; 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

; 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

declare noundef i32 @_ZN7qpOASES11Constraints4initEi(ptr noundef nonnull align 8 dereferenceable(120), 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 uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #3 align 2

declare noundef i32 @_ZN7qpOASES6Bounds12setupAllFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) #1

declare noundef i32 @_ZN7qpOASES11Constraints16setupAllInactiveEv(ptr noundef nonnull align 8 dereferenceable(120)) #1

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES8QProblem22setupAuxiliaryQPboundsEPKNS_6BoundsEPKNS_11ConstraintsENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef, ptr noundef, i32 noundef) #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem16setupAuxiliaryQPEPKNS_6BoundsEPKNS_11ConstraintsE(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef %1, ptr noundef %2) unnamed_addr #4 align 2 {
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca i32, align 4
  %11 = alloca i32, align 4
  %12 = alloca i32, align 4
  store ptr %0, ptr %5, align 8, !tbaa !5
  store ptr %1, ptr %6, align 8, !tbaa !5
  store ptr %2, ptr %7, align 8, !tbaa !5
  %13 = load ptr, ptr %5, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #5
  %14 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %13)
  store i32 %14, ptr %10, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #5
  %15 = call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %13)
  store i32 %15, ptr %11, align 4, !tbaa !9
  %16 = load ptr, ptr %6, align 8, !tbaa !5
  %17 = icmp eq ptr %16, null
  br i1 %17, label %21, label %18

18:                                               ; preds = %3
  %19 = load ptr, ptr %7, align 8, !tbaa !5
  %20 = icmp eq ptr %19, null
  br i1 %20, label %21, label %24

21:                                               ; preds = %18, %3
  %22 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %23 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %22, i32 noundef 3, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 5666, i32 noundef 1)
  store i32 %23, ptr %4, align 4
  store i32 1, ptr %12, align 4
  br label %208

24:                                               ; preds = %18
  %25 = load ptr, ptr %6, align 8, !tbaa !5
  %26 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 6
  %27 = icmp eq ptr %25, %26
  br i1 %27, label %28, label %33

28:                                               ; preds = %24
  %29 = load ptr, ptr %7, align 8, !tbaa !5
  %30 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %13, i32 0, i32 5
  %31 = icmp eq ptr %29, %30
  br i1 %31, label %32, label %33

32:                                               ; preds = %28
  store i32 0, ptr %4, align 4
  store i32 1, ptr %12, align 4
  br label %208

33:                                               ; preds = %28, %24
  %34 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 12
  store i32 1, ptr %34, align 8, !tbaa !11
  %35 = load ptr, ptr %6, align 8, !tbaa !5
  %36 = load ptr, ptr %7, align 8, !tbaa !5
  %37 = call noundef i32 @_ZNK7qpOASES8QProblem16shallRefactoriseEPKNS_6BoundsEPKNS_11ConstraintsE(ptr noundef nonnull align 8 dereferenceable(1064) %13, ptr noundef %35, ptr noundef %36)
  %38 = icmp eq i32 %37, 1
  br i1 %38, label %39, label %98

39:                                               ; preds = %33
  %40 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 6
  %41 = load i32, ptr %10, align 4, !tbaa !9
  %42 = call noundef i32 @_ZN7qpOASES6Bounds4initEi(ptr noundef nonnull align 8 dereferenceable(120) %40, i32 noundef %41)
  %43 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %13, i32 0, i32 5
  %44 = load i32, ptr %11, align 4, !tbaa !9
  %45 = call noundef i32 @_ZN7qpOASES11Constraints4initEi(ptr noundef nonnull align 8 dereferenceable(120) %43, i32 noundef %44)
  %46 = load ptr, ptr %13, align 8, !tbaa !26
  %47 = getelementptr inbounds ptr, ptr %46, i64 10
  %48 = load ptr, ptr %47, align 8
  %49 = call noundef i32 %48(ptr noundef nonnull align 8 dereferenceable(1064) %13)
  %50 = icmp ne i32 %49, 0
  br i1 %50, label %51, label %54

51:                                               ; preds = %39
  %52 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %53 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %52, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 5685, i32 noundef 1)
  store i32 %53, ptr %4, align 4
  store i32 1, ptr %12, align 4
  br label %208

54:                                               ; preds = %39
  %55 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 6
  %56 = call noundef i32 @_ZN7qpOASES6Bounds12setupAllFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %55)
  %57 = icmp ne i32 %56, 0
  br i1 %57, label %58, label %61

