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

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

%"class.qpOASES::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 }
%"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 }

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [103 x i8], align 1
@.str.41 = external hidden unnamed_addr constant [2 x i8], align 1

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #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) #1

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getAbsEd(double noundef) #3

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800)) #2 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) #3 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800)) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem24computeProjectedCholeskyEv(ptr noundef nonnull align 8 dereferenceable(1064) %0) unnamed_addr #4 align 2 {
  %2 = alloca i32, align 4
  %3 = alloca ptr, align 8
  %4 = alloca i32, align 4
  %5 = alloca i32, align 4
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  %8 = alloca ptr, align 8
  %9 = alloca i32, align 4
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca i32, align 4
  %13 = alloca i64, align 8
  %14 = alloca i64, align 8
  %15 = alloca i64, align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  %16 = load ptr, ptr %3, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %4) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #5
  %17 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %16)
  store i32 %17, ptr %6, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #5
  %18 = load ptr, ptr %16, align 8, !tbaa !11
  %19 = getelementptr inbounds ptr, ptr %18, i64 7
  %20 = load ptr, ptr %19, align 8
  %21 = call noundef i32 %20(ptr noundef nonnull align 8 dereferenceable(1064) %16)
  store i32 %21, ptr %7, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #5
  %22 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %16)
  %23 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %16)
  %24 = add nsw i32 %22, %23
  %25 = icmp eq i32 %24, 0
  br i1 %25, label %26, label %28

26:                                               ; preds = %1
  %27 = call noundef i32 @_ZN7qpOASES9QProblemB15computeCholeskyEv(ptr noundef nonnull align 8 dereferenceable(800) %16)
  store i32 %27, ptr %2, align 4
  store i32 1, ptr %9, align 4
  br label %271

28:                                               ; preds = %1
  store i32 0, ptr %4, align 4, !tbaa !9
  br label %29

29:                                               ; preds = %41, %28
  %30 = load i32, ptr %4, align 4, !tbaa !9
  %31 = load i32, ptr %6, align 4, !tbaa !9
  %32 = load i32, ptr %6, align 4, !tbaa !9
  %33 = mul nsw i32 %31, %32
  %34 = icmp slt i32 %30, %33
  br i1 %34, label %35, label %44

35:                                               ; preds = %29
  %36 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %37 = load ptr, ptr %36, align 8, !tbaa !13
  %38 = load i32, ptr %4, align 4, !tbaa !9
  %39 = sext i32 %38 to i64
  %40 = getelementptr inbounds double, ptr %37, i64 %39
  store double 0.000000e+00, ptr %40, align 8, !tbaa !28
  br label %41

41:                                               ; preds = %35
  %42 = load i32, ptr %4, align 4, !tbaa !9
  %43 = add nsw i32 %42, 1
  store i32 %43, ptr %4, align 4, !tbaa !9
  br label %29, !llvm.loop !29

44:                                               ; preds = %29
  %45 = load i32, ptr %7, align 4, !tbaa !9
  %46 = icmp eq i32 %45, 0
  br i1 %46, label %47, label %48

47:                                               ; preds = %44
  store i32 0, ptr %2, align 4
  store i32 1, ptr %9, align 4
  br label %271

48:                                               ; preds = %44
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #5
  %49 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %50 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %49)
  %51 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %50, ptr noundef %10)
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #5
  %52 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %16, i32 0, i32 5
  %53 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %52)
  %54 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %53, ptr noundef %11)
  %55 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 15
  %56 = load i32, ptr %55, align 4, !tbaa !31
  switch i32 %56, label %118 [
    i32 0, label %57
    i32 1, label %94
  ]

57:                                               ; preds = %48
  %58 = call noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800) %16)
  %59 = icmp eq i32 %58, 1
  br i1 %59, label %60, label %86

60:                                               ; preds = %57
  %61 = load i32, ptr %6, align 4, !tbaa !9
  %62 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 16
  %63 = load double, ptr %62, align 8, !tbaa !32
  %64 = call noundef ptr @_ZN7qpOASES9QProblemB19createDiagSparseMatEid(ptr noundef nonnull align 8 dereferenceable(800) %16, i32 noundef %61, double noundef %63)
  store ptr %64, ptr %8, align 8, !tbaa !5
  %65 = load ptr, ptr %8, align 8, !tbaa !5
  %66 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %67 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %66)
  %68 = load i32, ptr %7, align 4, !tbaa !9
  %69 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %16, i32 0, i32 7
  %70 = load ptr, ptr %69, align 8, !tbaa !33
  %71 = load i32, ptr %6, align 4, !tbaa !9
  %72 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %73 = load ptr, ptr %72, align 8, !tbaa !13
  %74 = load i32, ptr %6, align 4, !tbaa !9
  %75 = load ptr, ptr %65, align 8, !tbaa !11
  %76 = getelementptr inbounds ptr, ptr %75, i64 3
  %77 = load ptr, ptr %76, align 8
  %78 = call noundef i32 %77(ptr noundef nonnull align 8 dereferenceable(56) %65, ptr noundef %67, i32 noundef %68, ptr noundef %70, i32 noundef %71, ptr noundef %73, i32 noundef %74)
  %79 = load ptr, ptr %8, align 8, !tbaa !5
  %80 = icmp eq ptr %79, null
  br i1 %80, label %85, label %81

81:                                               ; preds = %60
  %82 = load ptr, ptr %79, align 8, !tbaa !11
  %83 = getelementptr inbounds ptr, ptr %82, i64 1
  %84 = load ptr, ptr %83, align 8
  call void %84(ptr noundef nonnull align 8 dereferenceable(56) %79) #5
  br label %85

85:                                               ; preds = %81, %60
  br label %93

86:                                               ; preds = %57
  %87 = load i32, ptr %7, align 4, !tbaa !9
  %88 = icmp sgt i32 %87, 0
  br i1 %88, label %89, label %92

89:                                               ; preds = %86
  %90 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %91 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %90, i32 noundef 9, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 2077, i32 noundef 1)
  store i32 %91, ptr %2, align 4
  store i32 1, ptr %9, align 4
  br label %270

92:                                               ; preds = %86
  br label %93

93:                                               ; preds = %92, %85
  br label %213

