577, i32 noundef 1)
  br label %394

392:                                              ; preds = %385
  %393 = load i32, ptr %22, align 4, !tbaa !29
  br label %394

394:                                              ; preds = %392, %388
  %395 = phi i32 [ %391, %388 ], [ %393, %392 ]
  store i32 %395, ptr %8, align 4
  store i32 1, ptr %21, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %28) #8
  br label %396

396:                                              ; preds = %394, %97
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #8
  br label %397

397:                                              ; preds = %396, %75
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #8
  br label %398

398:                                              ; preds = %397, %54, %36
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #8
  %399 = load i32, ptr %8, align 4
  ret i32 %399

400:                                              ; preds = %358
  unreachable
}

declare noundef double @_ZN7qpOASES10getCPUtimeEv() #0

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB19areBoundsConsistentEPKdS2_(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef, ptr noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES9QProblemB20setInfeasibilityFlagENS_11returnValueENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, i32 noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES9QProblemB18solveRegularisedQPEPKdS2_S2_RiPdiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef, i32 noundef, i32 noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB15updateFarBoundsEdiPKdPdS2_S3_(ptr noundef nonnull align 8 dereferenceable(800), double noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getAbsEd(double noundef) #6

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) #7

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 = { 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 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { 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 #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 = !{!"double", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"vtable pointer", !8, i64 0}
!15 = !{!16, !21, i64 208}
!16 = !{!"_ZTSN7qpOASES9QProblemBE", !17, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !18, i64 48, !6, i64 168, !17, i64 176, !6, i64 184, !6, i64 192, !12, i64 200, !21, i64 208, !17, i64 212, !17, i64 216, !22, i64 220, !12, i64 224, !10, i64 232, !6, i64 240, !12, i64 248, !12, i64 256, !10, i64 264, !23, i64 272, !26, i64 496, !28, i64 768}
!17 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!18 = !{!"_ZTSN7qpOASES6BoundsE", !19, i64 0, !20, i64 40, !20, i64 80}
!19 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !17, i64 32, !17, i64 36}
!20 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!21 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!22 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES7OptionsE", !24, i64 0, !17, i64 4, !17, i64 8, !17, i64 12, !17, i64 16, !17, i64 20, !17, i64 24, !10, i64 28, !10, i64 32, !17, i64 36, !12, i64 40, !12, i64 48, !12, i64 56, !12, i64 64, !12, i64 72, !12, i64 80, !12, i64 88, !12, i64 96, !12, i64 104, !12, i64 112, !12, i64 120, !25, i64 128, !12, i64 136, !10, i64 144, !12, i64 152, !10, i64 160, !12, i64 168, !12, i64 176, !12, i64 184, !12, i64 192, !17, i64 200, !17, 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, !18, i64 8, !27, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!27 = !{!"_ZTSN7qpOASES11ConstraintsE", !19, i64 0, !20, i64 40, !20, 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 = !{!30, !30, i64 0}
!30 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!31 = !{!16, !10, i64 232}
!32 = !{!16, !12, i64 384}
!33 = !{!16, !17, i64 176}
!34 = !{!17, !17, i64 0}
!35 = !{!16, !17, i64 280}
!36 = distinct !{!36, !37}
!37 = !{!"llvm.loop.mustprogress"}
!38 = distinct !{!38, !37}
!39 = !{!16, !12, i64 392}
!40 = !{!16, !17, i64 212}
!41 = !{!16, !12, i64 320}
!42 = !{!16, !6, i64 184}
!43 = distinct !{!43, !37}
!44 = !{!16, !17, i64 216}
!45 = !{!16, !10, i64 264}
!46 = distinct !{!46, !37}


; 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 [104 x i8], align 1

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #0

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

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 #2

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES9QProblemB8hotstartEPKdS2_S2_RiPdPKNS_6BoundsE(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef nonnull align 4 dereferenceable(4) %4, ptr noundef %5, ptr noundef %6) local_unnamed_addr #4 align 2 {
  %8 = alloca double, align 8
  %9 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %10 = icmp eq i32 %9, 0
  br i1 %10, label %11, label %14

11:                                               ; preds = %7
  %12 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %13 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %12, i32 noundef 29, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 426, i32 noundef 1)
  br label %219

14:                                               ; preds = %7
  %.not = icmp eq ptr %6, null
  br i1 %.not, label %33, label %15

