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

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

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

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [96 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [123 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [79 x i8], align 1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_Z8MyPrintfPKcz(ptr noundef, ...) #0

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

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

declare i32 @__gxx_personality_v0(...)

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #2

declare noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) #2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur16setupAuxiliaryQPEPNS_15SymmetricMatrixEPNS_6MatrixEPKdS6_S6_S6_(ptr noundef nonnull align 8 dereferenceable(1256) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5, ptr noundef %6) unnamed_addr #3 align 2 personality ptr @__gxx_personality_v0 {
  %8 = alloca i32, align 4
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca i32, align 4
  %17 = alloca i32, align 4
  %18 = alloca i32, align 4
  %19 = alloca i32, align 4
  %20 = alloca i32, align 4
  %21 = alloca i32, align 4
  %22 = alloca %"class.qpOASES::Bounds", align 8
  %23 = alloca %"class.qpOASES::Constraints", align 8
  %24 = alloca ptr, align 8
  %25 = alloca i32, align 4
  %26 = alloca i32, align 4
  store ptr %0, ptr %9, align 8, !tbaa !5
  store ptr %1, ptr %10, align 8, !tbaa !5
  store ptr %2, ptr %11, align 8, !tbaa !5
  store ptr %3, ptr %12, align 8, !tbaa !5
  store ptr %4, ptr %13, align 8, !tbaa !5
  store ptr %5, ptr %14, align 8, !tbaa !5
  store ptr %6, ptr %15, align 8, !tbaa !5
  %27 = load ptr, ptr %9, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #7
  %28 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %27)
  store i32 %28, ptr %17, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #7
  %29 = call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %27)
  store i32 %29, ptr %18, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #7
  %30 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %27)
  %31 = icmp eq i32 %30, 0
  br i1 %31, label %38, label %32

32:                                               ; preds = %7
  %33 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %27)
  %34 = icmp eq i32 %33, 1
  br i1 %34, label %38, label %35

35:                                               ; preds = %32
  %36 = call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %27)
  %37 = icmp eq i32 %36, 3
  br i1 %37, label %38, label %41

38:                                               ; preds = %35, %32, %7
  %39 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %40 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %39, i32 noundef 126, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 330, i32 noundef 1)
  store i32 %40, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %472

41:                                               ; preds = %35
  %42 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 12
  store i32 1, ptr %42, align 8, !tbaa !11
  %43 = load i32, ptr %18, align 4, !tbaa !9
  %44 = icmp sgt i32 %43, 0
  br i1 %44, label %45, label %166

45:                                               ; preds = %41
  %46 = load ptr, ptr %11, align 8, !tbaa !5
  %47 = icmp eq ptr %46, null
  br i1 %47, label %48, label %51

48:                                               ; preds = %45
  %49 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %50 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %49, i32 noundef 3, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 343, i32 noundef 1)
  store i32 %50, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %472

51:                                               ; preds = %45
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %52

52:                                               ; preds = %80, %51
  %53 = load i32, ptr %16, align 4, !tbaa !9
  %54 = load i32, ptr %18, align 4, !tbaa !9
  %55 = icmp slt i32 %53, %54
  br i1 %55, label %56, label %83

56:                                               ; preds = %52
  %57 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 10
  %58 = load ptr, ptr %57, align 8, !tbaa !26
  %59 = load i32, ptr %16, align 4, !tbaa !9
  %60 = sext i32 %59 to i64
  %61 = getelementptr inbounds double, ptr %58, i64 %60
  %62 = load double, ptr %61, align 8, !tbaa !28
  %63 = fneg double %62
  %64 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 3
  %65 = load ptr, ptr %64, align 8, !tbaa !29
  %66 = load i32, ptr %16, align 4, !tbaa !9
  %67 = sext i32 %66 to i64
  %68 = getelementptr inbounds double, ptr %65, i64 %67
  store double %63, ptr %68, align 8, !tbaa !28
  %69 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 11
  %70 = load ptr, ptr %69, align 8, !tbaa !30
  %71 = load i32, ptr %16, align 4, !tbaa !9
  %72 = sext i32 %71 to i64
  %73 = getelementptr inbounds double, ptr %70, i64 %72
  %74 = load double, ptr %73, align 8, !tbaa !28
  %75 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 4
  %76 = load ptr, ptr %75, align 8, !tbaa !31
  %77 = load i32, ptr %16, align 4, !tbaa !9
  %78 = sext i32 %77 to i64
  %79 = getelementptr inbounds double, ptr %76, i64 %78
  store double %74, ptr %79, align 8, !tbaa !28
  br label %80