94:                                               ; preds = %48
  %95 = load i32, ptr %6, align 4, !tbaa !9
  %96 = call noundef ptr @_ZN7qpOASES9QProblemB19createDiagSparseMatEid(ptr noundef nonnull align 8 dereferenceable(800) %16, i32 noundef %95, double noundef 1.000000e+00)
  store ptr %96, ptr %8, align 8, !tbaa !5
  %97 = load ptr, ptr %8, align 8, !tbaa !5
  %98 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %99 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %98)
  %100 = load i32, ptr %7, align 4, !tbaa !9
  %101 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %16, i32 0, i32 7
  %102 = load ptr, ptr %101, align 8, !tbaa !33
  %103 = load i32, ptr %6, align 4, !tbaa !9
  %104 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %105 = load ptr, ptr %104, align 8, !tbaa !13
  %106 = load i32, ptr %6, align 4, !tbaa !9
  %107 = load ptr, ptr %97, align 8, !tbaa !11
  %108 = getelementptr inbounds ptr, ptr %107, i64 3
  %109 = load ptr, ptr %108, align 8
  %110 = call noundef i32 %109(ptr noundef nonnull align 8 dereferenceable(56) %97, ptr noundef %99, i32 noundef %100, ptr noundef %102, i32 noundef %103, ptr noundef %105, i32 noundef %106)
  %111 = load ptr, ptr %8, align 8, !tbaa !5
  %112 = icmp eq ptr %111, null
  br i1 %112, label %117, label %113

113:                                              ; preds = %94
  %114 = load ptr, ptr %111, align 8, !tbaa !11
  %115 = getelementptr inbounds ptr, ptr %114, i64 1
  %116 = load ptr, ptr %115, align 8
  call void %116(ptr noundef nonnull align 8 dereferenceable(56) %111) #5
  br label %117

117:                                              ; preds = %113, %94
  br label %213

118:                                              ; preds = %48
  %119 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %16)
  %120 = icmp eq i32 %119, 0
  br i1 %120, label %121, label %196

121:                                              ; preds = %118
  store i32 0, ptr %5, align 4, !tbaa !9
  br label %122

122:                                              ; preds = %158, %121
  %123 = load i32, ptr %5, align 4, !tbaa !9
  %124 = load i32, ptr %7, align 4, !tbaa !9
  %125 = icmp slt i32 %123, %124
  br i1 %125, label %126, label %161

126:                                              ; preds = %122
  store i32 0, ptr %4, align 4, !tbaa !9
  br label %127

127:                                              ; preds = %141, %126
  %128 = load i32, ptr %4, align 4, !tbaa !9
  %129 = load i32, ptr %6, align 4, !tbaa !9
  %130 = icmp slt i32 %128, %129
  br i1 %130, label %131, label %144

131:                                              ; preds = %127
  %132 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %16, i32 0, i32 7
  %133 = load ptr, ptr %132, align 8, !tbaa !33
  %134 = load i32, ptr %4, align 4, !tbaa !9
  %135 = load i32, ptr %6, align 4, !tbaa !9
  %136 = load i32, ptr %5, align 4, !tbaa !9
  %137 = mul nsw i32 %135, %136
  %138 = add nsw i32 %134, %137
  %139 = sext i32 %138 to i64
  %140 = getelementptr inbounds double, ptr %133, i64 %139
  store double 0.000000e+00, ptr %140, align 8, !tbaa !28
  br label %141

141:                                              ; preds = %131
  %142 = load i32, ptr %4, align 4, !tbaa !9
  %143 = add nsw i32 %142, 1
  store i32 %143, ptr %4, align 4, !tbaa !9
  br label %127, !llvm.loop !35

144:                                              ; preds = %127
  %145 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %16, i32 0, i32 7
  %146 = load ptr, ptr %145, align 8, !tbaa !33
  %147 = load ptr, ptr %10, align 8, !tbaa !5
  %148 = load i32, ptr %5, align 4, !tbaa !9
  %149 = sext i32 %148 to i64
  %150 = getelementptr inbounds i32, ptr %147, i64 %149
  %151 = load i32, ptr %150, align 4, !tbaa !9
  %152 = load i32, ptr %6, align 4, !tbaa !9
  %153 = load i32, ptr %5, align 4, !tbaa !9
  %154 = mul nsw i32 %152, %153
  %155 = add nsw i32 %151, %154
  %156 = sext i32 %155 to i64
  %157 = getelementptr inbounds double, ptr %146, i64 %156
  store double 1.000000e+00, ptr %157, align 8, !tbaa !28
  br label %158

158:                                              ; preds = %144
  %159 = load i32, ptr %5, align 4, !tbaa !9
  %160 = add nsw i32 %159, 1
  store i32 %160, ptr %5, align 4, !tbaa !9
  br label %122, !llvm.loop !36

161:                                              ; preds = %122
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #5
  %162 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %16)
  store i32 %162, ptr %12, align 4, !tbaa !9
  store i32 0, ptr %5, align 4, !tbaa !9
  br label %163

163:                                              ; preds = %192, %161
  %164 = load i32, ptr %5, align 4, !tbaa !9
  %165 = load i32, ptr %12, align 4, !tbaa !9
  %166 = icmp slt i32 %164, %165
  br i1 %166, label %167, label %195

167:                                              ; preds = %163
  %168 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 2
  %169 = load ptr, ptr %168, align 8, !tbaa !37
  %170 = load ptr, ptr %169, align 8, !tbaa !11
  %171 = getelementptr i8, ptr %170, i64 -24
  %172 = load i64, ptr %171, align 8
  %173 = getelementptr inbounds i8, ptr %169, i64 %172
  %174 = load ptr, ptr %10, align 8, !tbaa !5
  %175 = load i32, ptr %5, align 4, !tbaa !9
  %176 = sext i32 %175 to i64
  %177 = getelementptr inbounds i32, ptr %174, i64 %176
  %178 = load i32, ptr %177, align 4, !tbaa !9
  %179 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %180 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %179)
  %181 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %182 = load ptr, ptr %181, align 8, !tbaa !13
  %183 = load i32, ptr %5, align 4, !tbaa !9
  %184 = load i32, ptr %6, align 4, !tbaa !9
  %185 = mul nsw i32 %183, %184
  %186 = sext i32 %185 to i64
  %187 = getelementptr inbounds double, ptr %182, i64 %186
  %188 = load ptr, ptr %173, align 8, !tbaa !11
  %189 = getelementptr inbounds ptr, ptr %188, i64 10
  %190 = load ptr, ptr %189, align 8
  %191 = call noundef i32 %190(ptr noundef nonnull align 8 dereferenceable(12) %173, i32 noundef %178, ptr noundef %180, double noundef 1.000000e+00, ptr noundef %187)
  br label %192