15:                                               ; preds = %14
  %.not146 = icmp eq ptr %5, null
  br i1 %.not146, label %18, label %16

16:                                               ; preds = %15
  %17 = tail call noundef double @_ZN7qpOASES10getCPUtimeEv()
  br label %18

18:                                               ; preds = %16, %15
  %.0126 = phi double [ %17, %16 ], [ 0.000000e+00, %15 ]
  %19 = load ptr, ptr %0, align 8, !tbaa !5
  %20 = getelementptr inbounds i8, ptr %19, i64 136
  %21 = load ptr, ptr %20, align 8
  %22 = tail call noundef i32 %21(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef nonnull %6)
  %.not147 = icmp eq i32 %22, 0
  br i1 %.not147, label %26, label %23

23:                                               ; preds = %18
  %24 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %25 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %24, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 436, i32 noundef 1)
  br label %219

26:                                               ; preds = %18
  %27 = getelementptr inbounds i8, ptr %0, i64 208
  store i32 2, ptr %27, align 8, !tbaa !8
  br i1 %.not146, label %33, label %28

28:                                               ; preds = %26
  %29 = tail call noundef double @_ZN7qpOASES10getCPUtimeEv()
  %30 = fsub double %29, %.0126
  %31 = load double, ptr %5, align 8, !tbaa !26
  %32 = fsub double %31, %30
  store double %32, ptr %5, align 8, !tbaa !26
  br label %33

33:                                               ; preds = %26, %28, %14
  %.0131 = phi double [ %30, %28 ], [ 0.000000e+00, %26 ], [ 0.000000e+00, %14 ]
  %34 = tail call noundef i32 @_ZNK7qpOASES9QProblemB19areBoundsConsistentEPKdS2_(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef %2, ptr noundef %3)
  %.not148 = icmp eq i32 %34, 0
  br i1 %.not148, label %37, label %35

35:                                               ; preds = %33
  %36 = tail call noundef i32 @_ZN7qpOASES9QProblemB20setInfeasibilityFlagENS_11returnValueENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef 0, i32 noundef 1)
  br label %219

37:                                               ; preds = %33
  %38 = getelementptr inbounds i8, ptr %0, i64 232
  %39 = load i32, ptr %38, align 8, !tbaa !27
  %40 = add i32 %39, 1
  store i32 %40, ptr %38, align 8, !tbaa !27
  %41 = load i32, ptr %4, align 4, !tbaa !28
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #7
  store double 1.000000e+20, ptr %8, align 8, !tbaa !26
  %42 = getelementptr inbounds i8, ptr %0, i64 384
  %43 = load double, ptr %42, align 8, !tbaa !29
  %44 = getelementptr inbounds i8, ptr %0, i64 176
  %45 = load i32, ptr %44, align 8, !tbaa !30
  %46 = icmp eq i32 %45, 0
  br i1 %46, label %47, label %55

47:                                               ; preds = %37
  %48 = load ptr, ptr %0, align 8, !tbaa !5
  %49 = getelementptr inbounds i8, ptr %48, i64 104
  %50 = load ptr, ptr %49, align 8
  %51 = tail call noundef i32 %50(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %.not149 = icmp eq i32 %51, 0
  br i1 %.not149, label %55, label %52

52:                                               ; preds = %47
  %53 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %54 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %53, i32 noundef %51, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 470, i32 noundef 1)
  br label %218

55:                                               ; preds = %47, %37
  %56 = getelementptr inbounds i8, ptr %0, i64 280
  %57 = load i32, ptr %56, align 8, !tbaa !31
  %58 = icmp eq i32 %57, 0
  br i1 %58, label %59, label %61

59:                                               ; preds = %55
  %60 = tail call noundef i32 @_ZN7qpOASES9QProblemB18solveRegularisedQPEPKdS2_S2_RiPdiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef nonnull align 4 dereferenceable(4) %4, ptr noundef %5, i32 noundef 0, i32 noundef 1)
  br label %214

61:                                               ; preds = %55
  %62 = zext i32 %9 to i64
  %63 = icmp slt i32 %9, 0
  %64 = shl nuw nsw i64 %62, 3
  %65 = select i1 %63, i64 -1, i64 %64
  %66 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %65) #8
  %67 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %65) #8
  %.not150 = icmp ne ptr %3, null
  %68 = icmp sgt i32 %9, 0
  %or.cond175 = and i1 %.not150, %68
  br i1 %or.cond175, label %.lr.ph.preheader, label %.loopexit160