58:                                               ; preds = %54
  %59 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %60 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %59, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 5688, i32 noundef 1)
  store i32 %60, ptr %4, align 4
  store i32 1, ptr %12, align 4
  br label %208

61:                                               ; preds = %54
  %62 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %13, i32 0, i32 5
  %63 = call noundef i32 @_ZN7qpOASES11Constraints16setupAllInactiveEv(ptr noundef nonnull align 8 dereferenceable(120) %62)
  %64 = icmp ne i32 %63, 0
  br i1 %64, label %65, label %68

65:                                               ; preds = %61
  %66 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %67 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %66, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 5691, i32 noundef 1)
  store i32 %67, ptr %4, align 4
  store i32 1, ptr %12, align 4
  br label %208

68:                                               ; preds = %61
  %69 = load ptr, ptr %13, align 8, !tbaa !26
  %70 = getelementptr inbounds ptr, ptr %69, i64 23
  %71 = load ptr, ptr %70, align 8
  %72 = call noundef i32 %71(ptr noundef nonnull align 8 dereferenceable(1064) %13)
  %73 = icmp ne i32 %72, 0
  br i1 %73, label %74, label %77

74:                                               ; preds = %68
  %75 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %76 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %75, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 5695, i32 noundef 1)
  store i32 %76, ptr %4, align 4
  store i32 1, ptr %12, align 4
  br label %208

77:                                               ; preds = %68
  %78 = load ptr, ptr %6, align 8, !tbaa !5
  %79 = load ptr, ptr %7, align 8, !tbaa !5
  %80 = load ptr, ptr %13, align 8, !tbaa !26
  %81 = getelementptr inbounds ptr, ptr %80, i64 24
  %82 = load ptr, ptr %81, align 8
  %83 = call noundef i32 %82(ptr noundef nonnull align 8 dereferenceable(1064) %13, ptr noundef %78, ptr noundef %79, i32 noundef 1)
  %84 = icmp ne i32 %83, 0
  br i1 %84, label %85, label %88

85:                                               ; preds = %77
  %86 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %87 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %86, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 5699, i32 noundef 1)
  br label %88

88:                                               ; preds = %85, %77
  %89 = load ptr, ptr %13, align 8, !tbaa !26
  %90 = getelementptr inbounds ptr, ptr %89, i64 22
  %91 = load ptr, ptr %90, align 8
  %92 = call noundef i32 %91(ptr noundef nonnull align 8 dereferenceable(1064) %13)
  %93 = icmp ne i32 %92, 0
  br i1 %93, label %94, label %97

94:                                               ; preds = %88
  %95 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %96 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %95, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 5704, i32 noundef 1)
  store i32 %96, ptr %4, align 4
  store i32 1, ptr %12, align 4
  br label %208

97:                                               ; preds = %88
  br label %110

98:                                               ; preds = %33
  %99 = load ptr, ptr %6, align 8, !tbaa !5
  %100 = load ptr, ptr %7, align 8, !tbaa !5
  %101 = load ptr, ptr %13, align 8, !tbaa !26
  %102 = getelementptr inbounds ptr, ptr %101, i64 24
  %103 = load ptr, ptr %102, align 8
  %104 = call noundef i32 %103(ptr noundef nonnull align 8 dereferenceable(1064) %13, ptr noundef %99, ptr noundef %100, i32 noundef 0)
  %105 = icmp ne i32 %104, 0
  br i1 %105, label %106, label %109

106:                                              ; preds = %98
  %107 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %108 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %107, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 5710, i32 noundef 1)
  br label %109

109:                                              ; preds = %106, %98
  br label %110

110:                                              ; preds = %109, %97
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %111

111:                                              ; preds = %127, %110
  %112 = load i32, ptr %8, align 4, !tbaa !9
  %113 = load i32, ptr %10, align 4, !tbaa !9
  %114 = icmp slt i32 %112, %113
  br i1 %114, label %115, label %130

115:                                              ; preds = %111
  %116 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 6
  %117 = load i32, ptr %8, align 4, !tbaa !9
  %118 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %116, i32 noundef %117)
  %119 = icmp eq i32 %118, 0
  br i1 %119, label %120, label %126

120:                                              ; preds = %115
  %121 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 10
  %122 = load ptr, ptr %121, align 8, !tbaa !28
  %123 = load i32, ptr %8, align 4, !tbaa !9
  %124 = sext i32 %123 to i64
  %125 = getelementptr inbounds double, ptr %122, i64 %124
  store double 0.000000e+00, ptr %125, align 8, !tbaa !29
  br label %126