192:                                              ; preds = %167
  %193 = load i32, ptr %5, align 4, !tbaa !9
  %194 = add nsw i32 %193, 1
  store i32 %194, ptr %5, align 4, !tbaa !9
  br label %163, !llvm.loop !38

195:                                              ; preds = %163
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #5
  br label %212

196:                                              ; preds = %118
  %197 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 2
  %198 = load ptr, ptr %197, align 8, !tbaa !37
  %199 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 6
  %200 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %199)
  %201 = load i32, ptr %7, align 4, !tbaa !9
  %202 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %16, i32 0, i32 7
  %203 = load ptr, ptr %202, align 8, !tbaa !33
  %204 = load i32, ptr %6, align 4, !tbaa !9
  %205 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %206 = load ptr, ptr %205, align 8, !tbaa !13
  %207 = load i32, ptr %6, align 4, !tbaa !9
  %208 = load ptr, ptr %198, align 8, !tbaa !11
  %209 = getelementptr inbounds ptr, ptr %208, i64 3
  %210 = load ptr, ptr %209, align 8
  %211 = call noundef i32 %210(ptr noundef nonnull align 8 dereferenceable(8) %198, ptr noundef %200, i32 noundef %201, ptr noundef %203, i32 noundef %204, ptr noundef %206, i32 noundef %207)
  br label %212

212:                                              ; preds = %196, %195
  br label %213

213:                                              ; preds = %212, %117, %93
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #5
  store i64 0, ptr %13, align 8, !tbaa !39
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #5
  %214 = load i32, ptr %7, align 4, !tbaa !9
  %215 = sext i32 %214 to i64
  store i64 %215, ptr %14, align 8, !tbaa !39
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #5
  %216 = load i32, ptr %6, align 4, !tbaa !9
  %217 = sext i32 %216 to i64
  store i64 %217, ptr %15, align 8, !tbaa !39
  %218 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %219 = load ptr, ptr %218, align 8, !tbaa !13
  call void @dpotrf_(ptr noundef @.str.41, ptr noundef %14, ptr noundef %219, ptr noundef %15, ptr noundef %13)
  %220 = load i64, ptr %13, align 8, !tbaa !39
  %221 = icmp sgt i64 %220, 0
  br i1 %221, label %222, label %248

222:                                              ; preds = %213
  %223 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %224 = load ptr, ptr %223, align 8, !tbaa !13
  %225 = getelementptr inbounds double, ptr %224, i64 0
  %226 = load double, ptr %225, align 8, !tbaa !28
  %227 = fcmp olt double %226, 0.000000e+00
  br i1 %227, label %228, label %246

228:                                              ; preds = %222
  %229 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %230 = load ptr, ptr %229, align 8, !tbaa !13
  %231 = getelementptr inbounds double, ptr %230, i64 0
  %232 = load double, ptr %231, align 8, !tbaa !28
  %233 = fneg double %232
  %234 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 23
  %235 = getelementptr inbounds %"class.qpOASES::Options", ptr %234, i32 0, i32 26
  %236 = load double, ptr %235, align 8, !tbaa !41
  %237 = fadd double %233, %236
  %238 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 23
  %239 = getelementptr inbounds %"class.qpOASES::Options", ptr %238, i32 0, i32 26
  %240 = load double, ptr %239, align 8, !tbaa !41
  %241 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %240)
  %242 = call noundef double @_ZN7qpOASES7getSqrtEd(double noundef %241)
  %243 = call noundef double @_ZN7qpOASES6getMinEdd(double noundef %237, double noundef %242)
  %244 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 23
  %245 = getelementptr inbounds %"class.qpOASES::Options", ptr %244, i32 0, i32 26
  store double %243, ptr %245, align 8, !tbaa !41
  br label %246

246:                                              ; preds = %228, %222
  %247 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 15
  store i32 4, ptr %247, align 4, !tbaa !31
  store i32 99, ptr %2, align 4
  store i32 1, ptr %9, align 4
  br label %269

248:                                              ; preds = %213
  store i32 0, ptr %4, align 4, !tbaa !9
  br label %249

249:                                              ; preds = %265, %248
  %250 = load i32, ptr %4, align 4, !tbaa !9
  %251 = load i32, ptr %7, align 4, !tbaa !9
  %252 = sub nsw i32 %251, 1
  %253 = icmp slt i32 %250, %252
  br i1 %253, label %254, label %268

254:                                              ; preds = %249
  %255 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %16, i32 0, i32 7
  %256 = load ptr, ptr %255, align 8, !tbaa !13
  %257 = load i32, ptr %4, align 4, !tbaa !9
  %258 = add nsw i32 %257, 1
  %259 = load i32, ptr %6, align 4, !tbaa !9
  %260 = load i32, ptr %4, align 4, !tbaa !9
  %261 = mul nsw i32 %259, %260
  %262 = add nsw i32 %258, %261
  %263 = sext i32 %262 to i64
  %264 = getelementptr inbounds double, ptr %256, i64 %263
  store double 0.000000e+00, ptr %264, align 8, !tbaa !28
  br label %265

265:                                              ; preds = %254
  %266 = load i32, ptr %4, align 4, !tbaa !9
  %267 = add nsw i32 %266, 1
  store i32 %267, ptr %4, align 4, !tbaa !9
  br label %249, !llvm.loop !42

268:                                              ; preds = %249
  store i32 0, ptr %2, align 4
  store i32 1, ptr %9, align 4
  br label %269

269:                                              ; preds = %268, %246
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #5
  br label %270

270:                                              ; preds = %269, %89
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #5
  br label %271