.lr.ph.preheader:                                 ; preds = %61
  %xtraiter = and i64 %62, 1
  %69 = icmp eq i32 %9, 1
  br i1 %69, label %.loopexit160.loopexit.unr-lcssa, label %.lr.ph.preheader.new

.lr.ph.preheader.new:                             ; preds = %.lr.ph.preheader
  %unroll_iter = and i64 %62, 2147483646
  br label %.lr.ph

.lr.ph:                                           ; preds = %.lr.ph, %.lr.ph.preheader.new
  %indvars.iv = phi i64 [ 0, %.lr.ph.preheader.new ], [ %indvars.iv.next.1, %.lr.ph ]
  %.0121164 = phi double [ %43, %.lr.ph.preheader.new ], [ %.1122.1, %.lr.ph ]
  %niter = phi i64 [ 0, %.lr.ph.preheader.new ], [ %niter.next.1, %.lr.ph ]
  %70 = getelementptr inbounds double, ptr %3, i64 %indvars.iv
  %71 = load double, ptr %70, align 8, !tbaa !26
  %72 = fcmp olt double %71, 1.000000e+20
  %73 = fcmp ogt double %71, %.0121164
  %or.cond = select i1 %72, i1 %73, i1 false
  %.1122 = select i1 %or.cond, double %71, double %.0121164
  %indvars.iv.next = or disjoint i64 %indvars.iv, 1
  %74 = getelementptr inbounds double, ptr %3, i64 %indvars.iv.next
  %75 = load double, ptr %74, align 8, !tbaa !26
  %76 = fcmp olt double %75, 1.000000e+20
  %77 = fcmp ogt double %75, %.1122
  %or.cond.1 = select i1 %76, i1 %77, i1 false
  %.1122.1 = select i1 %or.cond.1, double %75, double %.1122
  %indvars.iv.next.1 = add nuw nsw i64 %indvars.iv, 2
  %niter.next.1 = add i64 %niter, 2
  %niter.ncmp.1 = icmp eq i64 %niter.next.1, %unroll_iter
  br i1 %niter.ncmp.1, label %.loopexit160.loopexit.unr-lcssa, label %.lr.ph, !llvm.loop !32

.loopexit160.loopexit.unr-lcssa:                  ; preds = %.lr.ph, %.lr.ph.preheader
  %.1122.lcssa.ph = phi double [ poison, %.lr.ph.preheader ], [ %.1122.1, %.lr.ph ]
  %indvars.iv.unr = phi i64 [ 0, %.lr.ph.preheader ], [ %indvars.iv.next.1, %.lr.ph ]
  %.0121164.unr = phi double [ %43, %.lr.ph.preheader ], [ %.1122.1, %.lr.ph ]
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %.loopexit160, label %.lr.ph.epil

.lr.ph.epil:                                      ; preds = %.loopexit160.loopexit.unr-lcssa
  %78 = getelementptr inbounds double, ptr %3, i64 %indvars.iv.unr
  %79 = load double, ptr %78, align 8, !tbaa !26
  %80 = fcmp olt double %79, 1.000000e+20
  %81 = fcmp ogt double %79, %.0121164.unr
  %or.cond.epil = select i1 %80, i1 %81, i1 false
  %.1122.epil = select i1 %or.cond.epil, double %79, double %.0121164.unr
  br label %.loopexit160

.loopexit160:                                     ; preds = %.lr.ph.epil, %.loopexit160.loopexit.unr-lcssa, %61
  %.2123 = phi double [ %43, %61 ], [ %.1122.lcssa.ph, %.loopexit160.loopexit.unr-lcssa ], [ %.1122.epil, %.lr.ph.epil ]
  %.not151 = icmp ne ptr %2, null
  %or.cond176 = and i1 %.not151, %68
  br i1 %or.cond176, label %.lr.ph168.preheader, label %.loopexit

.lr.ph168.preheader:                              ; preds = %.loopexit160
  %xtraiter213 = and i64 %62, 1
  %82 = icmp eq i32 %9, 1
  br i1 %82, label %.loopexit.loopexit.unr-lcssa, label %.lr.ph168.preheader.new