80:                                               ; preds = %56
  %81 = load i32, ptr %16, align 4, !tbaa !9
  %82 = add nsw i32 %81, 1
  store i32 %82, ptr %16, align 4, !tbaa !9
  br label %52, !llvm.loop !32

83:                                               ; preds = %52
  %84 = load ptr, ptr %11, align 8, !tbaa !5
  %85 = call noundef i32 @_ZN7qpOASES8QProblem4setAEPNS_6MatrixE(ptr noundef nonnull align 8 dereferenceable(1064) %27, ptr noundef %84)
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %86

86:                                               ; preds = %117, %83
  %87 = load i32, ptr %16, align 4, !tbaa !9
  %88 = load i32, ptr %18, align 4, !tbaa !9
  %89 = icmp slt i32 %87, %88
  br i1 %89, label %90, label %120

90:                                               ; preds = %86
  %91 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 9
  %92 = load ptr, ptr %91, align 8, !tbaa !34
  %93 = load i32, ptr %16, align 4, !tbaa !9
  %94 = sext i32 %93 to i64
  %95 = getelementptr inbounds double, ptr %92, i64 %94
  %96 = load double, ptr %95, align 8, !tbaa !28
  %97 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 3
  %98 = load ptr, ptr %97, align 8, !tbaa !29
  %99 = load i32, ptr %16, align 4, !tbaa !9
  %100 = sext i32 %99 to i64
  %101 = getelementptr inbounds double, ptr %98, i64 %100
  %102 = load double, ptr %101, align 8, !tbaa !28
  %103 = fadd double %102, %96
  store double %103, ptr %101, align 8, !tbaa !28
  %104 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 9
  %105 = load ptr, ptr %104, align 8, !tbaa !34
  %106 = load i32, ptr %16, align 4, !tbaa !9
  %107 = sext i32 %106 to i64
  %108 = getelementptr inbounds double, ptr %105, i64 %107
  %109 = load double, ptr %108, align 8, !tbaa !28
  %110 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 4
  %111 = load ptr, ptr %110, align 8, !tbaa !31
  %112 = load i32, ptr %16, align 4, !tbaa !9
  %113 = sext i32 %112 to i64
  %114 = getelementptr inbounds double, ptr %111, i64 %113
  %115 = load double, ptr %114, align 8, !tbaa !28
  %116 = fadd double %115, %109
  store double %116, ptr %114, align 8, !tbaa !28
  br label %117

117:                                              ; preds = %90
  %118 = load i32, ptr %16, align 4, !tbaa !9
  %119 = add nsw i32 %118, 1
  store i32 %119, ptr %16, align 4, !tbaa !9
  br label %86, !llvm.loop !35

120:                                              ; preds = %86
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %121

121:                                              ; preds = %162, %120
  %122 = load i32, ptr %16, align 4, !tbaa !9
  %123 = load i32, ptr %18, align 4, !tbaa !9
  %124 = icmp slt i32 %122, %123
  br i1 %124, label %125, label %165

125:                                              ; preds = %121
  %126 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 4
  %127 = load ptr, ptr %126, align 8, !tbaa !31
  %128 = load i32, ptr %16, align 4, !tbaa !9
  %129 = sext i32 %128 to i64
  %130 = getelementptr inbounds double, ptr %127, i64 %129
  %131 = load double, ptr %130, align 8, !tbaa !28
  %132 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 9
  %133 = load ptr, ptr %132, align 8, !tbaa !34
  %134 = load i32, ptr %16, align 4, !tbaa !9
  %135 = sext i32 %134 to i64
  %136 = getelementptr inbounds double, ptr %133, i64 %135
  %137 = load double, ptr %136, align 8, !tbaa !28
  %138 = fsub double %131, %137
  %139 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 11
  %140 = load ptr, ptr %139, align 8, !tbaa !30
  %141 = load i32, ptr %16, align 4, !tbaa !9
  %142 = sext i32 %141 to i64
  %143 = getelementptr inbounds double, ptr %140, i64 %142
  store double %138, ptr %143, align 8, !tbaa !28
  %144 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 9
  %145 = load ptr, ptr %144, align 8, !tbaa !34
  %146 = load i32, ptr %16, align 4, !tbaa !9
  %147 = sext i32 %146 to i64
  %148 = getelementptr inbounds double, ptr %145, i64 %147
  %149 = load double, ptr %148, align 8, !tbaa !28
  %150 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 3
  %151 = load ptr, ptr %150, align 8, !tbaa !29
  %152 = load i32, ptr %16, align 4, !tbaa !9
  %153 = sext i32 %152 to i64
  %154 = getelementptr inbounds double, ptr %151, i64 %153
  %155 = load double, ptr %154, align 8, !tbaa !28
  %156 = fsub double %149, %155
  %157 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 10
  %158 = load ptr, ptr %157, align 8, !tbaa !26
  %159 = load i32, ptr %16, align 4, !tbaa !9
  %160 = sext i32 %159 to i64
  %161 = getelementptr inbounds double, ptr %158, i64 %160
  store double %156, ptr %161, align 8, !tbaa !28
  br label %162