271:                                              ; preds = %270, %47, %26
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %4) #5
  %272 = load i32, ptr %2, align 4
  ret i32 %272
}

declare noundef i32 @_ZN7qpOASES9QProblemB15computeCholeskyEv(ptr noundef nonnull align 8 dereferenceable(800)) unnamed_addr #1

declare noundef ptr @_ZN7qpOASES9QProblemB19createDiagSparseMatEid(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, double noundef) #1

declare void @dpotrf_(ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getMinEdd(double noundef, double noundef) #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES7getSqrtEd(double noundef) #3

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "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 = { 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 #3 = { 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 #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 = { 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 = !{!"vtable pointer", !8, i64 0}
!13 = !{!14, !6, i64 168}
!14 = !{!"_ZTSN7qpOASES9QProblemBE", !15, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !16, i64 48, !6, i64 168, !15, i64 176, !6, i64 184, !6, i64 192, !19, i64 200, !20, i64 208, !15, i64 212, !15, i64 216, !21, i64 220, !19, i64 224, !10, i64 232, !6, i64 240, !19, i64 248, !19, i64 256, !10, i64 264, !22, i64 272, !25, i64 496, !27, i64 768}
!15 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!16 = !{!"_ZTSN7qpOASES6BoundsE", !17, i64 0, !18, i64 40, !18, i64 80}
!17 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !15, i64 32, !15, i64 36}
!18 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!19 = !{!"double", !7, i64 0}
!20 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!21 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!22 = !{!"_ZTSN7qpOASES7OptionsE", !23, i64 0, !15, i64 4, !15, i64 8, !15, i64 12, !15, i64 16, !15, i64 20, !15, i64 24, !10, i64 28, !10, i64 32, !15, i64 36, !19, i64 40, !19, i64 48, !19, i64 56, !19, i64 64, !19, i64 72, !19, i64 80, !19, i64 88, !19, i64 96, !19, i64 104, !19, i64 112, !19, i64 120, !24, i64 128, !19, i64 136, !10, i64 144, !19, i64 152, !10, i64 160, !19, i64 168, !19, i64 176, !19, i64 184, !19, i64 192, !15, i64 200, !15, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!23 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!24 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!25 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !16, i64 8, !26, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!26 = !{!"_ZTSN7qpOASES11ConstraintsE", !17, i64 0, !18, i64 40, !18, i64 80}
!27 = !{!"_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}
!28 = !{!19, !19, i64 0}
!29 = distinct !{!29, !30}
!30 = !{!"llvm.loop.mustprogress"}
!31 = !{!14, !21, i64 220}
!32 = !{!14, !19, i64 224}
!33 = !{!34, !6, i64 960}
!34 = !{!"_ZTSN7qpOASES8QProblemE", !14, i64 0, !15, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !26, 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}
!35 = distinct !{!35, !30}
!36 = distinct !{!36, !30}
!37 = !{!14, !6, i64 16}
!38 = distinct !{!38, !30}
!39 = !{!40, !40, i64 0}
!40 = !{!"long", !7, i64 0}
!41 = !{!14, !19, i64 424}
!42 = distinct !{!42, !30}


; 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 [103 x i8], align 1
@.str.41 = external hidden unnamed_addr constant [2 x i8], align 1

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #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 #1

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getAbsEd(double noundef) local_unnamed_addr #3

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #2 align 2

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #3 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem24computeProjectedCholeskyEv(ptr noundef nonnull align 8 dereferenceable(1064) %0) unnamed_addr #4 align 2 {
  %2 = alloca ptr, align 8
  %3 = alloca ptr, align 8
  %4 = alloca i64, align 8
  %5 = alloca i64, align 8
  %6 = alloca i64, align 8
  %7 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %8 = load ptr, ptr %0, align 8, !tbaa !5
  %9 = getelementptr inbounds i8, ptr %8, i64 56
  %10 = load ptr, ptr %9, align 8
  %11 = tail call noundef i32 %10(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %12 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %13 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %14 = sub i32 0, %13
  %15 = icmp eq i32 %12, %14
  br i1 %15, label %21, label %.preheader61

.preheader61:                                     ; preds = %1
  %.not = icmp eq i32 %7, 0
  br i1 %.not, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %.preheader61
  %16 = mul i32 %7, %7
  %17 = getelementptr inbounds i8, ptr %0, i64 168
  %18 = load ptr, ptr %17, align 8, !tbaa !8
  %19 = tail call i32 @llvm.umax.i32(i32 %16, i32 1)
  %umax = zext i32 %19 to i64
  %20 = shl nuw nsw i64 %umax, 3
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(1) %18, i8 0, i64 %20, i1 false), !tbaa !26
  br label %._crit_edge

21:                                               ; preds = %1
  %22 = tail call noundef i32 @_ZN7qpOASES9QProblemB15computeCholeskyEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  br label %212

._crit_edge:                                      ; preds = %.lr.ph, %.preheader61
  %23 = icmp eq i32 %11, 0
  br i1 %23, label %212, label %24

24:                                               ; preds = %._crit_edge
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %2) #7
  %25 = getelementptr inbounds i8, ptr %0, i64 48
  %26 = tail call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %25)
  %27 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %26, ptr noundef nonnull %2)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %3) #7
  %28 = getelementptr inbounds i8, ptr %0, i64 832
  %29 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %28)
  %30 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %29, ptr noundef nonnull %3)
  %31 = getelementptr inbounds i8, ptr %0, i64 220
  %32 = load i32, ptr %31, align 4, !tbaa !27
  switch i32 %32, label %71 [
    i32 0, label %33
    i32 1, label %57
  ]

33:                                               ; preds = %24
  %34 = call noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %35 = icmp eq i32 %34, 1
  br i1 %35, label %36, label %52