.lr.ph168.preheader.new:                          ; preds = %.lr.ph168.preheader
  %unroll_iter216 = and i64 %62, 2147483646
  br label %.lr.ph168

.lr.ph168:                                        ; preds = %.lr.ph168, %.lr.ph168.preheader.new
  %indvars.iv181 = phi i64 [ 0, %.lr.ph168.preheader.new ], [ %indvars.iv.next182.1, %.lr.ph168 ]
  %.3166 = phi double [ %.2123, %.lr.ph168.preheader.new ], [ %.4.1, %.lr.ph168 ]
  %niter217 = phi i64 [ 0, %.lr.ph168.preheader.new ], [ %niter217.next.1, %.lr.ph168 ]
  %83 = getelementptr inbounds double, ptr %2, i64 %indvars.iv181
  %84 = load double, ptr %83, align 8, !tbaa !26
  %85 = fcmp ogt double %84, -1.000000e+20
  %86 = fneg double %.3166
  %87 = fcmp olt double %84, %86
  %or.cond155 = select i1 %85, i1 %87, i1 false
  %88 = fneg double %84
  %.4 = select i1 %or.cond155, double %88, double %.3166
  %indvars.iv.next182 = or disjoint i64 %indvars.iv181, 1
  %89 = getelementptr inbounds double, ptr %2, i64 %indvars.iv.next182
  %90 = load double, ptr %89, align 8, !tbaa !26
  %91 = fcmp ogt double %90, -1.000000e+20
  %92 = fneg double %.4
  %93 = fcmp olt double %90, %92
  %or.cond155.1 = select i1 %91, i1 %93, i1 false
  %94 = fneg double %90
  %.4.1 = select i1 %or.cond155.1, double %94, double %.4
  %indvars.iv.next182.1 = add nuw nsw i64 %indvars.iv181, 2
  %niter217.next.1 = add i64 %niter217, 2
  %niter217.ncmp.1 = icmp eq i64 %niter217.next.1, %unroll_iter216
  br i1 %niter217.ncmp.1, label %.loopexit.loopexit.unr-lcssa, label %.lr.ph168, !llvm.loop !34

.loopexit.loopexit.unr-lcssa:                     ; preds = %.lr.ph168, %.lr.ph168.preheader
  %.4.lcssa.ph = phi double [ poison, %.lr.ph168.preheader ], [ %.4.1, %.lr.ph168 ]
  %indvars.iv181.unr = phi i64 [ 0, %.lr.ph168.preheader ], [ %indvars.iv.next182.1, %.lr.ph168 ]
  %.3166.unr = phi double [ %.2123, %.lr.ph168.preheader ], [ %.4.1, %.lr.ph168 ]
  %lcmp.mod214.not = icmp eq i64 %xtraiter213, 0
  br i1 %lcmp.mod214.not, label %.loopexit, label %.lr.ph168.epil

.lr.ph168.epil:                                   ; preds = %.loopexit.loopexit.unr-lcssa
  %95 = getelementptr inbounds double, ptr %2, i64 %indvars.iv181.unr
  %96 = load double, ptr %95, align 8, !tbaa !26
  %97 = fcmp ogt double %96, -1.000000e+20
  %98 = fneg double %.3166.unr
  %99 = fcmp olt double %96, %98
  %or.cond155.epil = select i1 %97, i1 %99, i1 false
  %100 = fneg double %96
  %.4.epil = select i1 %or.cond155.epil, double %100, double %.3166.unr
  br label %.loopexit

.loopexit:                                        ; preds = %.lr.ph168.epil, %.loopexit.loopexit.unr-lcssa, %.loopexit160
  %.5 = phi double [ %.2123, %.loopexit160 ], [ %.4.lcssa.ph, %.loopexit.loopexit.unr-lcssa ], [ %.4.epil, %.lr.ph168.epil ]
  %101 = tail call noundef i32 @_ZNK7qpOASES9QProblemB15updateFarBoundsEdiPKdPdS2_S3_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %.5, i32 noundef %9, ptr noundef %2, ptr noundef nonnull %67, ptr noundef %3, ptr noundef nonnull %66)
  %.not152 = icmp eq ptr %5, null
  %102 = getelementptr inbounds i8, ptr %0, i64 392
  %103 = getelementptr inbounds i8, ptr %0, i64 212
  %104 = getelementptr inbounds i8, ptr %0, i64 208
  %105 = getelementptr inbounds i8, ptr %0, i64 320
  %106 = getelementptr inbounds i8, ptr %0, i64 184
  %107 = getelementptr inbounds i8, ptr %0, i64 264
  br label %108