126:                                              ; preds = %120, %115
  br label %127

127:                                              ; preds = %126
  %128 = load i32, ptr %8, align 4, !tbaa !9
  %129 = add nsw i32 %128, 1
  store i32 %129, ptr %8, align 4, !tbaa !9
  br label %111, !llvm.loop !30

130:                                              ; preds = %111
  store i32 0, ptr %8, align 4, !tbaa !9
  br label %131

131:                                              ; preds = %149, %130
  %132 = load i32, ptr %8, align 4, !tbaa !9
  %133 = load i32, ptr %11, align 4, !tbaa !9
  %134 = icmp slt i32 %132, %133
  br i1 %134, label %135, label %152

135:                                              ; preds = %131
  %136 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %13, i32 0, i32 5
  %137 = load i32, ptr %8, align 4, !tbaa !9
  %138 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %136, i32 noundef %137)
  %139 = icmp eq i32 %138, 0
  br i1 %139, label %140, label %148

140:                                              ; preds = %135
  %141 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 10
  %142 = load ptr, ptr %141, align 8, !tbaa !28
  %143 = load i32, ptr %10, align 4, !tbaa !9
  %144 = load i32, ptr %8, align 4, !tbaa !9
  %145 = add nsw i32 %143, %144
  %146 = sext i32 %145 to i64
  %147 = getelementptr inbounds double, ptr %142, i64 %146
  store double 0.000000e+00, ptr %147, align 8, !tbaa !29
  br label %148

148:                                              ; preds = %140, %135
  br label %149

149:                                              ; preds = %148
  %150 = load i32, ptr %8, align 4, !tbaa !9
  %151 = add nsw i32 %150, 1
  store i32 %151, ptr %8, align 4, !tbaa !9
  br label %131, !llvm.loop !32

152:                                              ; preds = %131
  %153 = call noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064) %13)
  %154 = icmp ne i32 %153, 0
  br i1 %154, label %155, label %158

155:                                              ; preds = %152
  %156 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %157 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %156, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 5726, i32 noundef 1)
  br label %158

158:                                              ; preds = %155, %152
  %159 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %13, i32 0, i32 2
  %160 = load ptr, ptr %159, align 8, !tbaa !33
  %161 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 9
  %162 = load ptr, ptr %161, align 8, !tbaa !35
  %163 = load i32, ptr %10, align 4, !tbaa !9
  %164 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %13, i32 0, i32 9
  %165 = load ptr, ptr %164, align 8, !tbaa !36
  %166 = load i32, ptr %11, align 4, !tbaa !9
  %167 = load ptr, ptr %160, align 8, !tbaa !26
  %168 = getelementptr inbounds ptr, ptr %167, i64 15
  %169 = load ptr, ptr %168, align 8
  %170 = call noundef i32 %169(ptr noundef nonnull align 8 dereferenceable(12) %160, i32 noundef 1, double noundef 1.000000e+00, ptr noundef %162, i32 noundef %163, double noundef 0.000000e+00, ptr noundef %165, i32 noundef %166)
  store i32 0, ptr %9, align 4, !tbaa !9
  br label %171

171:                                              ; preds = %198, %158
  %172 = load i32, ptr %9, align 4, !tbaa !9
  %173 = load i32, ptr %11, align 4, !tbaa !9
  %174 = icmp slt i32 %172, %173
  br i1 %174, label %175, label %201

175:                                              ; preds = %171
  %176 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %13, i32 0, i32 9
  %177 = load ptr, ptr %176, align 8, !tbaa !36
  %178 = load i32, ptr %9, align 4, !tbaa !9
  %179 = sext i32 %178 to i64
  %180 = getelementptr inbounds double, ptr %177, i64 %179
  %181 = load double, ptr %180, align 8, !tbaa !29
  %182 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %13, i32 0, i32 10
  %183 = load ptr, ptr %182, align 8, !tbaa !37
  %184 = load i32, ptr %9, align 4, !tbaa !9
  %185 = sext i32 %184 to i64
  %186 = getelementptr inbounds double, ptr %183, i64 %185
  store double %181, ptr %186, align 8, !tbaa !29
  %187 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %13, i32 0, i32 9
  %188 = load ptr, ptr %187, align 8, !tbaa !36
  %189 = load i32, ptr %9, 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 !29
  %193 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %13, i32 0, i32 11
  %194 = load ptr, ptr %193, align 8, !tbaa !38
  %195 = load i32, ptr %9, align 4, !tbaa !9
  %196 = sext i32 %195 to i64
  %197 = getelementptr inbounds double, ptr %194, i64 %196
  store double %192, ptr %197, align 8, !tbaa !29
  br label %198