36:                                               ; preds = %33
  %37 = getelementptr inbounds i8, ptr %0, i64 224
  %38 = load double, ptr %37, align 8, !tbaa !28
  %39 = call noundef ptr @_ZN7qpOASES9QProblemB19createDiagSparseMatEid(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %7, double noundef %38)
  %40 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %25)
  %41 = getelementptr inbounds i8, ptr %0, i64 960
  %42 = load ptr, ptr %41, align 8, !tbaa !29
  %43 = getelementptr inbounds i8, ptr %0, i64 168
  %44 = load ptr, ptr %43, align 8, !tbaa !8
  %45 = load ptr, ptr %39, align 8, !tbaa !5
  %46 = getelementptr inbounds i8, ptr %45, i64 24
  %47 = load ptr, ptr %46, align 8
  %48 = call noundef i32 %47(ptr noundef nonnull align 8 dereferenceable(56) %39, ptr noundef %40, i32 noundef %11, ptr noundef %42, i32 noundef %7, ptr noundef %44, i32 noundef %7)
  %49 = load ptr, ptr %39, align 8, !tbaa !5
  %50 = getelementptr inbounds i8, ptr %49, i64 8
  %51 = load ptr, ptr %50, align 8
  call void %51(ptr noundef nonnull align 8 dereferenceable(56) %39) #7
  br label %.loopexit58

52:                                               ; preds = %33
  %53 = icmp sgt i32 %11, 0
  br i1 %53, label %54, label %.loopexit58

54:                                               ; preds = %52
  %55 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %56 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %55, i32 noundef 9, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 2077, i32 noundef 1)
  br label %211

57:                                               ; preds = %24
  %58 = call noundef ptr @_ZN7qpOASES9QProblemB19createDiagSparseMatEid(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %7, double noundef 1.000000e+00)
  %59 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %25)
  %60 = getelementptr inbounds i8, ptr %0, i64 960
  %61 = load ptr, ptr %60, align 8, !tbaa !29
  %62 = getelementptr inbounds i8, ptr %0, i64 168
  %63 = load ptr, ptr %62, align 8, !tbaa !8
  %64 = load ptr, ptr %58, align 8, !tbaa !5
  %65 = getelementptr inbounds i8, ptr %64, i64 24
  %66 = load ptr, ptr %65, align 8
  %67 = call noundef i32 %66(ptr noundef nonnull align 8 dereferenceable(56) %58, ptr noundef %59, i32 noundef %11, ptr noundef %61, i32 noundef %7, ptr noundef %63, i32 noundef %7)
  %68 = load ptr, ptr %58, align 8, !tbaa !5
  %69 = getelementptr inbounds i8, ptr %68, i64 8
  %70 = load ptr, ptr %69, align 8
  call void %70(ptr noundef nonnull align 8 dereferenceable(56) %58) #7
  br label %.loopexit58

71:                                               ; preds = %24
  %72 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %73 = icmp eq i32 %72, 0
  br i1 %73, label %.preheader60, label %160

.preheader60:                                     ; preds = %71
  %74 = icmp sgt i32 %11, 0
  br i1 %74, label %.preheader59.lr.ph, label %._crit_edge67

.preheader59.lr.ph:                               ; preds = %.preheader60
  %75 = icmp sgt i32 %7, 0
  %76 = getelementptr inbounds i8, ptr %0, i64 960
  %77 = load ptr, ptr %76, align 8
  %78 = load ptr, ptr %2, align 8, !tbaa !31
  br i1 %75, label %.preheader59.us.preheader, label %.preheader59.preheader

.preheader59.preheader:                           ; preds = %.preheader59.lr.ph
  %79 = sext i32 %7 to i64
  %wide.trip.count = zext nneg i32 %11 to i64
  %xtraiter = and i64 %wide.trip.count, 3
  %80 = icmp ult i32 %11, 4
  br i1 %80, label %._crit_edge67.loopexit94.unr-lcssa, label %.preheader59.preheader.new

.preheader59.preheader.new:                       ; preds = %.preheader59.preheader
  %unroll_iter = and i64 %wide.trip.count, 2147483644
  br label %.preheader59

.preheader59.us.preheader:                        ; preds = %.preheader59.lr.ph
  %81 = zext nneg i32 %7 to i64
  %82 = shl nuw nsw i64 %81, 3
  %wide.trip.count80 = zext nneg i32 %11 to i64
  %xtraiter95 = and i64 %wide.trip.count80, 1
  %83 = icmp eq i32 %11, 1
  br i1 %83, label %._crit_edge67.loopexit.unr-lcssa, label %.preheader59.us.preheader.new

.preheader59.us.preheader.new:                    ; preds = %.preheader59.us.preheader
  %unroll_iter98 = and i64 %wide.trip.count80, 2147483646
  br label %.preheader59.us

.preheader59.us:                                  ; preds = %.preheader59.us, %.preheader59.us.preheader.new
  %indvar = phi i64 [ 0, %.preheader59.us.preheader.new ], [ %indvar.next.1, %.preheader59.us ]
  %niter99 = phi i64 [ 0, %.preheader59.us.preheader.new ], [ %niter99.next.1, %.preheader59.us ]
  %84 = mul i64 %82, %indvar
  %scevgep = getelementptr i8, ptr %77, i64 %84
  call void @llvm.memset.p0.i64(ptr align 8 %scevgep, i8 0, i64 %82, i1 false), !tbaa !26
  %85 = getelementptr inbounds i32, ptr %78, i64 %indvar
  %86 = load i32, ptr %85, align 4, !tbaa !32
  %87 = trunc i64 %indvar to i32
  %88 = mul i32 %7, %87
  %89 = add nsw i32 %86, %88
  %90 = sext i32 %89 to i64
  %91 = getelementptr inbounds double, ptr %77, i64 %90
  store double 1.000000e+00, ptr %91, align 8, !tbaa !26
  %indvar.next = or disjoint i64 %indvar, 1
  %92 = mul i64 %82, %indvar.next
  %scevgep.1 = getelementptr i8, ptr %77, i64 %92
  call void @llvm.memset.p0.i64(ptr align 8 %scevgep.1, i8 0, i64 %82, i1 false), !tbaa !26
  %93 = getelementptr inbounds i32, ptr %78, i64 %indvar.next
  %94 = load i32, ptr %93, align 4, !tbaa !32
  %95 = trunc i64 %indvar.next to i32
  %96 = mul i32 %7, %95
  %97 = add nsw i32 %94, %96
  %98 = sext i32 %97 to i64
  %99 = getelementptr inbounds double, ptr %77, i64 %98
  store double 1.000000e+00, ptr %99, align 8, !tbaa !26
  %indvar.next.1 = add nuw nsw i64 %indvar, 2
  %niter99.next.1 = add i64 %niter99, 2
  %niter99.ncmp.1 = icmp eq i64 %niter99.next.1, %unroll_iter98
  br i1 %niter99.ncmp.1, label %._crit_edge67.loopexit.unr-lcssa, label %.preheader59.us, !llvm.loop !33