108:                                              ; preds = %207, %.loopexit
  %.0125 = phi i32 [ 0, %.loopexit ], [ %114, %207 ]
  %.0124 = phi double [ 0.000000e+00, %.loopexit ], [ %116, %207 ]
  %.6 = phi double [ %.5, %.loopexit ], [ %118, %207 ]
  %.0120 = phi i32 [ 1, %.loopexit ], [ 0, %207 ]
  store i32 %41, ptr %4, align 4, !tbaa !28
  br i1 %.not152, label %112, label %109

109:                                              ; preds = %108
  %110 = load double, ptr %5, align 8, !tbaa !26
  %111 = fsub double %110, %.0124
  store double %111, ptr %8, align 8, !tbaa !26
  br label %112

112:                                              ; preds = %109, %108
  %113 = call noundef i32 @_ZN7qpOASES9QProblemB18solveRegularisedQPEPKdS2_S2_RiPdiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef %1, ptr noundef nonnull %67, ptr noundef nonnull %66, ptr noundef nonnull align 4 dereferenceable(4) %4, ptr noundef nonnull %8, i32 noundef %.0125, i32 noundef %.0120)
  %114 = load i32, ptr %4, align 4, !tbaa !28
  %115 = load double, ptr %8, align 8, !tbaa !26
  %116 = fadd double %.0124, %115
  %117 = load double, ptr %102, align 8, !tbaa !35
  %118 = fmul double %.6, %117
  %119 = load i32, ptr %103, align 4, !tbaa !36
  %120 = icmp eq i32 %119, 1
  br i1 %120, label %121, label %123

121:                                              ; preds = %112
  %122 = fcmp ult double %118, 1.000000e+20
  br i1 %122, label %207, label %.thread

123:                                              ; preds = %112
  %124 = load i32, ptr %104, align 8, !tbaa !8
  %125 = icmp eq i32 %124, 5
  br i1 %125, label %126, label %.thread

126:                                              ; preds = %123
  %127 = fdiv double %118, %117
  %128 = load double, ptr %105, align 8, !tbaa !37
  %129 = fmul double %127, %128
  br i1 %68, label %.lr.ph172, label %.thread

.lr.ph172:                                        ; preds = %126
  br i1 %.not151, label %.lr.ph172.split, label %.lr.ph172.split.us

.lr.ph172.split.us:                               ; preds = %.lr.ph172
  br i1 %.not150, label %.lr.ph172.split.us.split, label %.lr.ph172.split.us.split.us

.lr.ph172.split.us.split.us:                      ; preds = %.lr.ph172.split.us, %.lr.ph172.split.us.split.us
  %indvars.iv186 = phi i64 [ %indvars.iv.next187, %.lr.ph172.split.us.split.us ], [ 0, %.lr.ph172.split.us ]
  %.0117170.us.us = phi i32 [ %.2119.us.us, %.lr.ph172.split.us.split.us ], [ 0, %.lr.ph172.split.us ]
  %130 = getelementptr inbounds double, ptr %67, i64 %indvars.iv186
  %131 = load double, ptr %130, align 8, !tbaa !26
  %132 = load ptr, ptr %106, align 8, !tbaa !38
  %133 = getelementptr inbounds double, ptr %132, i64 %indvars.iv186
  %134 = load double, ptr %133, align 8, !tbaa !26
  %135 = fsub double %131, %134
  %136 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %135)
  %137 = fcmp olt double %136, %129
  %138 = zext i1 %137 to i32
  %.1118.us.us = add nsw i32 %.0117170.us.us, %138
  %139 = getelementptr inbounds double, ptr %66, i64 %indvars.iv186
  %140 = load double, ptr %139, align 8, !tbaa !26
  %141 = load ptr, ptr %106, align 8, !tbaa !38
  %142 = getelementptr inbounds double, ptr %141, i64 %indvars.iv186
  %143 = load double, ptr %142, align 8, !tbaa !26
  %144 = fsub double %140, %143
  %145 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %144)
  %146 = fcmp olt double %145, %129
  %147 = zext i1 %146 to i32
  %.2119.us.us = add nsw i32 %.1118.us.us, %147
  %indvars.iv.next187 = add nuw nsw i64 %indvars.iv186, 1
  %exitcond190.not = icmp eq i64 %indvars.iv.next187, %62
  br i1 %exitcond190.not, label %._crit_edge, label %.lr.ph172.split.us.split.us, !llvm.loop !39