198:                                              ; preds = %175
  %199 = load i32, ptr %9, align 4, !tbaa !9
  %200 = add nsw i32 %199, 1
  store i32 %200, ptr %9, align 4, !tbaa !9
  br label %171, !llvm.loop !39

201:                                              ; preds = %171
  %202 = call noundef i32 @_ZN7qpOASES8QProblem22setupAuxiliaryQPboundsEPKNS_6BoundsEPKNS_11ConstraintsENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064) %13, ptr noundef null, ptr noundef null, i32 noundef 0)
  %203 = icmp ne i32 %202, 0
  br i1 %203, label %204, label %207

204:                                              ; preds = %201
  %205 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %206 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %205, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 5737, i32 noundef 1)
  br label %207

207:                                              ; preds = %204, %201
  store i32 0, ptr %4, align 4
  store i32 1, ptr %12, align 4
  br label %208

208:                                              ; preds = %207, %94, %74, %65, %58, %51, %32, %21
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #5
  %209 = load i32, ptr %4, align 4
  ret i32 %209
}

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem16shallRefactoriseEPKNS_6BoundsEPKNS_11ConstraintsE(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef, ptr noundef) #4 align 2

declare noundef i32 @_ZN7qpOASES6Bounds4initEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) #1

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, !18, i64 208}
!12 = !{!"_ZTSN7qpOASES9QProblemBE", !13, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !14, i64 48, !6, i64 168, !13, i64 176, !6, i64 184, !6, i64 192, !17, i64 200, !18, i64 208, !13, i64 212, !13, i64 216, !19, i64 220, !17, i64 224, !10, i64 232, !6, i64 240, !17, i64 248, !17, i64 256, !10, i64 264, !20, i64 272, !23, i64 496, !25, i64 768}
!13 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!14 = !{!"_ZTSN7qpOASES6BoundsE", !15, i64 0, !16, i64 40, !16, i64 80}
!15 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !13, i64 32, !13, i64 36}
!16 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!17 = !{!"double", !7, i64 0}
!18 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!19 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!20 = !{!"_ZTSN7qpOASES7OptionsE", !21, i64 0, !13, i64 4, !13, i64 8, !13, i64 12, !13, i64 16, !13, i64 20, !13, i64 24, !10, i64 28, !10, i64 32, !13, 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, !10, i64 144, !17, i64 152, !10, i64 160, !17, i64 168, !17, i64 176, !17, i64 184, !17, i64 192, !13, i64 200, !13, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!21 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!22 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !14, i64 8, !24, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!24 = !{!"_ZTSN7qpOASES11ConstraintsE", !15, i64 0, !16, i64 40, !16, i64 80}
!25 = !{!"_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}
!26 = !{!27, !27, i64 0}
!27 = !{!"vtable pointer", !8, i64 0}
!28 = !{!12, !6, i64 192}
!29 = !{!17, !17, i64 0}
!30 = distinct !{!30, !31}
!31 = !{!"llvm.loop.mustprogress"}
!32 = distinct !{!32, !31}
!33 = !{!34, !6, i64 808}
!34 = !{!"_ZTSN7qpOASES8QProblemE", !12, i64 0, !13, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !24, 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 = !{!12, !6, i64 184}
!36 = !{!34, !6, i64 976}
!37 = !{!34, !6, i64 984}
!38 = !{!34, !6, i64 992}
!39 = distinct !{!39, !31}


; 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

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #0

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

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) local_unnamed_addr #2 align 2

declare noundef i32 @_ZN7qpOASES6Bounds12setupAllFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #0

declare noundef i32 @_ZN7qpOASES11Constraints16setupAllInactiveEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #0

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES8QProblem22setupAuxiliaryQPboundsEPKNS_6BoundsEPKNS_11ConstraintsENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES8QProblem16setupAuxiliaryQPEPKNS_6BoundsEPKNS_11ConstraintsE(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef %1, ptr noundef %2) unnamed_addr #3 align 2 {
  %4 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %5 = tail call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %6 = icmp eq ptr %1, null
  %7 = icmp eq ptr %2, null
  %or.cond = or i1 %6, %7
  br i1 %or.cond, label %8, label %11