.preheader59:                                     ; preds = %.preheader59, %.preheader59.preheader.new
  %indvars.iv = phi i64 [ 0, %.preheader59.preheader.new ], [ %indvars.iv.next.3, %.preheader59 ]
  %niter = phi i64 [ 0, %.preheader59.preheader.new ], [ %niter.next.3, %.preheader59 ]
  %100 = getelementptr inbounds i32, ptr %78, i64 %indvars.iv
  %101 = load i32, ptr %100, align 4, !tbaa !32
  %102 = mul nsw i64 %indvars.iv, %79
  %103 = sext i32 %101 to i64
  %104 = getelementptr double, ptr %77, i64 %102
  %105 = getelementptr double, ptr %104, i64 %103
  store double 1.000000e+00, ptr %105, align 8, !tbaa !26
  %indvars.iv.next = or disjoint i64 %indvars.iv, 1
  %106 = getelementptr inbounds i32, ptr %78, i64 %indvars.iv.next
  %107 = load i32, ptr %106, align 4, !tbaa !32
  %108 = mul nsw i64 %indvars.iv.next, %79
  %109 = sext i32 %107 to i64
  %110 = getelementptr double, ptr %77, i64 %108
  %111 = getelementptr double, ptr %110, i64 %109
  store double 1.000000e+00, ptr %111, align 8, !tbaa !26
  %indvars.iv.next.1 = or disjoint i64 %indvars.iv, 2
  %112 = getelementptr inbounds i32, ptr %78, i64 %indvars.iv.next.1
  %113 = load i32, ptr %112, align 4, !tbaa !32
  %114 = mul nsw i64 %indvars.iv.next.1, %79
  %115 = sext i32 %113 to i64
  %116 = getelementptr double, ptr %77, i64 %114
  %117 = getelementptr double, ptr %116, i64 %115
  store double 1.000000e+00, ptr %117, align 8, !tbaa !26
  %indvars.iv.next.2 = or disjoint i64 %indvars.iv, 3
  %118 = getelementptr inbounds i32, ptr %78, i64 %indvars.iv.next.2
  %119 = load i32, ptr %118, align 4, !tbaa !32
  %120 = mul nsw i64 %indvars.iv.next.2, %79
  %121 = sext i32 %119 to i64
  %122 = getelementptr double, ptr %77, i64 %120
  %123 = getelementptr double, ptr %122, i64 %121
  store double 1.000000e+00, ptr %123, align 8, !tbaa !26
  %indvars.iv.next.3 = add nuw nsw i64 %indvars.iv, 4
  %niter.next.3 = add i64 %niter, 4
  %niter.ncmp.3 = icmp eq i64 %niter.next.3, %unroll_iter
  br i1 %niter.ncmp.3, label %._crit_edge67.loopexit94.unr-lcssa, label %.preheader59, !llvm.loop !33

._crit_edge67.loopexit.unr-lcssa:                 ; preds = %.preheader59.us, %.preheader59.us.preheader
  %indvar.unr = phi i64 [ 0, %.preheader59.us.preheader ], [ %indvar.next.1, %.preheader59.us ]
  %lcmp.mod97.not = icmp eq i64 %xtraiter95, 0
  br i1 %lcmp.mod97.not, label %._crit_edge67, label %.preheader59.us.epil

.preheader59.us.epil:                             ; preds = %._crit_edge67.loopexit.unr-lcssa
  %124 = mul i64 %82, %indvar.unr
  %scevgep.epil = getelementptr i8, ptr %77, i64 %124
  call void @llvm.memset.p0.i64(ptr align 8 %scevgep.epil, i8 0, i64 %82, i1 false), !tbaa !26
  %125 = getelementptr inbounds i32, ptr %78, i64 %indvar.unr
  %126 = load i32, ptr %125, align 4, !tbaa !32
  %127 = trunc i64 %indvar.unr to i32
  %128 = mul i32 %7, %127
  %129 = add nsw i32 %126, %128
  %130 = sext i32 %129 to i64
  %131 = getelementptr inbounds double, ptr %77, i64 %130
  store double 1.000000e+00, ptr %131, align 8, !tbaa !26
  br label %._crit_edge67

._crit_edge67.loopexit94.unr-lcssa:               ; preds = %.preheader59, %.preheader59.preheader
  %indvars.iv.unr = phi i64 [ 0, %.preheader59.preheader ], [ %indvars.iv.next.3, %.preheader59 ]
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %._crit_edge67, label %.preheader59.epil

.preheader59.epil:                                ; preds = %._crit_edge67.loopexit94.unr-lcssa, %.preheader59.epil
  %indvars.iv.epil = phi i64 [ %indvars.iv.next.epil, %.preheader59.epil ], [ %indvars.iv.unr, %._crit_edge67.loopexit94.unr-lcssa ]
  %epil.iter = phi i64 [ %epil.iter.next, %.preheader59.epil ], [ 0, %._crit_edge67.loopexit94.unr-lcssa ]
  %132 = getelementptr inbounds i32, ptr %78, i64 %indvars.iv.epil
  %133 = load i32, ptr %132, align 4, !tbaa !32
  %134 = mul nsw i64 %indvars.iv.epil, %79
  %135 = sext i32 %133 to i64
  %136 = getelementptr double, ptr %77, i64 %134
  %137 = getelementptr double, ptr %136, i64 %135
  store double 1.000000e+00, ptr %137, align 8, !tbaa !26
  %indvars.iv.next.epil = add nuw nsw i64 %indvars.iv.epil, 1
  %epil.iter.next = add i64 %epil.iter, 1
  %epil.iter.cmp.not = icmp eq i64 %epil.iter.next, %xtraiter
  br i1 %epil.iter.cmp.not, label %._crit_edge67, label %.preheader59.epil, !llvm.loop !35