.lr.ph172.split.us.split:                         ; preds = %.lr.ph172.split.us, %171
  %indvars.iv191 = phi i64 [ %indvars.iv.next192, %171 ], [ 0, %.lr.ph172.split.us ]
  %.0117170.us = phi i32 [ %.2119.us, %171 ], [ 0, %.lr.ph172.split.us ]
  %148 = getelementptr inbounds double, ptr %67, i64 %indvars.iv191
  %149 = load double, ptr %148, align 8, !tbaa !26
  %150 = load ptr, ptr %106, align 8, !tbaa !38
  %151 = getelementptr inbounds double, ptr %150, i64 %indvars.iv191
  %152 = load double, ptr %151, align 8, !tbaa !26
  %153 = fsub double %149, %152
  %154 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %153)
  %155 = fcmp olt double %154, %129
  %156 = zext i1 %155 to i32
  %.1118.us = add nsw i32 %.0117170.us, %156
  %157 = getelementptr inbounds double, ptr %66, i64 %indvars.iv191
  %158 = load double, ptr %157, align 8, !tbaa !26
  %159 = getelementptr inbounds double, ptr %3, i64 %indvars.iv191
  %160 = load double, ptr %159, align 8, !tbaa !26
  %161 = fcmp olt double %158, %160
  br i1 %161, label %162, label %171

162:                                              ; preds = %.lr.ph172.split.us.split
  %163 = load ptr, ptr %106, align 8, !tbaa !38
  %164 = getelementptr inbounds double, ptr %163, i64 %indvars.iv191
  %165 = load double, ptr %164, align 8, !tbaa !26
  %166 = fsub double %158, %165
  %167 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %166)
  %168 = fcmp olt double %167, %129
  br i1 %168, label %169, label %171

169:                                              ; preds = %162
  %170 = add nsw i32 %.1118.us, 1
  br label %171

171:                                              ; preds = %169, %162, %.lr.ph172.split.us.split
  %.2119.us = phi i32 [ %170, %169 ], [ %.1118.us, %162 ], [ %.1118.us, %.lr.ph172.split.us.split ]
  %indvars.iv.next192 = add nuw nsw i64 %indvars.iv191, 1
  %exitcond195.not = icmp eq i64 %indvars.iv.next192, %62
  br i1 %exitcond195.not, label %._crit_edge, label %.lr.ph172.split.us.split, !llvm.loop !39

.lr.ph172.split:                                  ; preds = %.lr.ph172, %201
  %indvars.iv196 = phi i64 [ %indvars.iv.next197, %201 ], [ 0, %.lr.ph172 ]
  %.0117170 = phi i32 [ %.2119, %201 ], [ 0, %.lr.ph172 ]
  %172 = getelementptr inbounds double, ptr %67, i64 %indvars.iv196
  %173 = load double, ptr %172, align 8, !tbaa !26
  %174 = getelementptr inbounds double, ptr %2, i64 %indvars.iv196
  %175 = load double, ptr %174, align 8, !tbaa !26
  %176 = fcmp ogt double %173, %175
  br i1 %176, label %177, label %186

177:                                              ; preds = %.lr.ph172.split
  %178 = load ptr, ptr %106, align 8, !tbaa !38
  %179 = getelementptr inbounds double, ptr %178, i64 %indvars.iv196
  %180 = load double, ptr %179, align 8, !tbaa !26
  %181 = fsub double %173, %180
  %182 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %181)
  %183 = fcmp olt double %182, %129
  br i1 %183, label %184, label %186

184:                                              ; preds = %177
  %185 = add nsw i32 %.0117170, 1
  br label %186

186:                                              ; preds = %184, %177, %.lr.ph172.split
  %.1118 = phi i32 [ %185, %184 ], [ %.0117170, %177 ], [ %.0117170, %.lr.ph172.split ]
  %187 = getelementptr inbounds double, ptr %66, i64 %indvars.iv196
  %188 = load double, ptr %187, align 8, !tbaa !26
  br i1 %.not150, label %189, label %._crit_edge201