8:                                                ; preds = %3
  %9 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %10 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %9, i32 noundef 3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 5666, i32 noundef 1)
  br label %154

11:                                               ; preds = %3
  %12 = getelementptr inbounds i8, ptr %0, i64 48
  %13 = icmp eq ptr %12, %1
  %14 = getelementptr inbounds i8, ptr %0, i64 832
  %15 = icmp eq ptr %14, %2
  %or.cond4 = select i1 %13, i1 %15, i1 false
  br i1 %or.cond4, label %154, label %16

16:                                               ; preds = %11
  %17 = getelementptr inbounds i8, ptr %0, i64 208
  store i32 1, ptr %17, align 8, !tbaa !5
  %18 = tail call noundef i32 @_ZNK7qpOASES8QProblem16shallRefactoriseEPKNS_6BoundsEPKNS_11ConstraintsE(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef nonnull %1, ptr noundef nonnull %2)
  %19 = icmp eq i32 %18, 1
  br i1 %19, label %20, label %64

20:                                               ; preds = %16
  %21 = tail call noundef i32 @_ZN7qpOASES6Bounds4initEi(ptr noundef nonnull align 8 dereferenceable(120) %12, i32 noundef %4)
  %22 = tail call noundef i32 @_ZN7qpOASES11Constraints4initEi(ptr noundef nonnull align 8 dereferenceable(120) %14, i32 noundef %5)
  %23 = load ptr, ptr %0, align 8, !tbaa !24
  %24 = getelementptr inbounds i8, ptr %23, i64 80
  %25 = load ptr, ptr %24, align 8
  %26 = tail call noundef i32 %25(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %.not43 = icmp eq i32 %26, 0
  br i1 %.not43, label %30, label %27

27:                                               ; preds = %20
  %28 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %29 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %28, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 5685, i32 noundef 1)
  br label %154

30:                                               ; preds = %20
  %31 = tail call noundef i32 @_ZN7qpOASES6Bounds12setupAllFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %12)
  %.not44 = icmp eq i32 %31, 0
  br i1 %.not44, label %35, label %32

32:                                               ; preds = %30
  %33 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %34 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %33, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 5688, i32 noundef 1)
  br label %154

35:                                               ; preds = %30
  %36 = tail call noundef i32 @_ZN7qpOASES11Constraints16setupAllInactiveEv(ptr noundef nonnull align 8 dereferenceable(120) %14)
  %.not45 = icmp eq i32 %36, 0
  br i1 %.not45, label %40, label %37

37:                                               ; preds = %35
  %38 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %39 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %38, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 5691, i32 noundef 1)
  br label %154

40:                                               ; preds = %35
  %41 = load ptr, ptr %0, align 8, !tbaa !24
  %42 = getelementptr inbounds i8, ptr %41, i64 184
  %43 = load ptr, ptr %42, align 8
  %44 = tail call noundef i32 %43(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %.not46 = icmp eq i32 %44, 0
  br i1 %.not46, label %48, label %45

45:                                               ; preds = %40
  %46 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %47 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %46, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 5695, i32 noundef 1)
  br label %154

48:                                               ; preds = %40
  %49 = load ptr, ptr %0, align 8, !tbaa !24
  %50 = getelementptr inbounds i8, ptr %49, i64 192
  %51 = load ptr, ptr %50, align 8
  %52 = tail call noundef i32 %51(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef nonnull %1, ptr noundef nonnull %2, i32 noundef 1)
  %.not47 = icmp eq i32 %52, 0
  br i1 %.not47, label %56, label %53

53:                                               ; preds = %48
  %54 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %55 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %54, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 5699, i32 noundef 1)
  br label %56

56:                                               ; preds = %53, %48
  %57 = load ptr, ptr %0, align 8, !tbaa !24
  %58 = getelementptr inbounds i8, ptr %57, i64 176
  %59 = load ptr, ptr %58, align 8
  %60 = tail call noundef i32 %59(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %.not48 = icmp eq i32 %60, 0
  br i1 %.not48, label %72, label %61

61:                                               ; preds = %56
  %62 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %63 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %62, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 5704, i32 noundef 1)
  br label %154