._crit_edge67:                                    ; preds = %._crit_edge67.loopexit94.unr-lcssa, %.preheader59.epil, %.preheader59.us.epil, %._crit_edge67.loopexit.unr-lcssa, %.preheader60
  %138 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFREv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %139 = icmp sgt i32 %138, 0
  br i1 %139, label %.lr.ph70, label %.loopexit58

.lr.ph70:                                         ; preds = %._crit_edge67
  %140 = getelementptr inbounds i8, ptr %0, i64 16
  %141 = getelementptr inbounds i8, ptr %0, i64 168
  %142 = sext i32 %7 to i64
  %wide.trip.count85 = zext nneg i32 %138 to i64
  br label %143

143:                                              ; preds = %.lr.ph70, %143
  %indvars.iv82 = phi i64 [ 0, %.lr.ph70 ], [ %indvars.iv.next83, %143 ]
  %144 = load ptr, ptr %140, align 8, !tbaa !37
  %145 = load ptr, ptr %144, align 8, !tbaa !5
  %146 = getelementptr i8, ptr %145, i64 -24
  %147 = load i64, ptr %146, align 8
  %148 = getelementptr inbounds i8, ptr %144, i64 %147
  %149 = load ptr, ptr %2, align 8, !tbaa !31
  %150 = getelementptr inbounds i32, ptr %149, i64 %indvars.iv82
  %151 = load i32, ptr %150, align 4, !tbaa !32
  %152 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %25)
  %153 = load ptr, ptr %141, align 8, !tbaa !8
  %154 = mul nsw i64 %indvars.iv82, %142
  %155 = getelementptr inbounds double, ptr %153, i64 %154
  %156 = load ptr, ptr %148, align 8, !tbaa !5
  %157 = getelementptr inbounds i8, ptr %156, i64 80
  %158 = load ptr, ptr %157, align 8
  %159 = call noundef i32 %158(ptr noundef nonnull align 8 dereferenceable(12) %148, i32 noundef %151, ptr noundef %152, double noundef 1.000000e+00, ptr noundef %155)
  %indvars.iv.next83 = add nuw nsw i64 %indvars.iv82, 1
  %exitcond86.not = icmp eq i64 %indvars.iv.next83, %wide.trip.count85
  br i1 %exitcond86.not, label %.loopexit58, label %143, !llvm.loop !38

160:                                              ; preds = %71
  %161 = getelementptr inbounds i8, ptr %0, i64 16
  %162 = load ptr, ptr %161, align 8, !tbaa !37
  %163 = call noundef ptr @_ZN7qpOASES6Bounds7getFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %25)
  %164 = getelementptr inbounds i8, ptr %0, i64 960
  %165 = load ptr, ptr %164, align 8, !tbaa !29
  %166 = getelementptr inbounds i8, ptr %0, i64 168
  %167 = load ptr, ptr %166, align 8, !tbaa !8
  %168 = load ptr, ptr %162, align 8, !tbaa !5
  %169 = getelementptr inbounds i8, ptr %168, i64 24
  %170 = load ptr, ptr %169, align 8
  %171 = call noundef i32 %170(ptr noundef nonnull align 8 dereferenceable(8) %162, ptr noundef %163, i32 noundef %11, ptr noundef %165, i32 noundef %7, ptr noundef %167, i32 noundef %7)
  br label %.loopexit58

.loopexit58:                                      ; preds = %143, %._crit_edge67, %160, %57, %36, %52
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #7
  store i64 0, ptr %4, align 8, !tbaa !39
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #7
  %172 = sext i32 %11 to i64
  store i64 %172, ptr %5, align 8, !tbaa !39
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #7
  %173 = sext i32 %7 to i64
  store i64 %173, ptr %6, align 8, !tbaa !39
  %174 = getelementptr inbounds i8, ptr %0, i64 168
  %175 = load ptr, ptr %174, align 8, !tbaa !8
  call void @dpotrf_(ptr noundef nonnull @.str.41, ptr noundef nonnull %5, ptr noundef %175, ptr noundef nonnull %6, ptr noundef nonnull %4)
  %176 = load i64, ptr %4, align 8, !tbaa !39
  %177 = icmp sgt i64 %176, 0
  br i1 %177, label %183, label %.preheader

.preheader:                                       ; preds = %.loopexit58
  %178 = icmp sgt i32 %11, 1
  br i1 %178, label %.lr.ph72, label %.loopexit

.lr.ph72:                                         ; preds = %.preheader
  %179 = add nsw i32 %11, -1
  %180 = load ptr, ptr %174, align 8, !tbaa !8
  %wide.trip.count90 = zext nneg i32 %179 to i64
  %181 = add nsw i64 %wide.trip.count90, -1
  %xtraiter100 = and i64 %wide.trip.count90, 3
  %182 = icmp ult i64 %181, 3
  br i1 %182, label %.loopexit.loopexit.unr-lcssa, label %.lr.ph72.new

.lr.ph72.new:                                     ; preds = %.lr.ph72
  %unroll_iter103 = and i64 %wide.trip.count90, 2147483644
  br label %195

183:                                              ; preds = %.loopexit58
  %184 = load ptr, ptr %174, align 8, !tbaa !8
  %185 = load double, ptr %184, align 8, !tbaa !26
  %186 = fcmp olt double %185, 0.000000e+00
  br i1 %186, label %187, label %194

187:                                              ; preds = %183
  %188 = getelementptr inbounds i8, ptr %0, i64 424
  %189 = load double, ptr %188, align 8, !tbaa !41
  %190 = fsub double %189, %185
  %191 = call noundef double @_ZN7qpOASES6getAbsEd(double noundef %189)
  %192 = call noundef double @_ZN7qpOASES7getSqrtEd(double noundef %191)
  %193 = call noundef double @_ZN7qpOASES6getMinEdd(double noundef %190, double noundef %192)
  store double %193, ptr %188, align 8, !tbaa !41
  br label %194

194:                                              ; preds = %187, %183
  store i32 4, ptr %31, align 4, !tbaa !27
  br label %.loopexit