189:                                              ; preds = %186
  %190 = getelementptr inbounds double, ptr %3, i64 %indvars.iv196
  %191 = load double, ptr %190, align 8, !tbaa !26
  %192 = fcmp olt double %188, %191
  br i1 %192, label %._crit_edge201, label %201

._crit_edge201:                                   ; preds = %186, %189
  %193 = load ptr, ptr %106, align 8, !tbaa !38
  %194 = getelementptr inbounds double, ptr %193, i64 %indvars.iv196
  %195 = load double, ptr %194, align 8, !tbaa !26
  %196 = fsub double %188, %195
  %197 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %196)
  %198 = fcmp olt double %197, %129
  br i1 %198, label %199, label %201

199:                                              ; preds = %._crit_edge201
  %200 = add nsw i32 %.1118, 1
  br label %201

201:                                              ; preds = %189, %._crit_edge201, %199
  %.2119 = phi i32 [ %200, %199 ], [ %.1118, %._crit_edge201 ], [ %.1118, %189 ]
  %indvars.iv.next197 = add nuw nsw i64 %indvars.iv196, 1
  %exitcond200.not = icmp eq i64 %indvars.iv.next197, %62
  br i1 %exitcond200.not, label %._crit_edge, label %.lr.ph172.split, !llvm.loop !39

._crit_edge:                                      ; preds = %.lr.ph172.split.us.split.us, %171, %201
  %.0117.lcssa = phi i32 [ %.2119, %201 ], [ %.2119.us, %171 ], [ %.2119.us.us, %.lr.ph172.split.us.split.us ]
  %202 = icmp eq i32 %.0117.lcssa, 0
  br i1 %202, label %.thread, label %203

203:                                              ; preds = %._crit_edge
  store i32 4, ptr %104, align 8, !tbaa !8
  %204 = fcmp ult double %118, 1.000000e+20
  br i1 %204, label %207, label %205

205:                                              ; preds = %203
  %206 = getelementptr inbounds i8, ptr %0, i64 216
  store i32 1, ptr %206, align 8, !tbaa !40
  br label %.thread

207:                                              ; preds = %203, %121
  %208 = call noundef i32 @_ZNK7qpOASES9QProblemB15updateFarBoundsEdiPKdPdS2_S3_(ptr noundef nonnull align 8 dereferenceable(800) %0, double noundef %118, i32 noundef %9, ptr noundef %2, ptr noundef nonnull %67, ptr noundef %3, ptr noundef nonnull %66)
  %209 = load i32, ptr %107, align 8, !tbaa !41
  %210 = add nsw i32 %209, 1
  store i32 %210, ptr %107, align 8, !tbaa !41
  br label %108, !llvm.loop !42

.thread:                                          ; preds = %126, %._crit_edge, %121, %123, %205
  %.1128 = phi i32 [ 62, %205 ], [ %113, %126 ], [ %113, %._crit_edge ], [ 61, %121 ], [ %113, %123 ]
  br i1 %.not152, label %213, label %211

211:                                              ; preds = %.thread
  %212 = fadd double %.0131, %116
  store double %212, ptr %5, align 8, !tbaa !26
  br label %213

213:                                              ; preds = %.thread, %211
  call void @_ZdaPv(ptr noundef nonnull %67) #9
  call void @_ZdaPv(ptr noundef nonnull %66) #9
  br label %214

214:                                              ; preds = %213, %59
  %.2129 = phi i32 [ %60, %59 ], [ %.1128, %213 ]
  %.not153 = icmp eq i32 %.2129, 0
  br i1 %.not153, label %218, label %215

215:                                              ; preds = %214
  %216 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %217 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %216, i32 noundef %.2129, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 577, i32 noundef 1)
  br label %218

218:                                              ; preds = %215, %214, %52
  %.0 = phi i32 [ %54, %52 ], [ %217, %215 ], [ 0, %214 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #7
  br label %219