64:                                               ; preds = %16
  %65 = load ptr, ptr %0, align 8, !tbaa !24
  %66 = getelementptr inbounds i8, ptr %65, i64 192
  %67 = load ptr, ptr %66, align 8
  %68 = tail call noundef i32 %67(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef nonnull %1, ptr noundef nonnull %2, i32 noundef 0)
  %.not = icmp eq i32 %68, 0
  br i1 %.not, label %72, label %69

69:                                               ; preds = %64
  %70 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %71 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %70, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 5710, i32 noundef 1)
  br label %72

72:                                               ; preds = %64, %69, %56
  %73 = icmp sgt i32 %4, 0
  br i1 %73, label %.lr.ph, label %.preheader

.lr.ph:                                           ; preds = %72
  %74 = getelementptr inbounds i8, ptr %0, i64 192
  %wide.trip.count = zext nneg i32 %4 to i64
  br label %78

.preheader:                                       ; preds = %85, %72
  %75 = icmp sgt i32 %5, 0
  br i1 %75, label %.lr.ph53, label %._crit_edge

.lr.ph53:                                         ; preds = %.preheader
  %76 = getelementptr inbounds i8, ptr %0, i64 192
  %77 = sext i32 %4 to i64
  %wide.trip.count62 = zext nneg i32 %5 to i64
  br label %86

78:                                               ; preds = %.lr.ph, %85
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %85 ]
  %79 = trunc nuw nsw i64 %indvars.iv to i32
  %80 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %12, i32 noundef %79)
  %81 = icmp eq i32 %80, 0
  br i1 %81, label %82, label %85

82:                                               ; preds = %78
  %83 = load ptr, ptr %74, align 8, !tbaa !26
  %84 = getelementptr inbounds double, ptr %83, i64 %indvars.iv
  store double 0.000000e+00, ptr %84, align 8, !tbaa !27
  br label %85

85:                                               ; preds = %78, %82
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %wide.trip.count
  br i1 %exitcond.not, label %.preheader, label %78, !llvm.loop !28

86:                                               ; preds = %.lr.ph53, %94
  %indvars.iv59 = phi i64 [ 0, %.lr.ph53 ], [ %indvars.iv.next60, %94 ]
  %87 = trunc nuw nsw i64 %indvars.iv59 to i32
  %88 = tail call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %14, i32 noundef %87)
  %89 = icmp eq i32 %88, 0
  br i1 %89, label %90, label %94

90:                                               ; preds = %86
  %91 = load ptr, ptr %76, align 8, !tbaa !26
  %92 = getelementptr double, ptr %91, i64 %indvars.iv59
  %93 = getelementptr double, ptr %92, i64 %77
  store double 0.000000e+00, ptr %93, align 8, !tbaa !27
  br label %94

94:                                               ; preds = %86, %90
  %indvars.iv.next60 = add nuw nsw i64 %indvars.iv59, 1
  %exitcond63.not = icmp eq i64 %indvars.iv.next60, %wide.trip.count62
  br i1 %exitcond63.not, label %._crit_edge, label %86, !llvm.loop !30

._crit_edge:                                      ; preds = %94, %.preheader
  %95 = tail call noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %.not49 = icmp eq i32 %95, 0
  br i1 %.not49, label %99, label %96

96:                                               ; preds = %._crit_edge
  %97 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %98 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %97, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 5726, i32 noundef 1)
  br label %99

99:                                               ; preds = %96, %._crit_edge
  %100 = getelementptr inbounds i8, ptr %0, i64 808
  %101 = load ptr, ptr %100, align 8, !tbaa !31
  %102 = getelementptr inbounds i8, ptr %0, i64 184
  %103 = load ptr, ptr %102, align 8, !tbaa !33
  %104 = getelementptr inbounds i8, ptr %0, i64 976
  %105 = load ptr, ptr %104, align 8, !tbaa !34
  %106 = load ptr, ptr %101, align 8, !tbaa !24
  %107 = getelementptr inbounds i8, ptr %106, i64 120
  %108 = load ptr, ptr %107, align 8
  %109 = tail call noundef i32 %108(ptr noundef nonnull align 8 dereferenceable(12) %101, i32 noundef 1, double noundef 1.000000e+00, ptr noundef %103, i32 noundef %4, double noundef 0.000000e+00, ptr noundef %105, i32 noundef %5)
  br i1 %75, label %.lr.ph56, label %._crit_edge57