195:                                              ; preds = %195, %.lr.ph72.new
  %indvars.iv87 = phi i64 [ 0, %.lr.ph72.new ], [ %indvars.iv.next88.3, %195 ]
  %niter104 = phi i64 [ 0, %.lr.ph72.new ], [ %niter104.next.3, %195 ]
  %indvars.iv.next88 = or disjoint i64 %indvars.iv87, 1
  %196 = mul nsw i64 %indvars.iv87, %173
  %197 = getelementptr double, ptr %180, i64 %indvars.iv.next88
  %198 = getelementptr double, ptr %197, i64 %196
  store double 0.000000e+00, ptr %198, align 8, !tbaa !26
  %indvars.iv.next88.1 = or disjoint i64 %indvars.iv87, 2
  %199 = mul nsw i64 %indvars.iv.next88, %173
  %200 = getelementptr double, ptr %180, i64 %indvars.iv.next88.1
  %201 = getelementptr double, ptr %200, i64 %199
  store double 0.000000e+00, ptr %201, align 8, !tbaa !26
  %indvars.iv.next88.2 = or disjoint i64 %indvars.iv87, 3
  %202 = mul nsw i64 %indvars.iv.next88.1, %173
  %203 = getelementptr double, ptr %180, i64 %indvars.iv.next88.2
  %204 = getelementptr double, ptr %203, i64 %202
  store double 0.000000e+00, ptr %204, align 8, !tbaa !26
  %indvars.iv.next88.3 = add nuw nsw i64 %indvars.iv87, 4
  %205 = mul nsw i64 %indvars.iv.next88.2, %173
  %206 = getelementptr double, ptr %180, i64 %indvars.iv.next88.3
  %207 = getelementptr double, ptr %206, i64 %205
  store double 0.000000e+00, ptr %207, align 8, !tbaa !26
  %niter104.next.3 = add i64 %niter104, 4
  %niter104.ncmp.3 = icmp eq i64 %niter104.next.3, %unroll_iter103
  br i1 %niter104.ncmp.3, label %.loopexit.loopexit.unr-lcssa, label %195, !llvm.loop !42

.loopexit.loopexit.unr-lcssa:                     ; preds = %195, %.lr.ph72
  %indvars.iv87.unr = phi i64 [ 0, %.lr.ph72 ], [ %indvars.iv.next88.3, %195 ]
  %lcmp.mod102.not = icmp eq i64 %xtraiter100, 0
  br i1 %lcmp.mod102.not, label %.loopexit, label %.epil.preheader

.epil.preheader:                                  ; preds = %.loopexit.loopexit.unr-lcssa, %.epil.preheader
  %indvars.iv87.epil = phi i64 [ %indvars.iv.next88.epil, %.epil.preheader ], [ %indvars.iv87.unr, %.loopexit.loopexit.unr-lcssa ]
  %epil.iter101 = phi i64 [ %epil.iter101.next, %.epil.preheader ], [ 0, %.loopexit.loopexit.unr-lcssa ]
  %indvars.iv.next88.epil = add nuw nsw i64 %indvars.iv87.epil, 1
  %208 = mul nsw i64 %indvars.iv87.epil, %173
  %209 = getelementptr double, ptr %180, i64 %indvars.iv.next88.epil
  %210 = getelementptr double, ptr %209, i64 %208
  store double 0.000000e+00, ptr %210, align 8, !tbaa !26
  %epil.iter101.next = add i64 %epil.iter101, 1
  %epil.iter101.cmp.not = icmp eq i64 %epil.iter101.next, %xtraiter100
  br i1 %epil.iter101.cmp.not, label %.loopexit, label %.epil.preheader, !llvm.loop !43

.loopexit:                                        ; preds = %.loopexit.loopexit.unr-lcssa, %.epil.preheader, %.preheader, %194
  %.0 = phi i32 [ 99, %194 ], [ 0, %.preheader ], [ 0, %.epil.preheader ], [ 0, %.loopexit.loopexit.unr-lcssa ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #7
  br label %211

211:                                              ; preds = %.loopexit, %54
  %.1 = phi i32 [ %.0, %.loopexit ], [ %56, %54 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %3) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %2) #7
  br label %212

212:                                              ; preds = %._crit_edge, %211, %21
  %.2 = phi i32 [ %22, %21 ], [ %.1, %211 ], [ 0, %._crit_edge ]
  ret i32 %.2
}

declare noundef i32 @_ZN7qpOASES9QProblemB15computeCholeskyEv(ptr noundef nonnull align 8 dereferenceable(800)) unnamed_addr #1

declare noundef ptr @_ZN7qpOASES9QProblemB19createDiagSparseMatEid(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, double noundef) local_unnamed_addr #1

declare void @dpotrf_(ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #1

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES6getMinEdd(double noundef, double noundef) local_unnamed_addr #3

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef double @_ZN7qpOASES7getSqrtEd(double noundef) local_unnamed_addr #3

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #5

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare i32 @llvm.umax.i32(i32, i32) #6

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "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 = { 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 #3 = { 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 #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 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #6 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #7 = { 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, !12, i64 168}
!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, !19, i64 220}
!28 = !{!9, !17, i64 224}
!29 = !{!30, !12, i64 960}
!30 = !{!"_ZTSN7qpOASES8QProblemE", !9, i64 0, !10, i64 800, !12, i64 808, !12, i64 816, !12, i64 824, !24, i64 832, !12, i64 952, !12, i64 960, !15, i64 968, !12, i64 976, !12, i64 984, !12, i64 992, !12, i64 1000, !12, i64 1008, !12, i64 1016, !12, i64 1024, !12, i64 1032, !12, i64 1040, !12, i64 1048, !12, i64 1056}
!31 = !{!12, !12, i64 0}
!32 = !{!15, !15, i64 0}
!33 = distinct !{!33, !34}
!34 = !{!"llvm.loop.mustprogress"}
!35 = distinct !{!35, !36}
!36 = !{!"llvm.loop.unroll.disable"}
!37 = !{!9, !12, i64 16}
!38 = distinct !{!38, !34}
!39 = !{!40, !40, i64 0}
!40 = !{!"long", !11, i64 0}
!41 = !{!9, !17, i64 424}
!42 = distinct !{!42, !34}
!43 = distinct !{!43, !36}


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