219:                                              ; preds = %35, %218, %23, %11
  %.2 = phi i32 [ %13, %11 ], [ %25, %23 ], [ %36, %35 ], [ %.0, %218 ]
  ret i32 %.2
}

declare noundef double @_ZN7qpOASES10getCPUtimeEv() local_unnamed_addr #0

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB19areBoundsConsistentEPKdS2_(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef, ptr noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES9QProblemB20setInfeasibilityFlagENS_11returnValueENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, i32 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES9QProblemB18solveRegularisedQPEPKdS2_S2_RiPdiNS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef, i32 noundef, i32 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB15updateFarBoundsEdiPKdPdS2_S3_(ptr noundef nonnull align 8 dereferenceable(800), double noundef, i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getAbsEd(double noundef) local_unnamed_addr #5

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) local_unnamed_addr #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 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #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 = { 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 = { 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 = { 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 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = !{!9, !18, i64 208}
!9 = !{!"_ZTSN7qpOASES9QProblemBE", !10, i64 8, !12, i64 16, !12, i64 24, !12, i64 32, !12, i64 40, !13, i64 48, !12, i64 168, !10, i64 176, !12, i64 184, !12, i64 192, !17, i64 200, !18, i64 208, !10, i64 212, !10, i64 216, !19, i64 220, !17, i64 224, !15, i64 232, !12, i64 240, !17, i64 248, !17, i64 256, !15, i64 264, !20, i64 272, !23, i64 496, !25, i64 768}
!10 = !{!"_ZTSN7qpOASES11BooleanTypeE", !11, i64 0}
!11 = !{!"omnipotent char", !7, i64 0}
!12 = !{!"any pointer", !11, i64 0}
!13 = !{!"_ZTSN7qpOASES6BoundsE", !14, i64 0, !16, i64 40, !16, i64 80}
!14 = !{!"_ZTSN7qpOASES9SubjectToE", !15, i64 8, !12, i64 16, !12, i64 24, !10, i64 32, !10, i64 36}
!15 = !{!"int", !11, i64 0}
!16 = !{!"_ZTSN7qpOASES9IndexlistE", !12, i64 0, !12, i64 8, !15, i64 16, !15, i64 20, !15, i64 24, !15, i64 28, !15, i64 32}
!17 = !{!"double", !11, i64 0}
!18 = !{!"_ZTSN7qpOASES14QProblemStatusE", !11, i64 0}
!19 = !{!"_ZTSN7qpOASES11HessianTypeE", !11, i64 0}
!20 = !{!"_ZTSN7qpOASES7OptionsE", !21, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !15, i64 28, !15, i64 32, !10, i64 36, !17, i64 40, !17, i64 48, !17, i64 56, !17, i64 64, !17, i64 72, !17, i64 80, !17, i64 88, !17, i64 96, !17, i64 104, !17, i64 112, !17, i64 120, !22, i64 128, !17, i64 136, !15, i64 144, !17, i64 152, !15, i64 160, !17, i64 168, !17, i64 176, !17, i64 184, !17, i64 192, !10, i64 200, !10, i64 204, !15, i64 208, !15, i64 212, !15, i64 216}
!21 = !{!"_ZTSN7qpOASES10PrintLevelE", !11, i64 0}
!22 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !11, i64 0}
!23 = !{!"_ZTSN7qpOASES7FlipperE", !15, i64 0, !15, i64 4, !13, i64 8, !24, i64 128, !12, i64 248, !12, i64 256, !12, i64 264}
!24 = !{!"_ZTSN7qpOASES11ConstraintsE", !14, i64 0, !16, i64 40, !16, i64 80}
!25 = !{!"_ZTSN7qpOASES13TabularOutputE", !15, i64 0, !15, i64 4, !15, i64 8, !15, i64 12, !15, i64 16, !15, i64 20, !15, i64 24, !15, i64 28}
!26 = !{!17, !17, i64 0}
!27 = !{!9, !15, i64 232}
!28 = !{!15, !15, i64 0}
!29 = !{!9, !17, i64 384}
!30 = !{!9, !10, i64 176}
!31 = !{!9, !10, i64 280}
!32 = distinct !{!32, !33}
!33 = !{!"llvm.loop.mustprogress"}
!34 = distinct !{!34, !33}
!35 = !{!9, !17, i64 392}
!36 = !{!9, !10, i64 212}
!37 = !{!9, !17, i64 320}
!38 = !{!9, !12, i64 184}
!39 = distinct !{!39, !33}
!40 = !{!9, !10, i64 216}
!41 = !{!9, !15, i64 264}
!42 = distinct !{!42, !33}


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