.lr.ph56:                                         ; preds = %99
  %110 = load ptr, ptr %104, align 8, !tbaa !34
  %111 = getelementptr inbounds i8, ptr %0, i64 984
  %112 = load ptr, ptr %111, align 8, !tbaa !35
  %113 = getelementptr inbounds i8, ptr %0, i64 992
  %114 = load ptr, ptr %113, align 8, !tbaa !36
  %wide.trip.count67 = zext nneg i32 %5 to i64
  %min.iters.check = icmp ult i32 %5, 16
  br i1 %min.iters.check, label %scalar.ph.preheader, label %vector.memcheck

vector.memcheck:                                  ; preds = %.lr.ph56
  %115 = ptrtoint ptr %114 to i64
  %116 = ptrtoint ptr %112 to i64
  %117 = ptrtoint ptr %110 to i64
  %118 = sub i64 %115, %116
  %diff.check = icmp ult i64 %118, 32
  %119 = sub i64 %116, %117
  %diff.check69 = icmp ult i64 %119, 32
  %conflict.rdx = or i1 %diff.check, %diff.check69
  %120 = sub i64 %115, %117
  %diff.check70 = icmp ult i64 %120, 32
  %conflict.rdx71 = or i1 %conflict.rdx, %diff.check70
  br i1 %conflict.rdx71, label %scalar.ph.preheader, label %vector.ph

vector.ph:                                        ; preds = %vector.memcheck
  %n.vec = and i64 %wide.trip.count67, 2147483644
  br label %vector.body

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %121 = getelementptr inbounds double, ptr %110, i64 %index
  %122 = getelementptr inbounds i8, ptr %121, i64 16
  %wide.load = load <2 x double>, ptr %121, align 8, !tbaa !27
  %wide.load72 = load <2 x double>, ptr %122, align 8, !tbaa !27
  %123 = getelementptr inbounds double, ptr %112, i64 %index
  %124 = getelementptr inbounds i8, ptr %123, i64 16
  store <2 x double> %wide.load, ptr %123, align 8, !tbaa !27
  store <2 x double> %wide.load72, ptr %124, align 8, !tbaa !27
  %125 = getelementptr inbounds double, ptr %114, i64 %index
  %126 = getelementptr inbounds i8, ptr %125, i64 16
  store <2 x double> %wide.load, ptr %125, align 8, !tbaa !27
  store <2 x double> %wide.load72, ptr %126, align 8, !tbaa !27
  %index.next = add nuw i64 %index, 4
  %127 = icmp eq i64 %index.next, %n.vec
  br i1 %127, label %middle.block, label %vector.body, !llvm.loop !37

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %wide.trip.count67
  br i1 %cmp.n, label %._crit_edge57, label %scalar.ph.preheader

scalar.ph.preheader:                              ; preds = %middle.block, %vector.memcheck, %.lr.ph56
  %indvars.iv64.ph = phi i64 [ 0, %vector.memcheck ], [ 0, %.lr.ph56 ], [ %n.vec, %middle.block ]
  %xtraiter = and i64 %wide.trip.count67, 3
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %scalar.ph.prol.loopexit, label %scalar.ph.prol

scalar.ph.prol:                                   ; preds = %scalar.ph.preheader, %scalar.ph.prol
  %indvars.iv64.prol = phi i64 [ %indvars.iv.next65.prol, %scalar.ph.prol ], [ %indvars.iv64.ph, %scalar.ph.preheader ]
  %prol.iter = phi i64 [ %prol.iter.next, %scalar.ph.prol ], [ 0, %scalar.ph.preheader ]
  %128 = getelementptr inbounds double, ptr %110, i64 %indvars.iv64.prol
  %129 = load double, ptr %128, align 8, !tbaa !27
  %130 = getelementptr inbounds double, ptr %112, i64 %indvars.iv64.prol
  store double %129, ptr %130, align 8, !tbaa !27
  %131 = getelementptr inbounds double, ptr %114, i64 %indvars.iv64.prol
  store double %129, ptr %131, align 8, !tbaa !27
  %indvars.iv.next65.prol = add nuw nsw i64 %indvars.iv64.prol, 1
  %prol.iter.next = add i64 %prol.iter, 1
  %prol.iter.cmp.not = icmp eq i64 %prol.iter.next, %xtraiter
  br i1 %prol.iter.cmp.not, label %scalar.ph.prol.loopexit, label %scalar.ph.prol, !llvm.loop !40

scalar.ph.prol.loopexit:                          ; preds = %scalar.ph.prol, %scalar.ph.preheader
  %indvars.iv64.unr = phi i64 [ %indvars.iv64.ph, %scalar.ph.preheader ], [ %indvars.iv.next65.prol, %scalar.ph.prol ]
  %132 = sub nsw i64 %indvars.iv64.ph, %wide.trip.count67
  %133 = icmp ugt i64 %132, -4
  br i1 %133, label %._crit_edge57, label %scalar.ph

scalar.ph:                                        ; preds = %scalar.ph.prol.loopexit, %scalar.ph
  %indvars.iv64 = phi i64 [ %indvars.iv.next65.3, %scalar.ph ], [ %indvars.iv64.unr, %scalar.ph.prol.loopexit ]
  %134 = getelementptr inbounds double, ptr %110, i64 %indvars.iv64
  %135 = load double, ptr %134, align 8, !tbaa !27
  %136 = getelementptr inbounds double, ptr %112, i64 %indvars.iv64
  store double %135, ptr %136, align 8, !tbaa !27
  %137 = getelementptr inbounds double, ptr %114, i64 %indvars.iv64
  store double %135, ptr %137, align 8, !tbaa !27
  %indvars.iv.next65 = add nuw nsw i64 %indvars.iv64, 1
  %138 = getelementptr inbounds double, ptr %110, i64 %indvars.iv.next65
  %139 = load double, ptr %138, align 8, !tbaa !27
  %140 = getelementptr inbounds double, ptr %112, i64 %indvars.iv.next65
  store double %139, ptr %140, align 8, !tbaa !27
  %141 = getelementptr inbounds double, ptr %114, i64 %indvars.iv.next65
  store double %139, ptr %141, align 8, !tbaa !27
  %indvars.iv.next65.1 = add nuw nsw i64 %indvars.iv64, 2
  %142 = getelementptr inbounds double, ptr %110, i64 %indvars.iv.next65.1
  %143 = load double, ptr %142, align 8, !tbaa !27
  %144 = getelementptr inbounds double, ptr %112, i64 %indvars.iv.next65.1
  store double %143, ptr %144, align 8, !tbaa !27
  %145 = getelementptr inbounds double, ptr %114, i64 %indvars.iv.next65.1
  store double %143, ptr %145, align 8, !tbaa !27
  %indvars.iv.next65.2 = add nuw nsw i64 %indvars.iv64, 3
  %146 = getelementptr inbounds double, ptr %110, i64 %indvars.iv.next65.2
  %147 = load double, ptr %146, align 8, !tbaa !27
  %148 = getelementptr inbounds double, ptr %112, i64 %indvars.iv.next65.2
  store double %147, ptr %148, align 8, !tbaa !27
  %149 = getelementptr inbounds double, ptr %114, i64 %indvars.iv.next65.2
  store double %147, ptr %149, align 8, !tbaa !27
  %indvars.iv.next65.3 = add nuw nsw i64 %indvars.iv64, 4
  %exitcond68.not.3 = icmp eq i64 %indvars.iv.next65.3, %wide.trip.count67
  br i1 %exitcond68.not.3, label %._crit_edge57, label %scalar.ph, !llvm.loop !42

._crit_edge57:                                    ; preds = %scalar.ph.prol.loopexit, %scalar.ph, %middle.block, %99
  %150 = tail call noundef i32 @_ZN7qpOASES8QProblem22setupAuxiliaryQPboundsEPKNS_6BoundsEPKNS_11ConstraintsENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef null, ptr noundef null, i32 noundef 0)
  %.not50 = icmp eq i32 %150, 0
  br i1 %.not50, label %154, label %151

151:                                              ; preds = %._crit_edge57
  %152 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %153 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %152, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 5737, i32 noundef 1)
  br label %154

154:                                              ; preds = %._crit_edge57, %151, %11, %61, %45, %37, %32, %27, %8
  %.0 = phi i32 [ %10, %8 ], [ %29, %27 ], [ %34, %32 ], [ %39, %37 ], [ %47, %45 ], [ %63, %61 ], [ 0, %11 ], [ 0, %151 ], [ 0, %._crit_edge57 ]
  ret i32 %.0
}

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem16shallRefactoriseEPKNS_6BoundsEPKNS_11ConstraintsE(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef, ptr noundef) local_unnamed_addr #3 align 2

declare noundef i32 @_ZN7qpOASES6Bounds4initEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) local_unnamed_addr #0

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 = { 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 #2 = { 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 #3 = { 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" }

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

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


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