162:                                              ; preds = %125
  %163 = load i32, ptr %16, align 4, !tbaa !9
  %164 = add nsw i32 %163, 1
  store i32 %164, ptr %16, align 4, !tbaa !9
  br label %121, !llvm.loop !36

165:                                              ; preds = %121
  br label %166

166:                                              ; preds = %165, %41
  %167 = load ptr, ptr %10, align 8, !tbaa !5
  %168 = icmp ne ptr %167, null
  br i1 %168, label %169, label %198

169:                                              ; preds = %166
  %170 = load ptr, ptr %10, align 8, !tbaa !5
  %171 = call noundef i32 @_ZN7qpOASES9QProblemB4setHEPNS_15SymmetricMatrixE(ptr noundef nonnull align 8 dereferenceable(800) %27, ptr noundef %170)
  %172 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 15
  store i32 6, ptr %172, align 4, !tbaa !37
  %173 = call noundef i32 @_ZN7qpOASES9QProblemB20determineHessianTypeEv(ptr noundef nonnull align 8 dereferenceable(800) %27)
  %174 = icmp ne i32 %173, 0
  br i1 %174, label %175, label %178

175:                                              ; preds = %169
  %176 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %177 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %176, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 378, i32 noundef 1)
  store i32 %177, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %472

178:                                              ; preds = %169
  %179 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 15
  %180 = load i32, ptr %179, align 4, !tbaa !37
  %181 = icmp eq i32 %180, 0
  br i1 %181, label %189, label %182

182:                                              ; preds = %178
  %183 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 15
  %184 = load i32, ptr %183, align 4, !tbaa !37
  %185 = icmp eq i32 %184, 4
  br i1 %185, label %189, label %186

186:                                              ; preds = %182
  %187 = call noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800) %27)
  %188 = icmp eq i32 %187, 1
  br i1 %188, label %189, label %197

189:                                              ; preds = %186, %182, %178
  %190 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 16
  store double 0.000000e+00, ptr %190, align 8, !tbaa !38
  %191 = call noundef i32 @_ZN7qpOASES9QProblemB17regulariseHessianEv(ptr noundef nonnull align 8 dereferenceable(800) %27)
  %192 = icmp ne i32 %191, 0
  br i1 %192, label %193, label %196

193:                                              ; preds = %189
  %194 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %195 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %194, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 388, i32 noundef 1)
  store i32 %195, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %472

196:                                              ; preds = %189
  br label %197

197:                                              ; preds = %196, %186
  br label %206

198:                                              ; preds = %166
  %199 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 2
  %200 = load ptr, ptr %199, align 8, !tbaa !39
  %201 = icmp ne ptr %200, null
  br i1 %201, label %202, label %205

202:                                              ; preds = %198
  %203 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %204 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %203, i32 noundef 109, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 394, i32 noundef 1)
  store i32 %204, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %472

205:                                              ; preds = %198
  br label %206

206:                                              ; preds = %205, %197
  %207 = call noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064) %27)
  %208 = icmp ne i32 %207, 0
  br i1 %208, label %209, label %212

209:                                              ; preds = %206
  %210 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %211 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %210, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 399, i32 noundef 1)
  store i32 %211, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %472

212:                                              ; preds = %206
  %213 = call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %27, i32 noundef 0)
  store i32 %213, ptr %19, align 4, !tbaa !40
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #7
  %214 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %27, i32 0, i32 1
  %215 = load ptr, ptr %214, align 8, !tbaa !42
  %216 = load ptr, ptr %215, align 8, !tbaa !45
  %217 = getelementptr inbounds ptr, ptr %216, i64 7
  %218 = load ptr, ptr %217, align 8
  %219 = call noundef i32 %218(ptr noundef nonnull align 8 dereferenceable(8) %215)
  store i32 %219, ptr %21, align 4, !tbaa !9
  %220 = load i32, ptr %19, align 4, !tbaa !40
  %221 = icmp eq i32 %220, 0
  br i1 %221, label %222, label %234

222:                                              ; preds = %212
  %223 = load i32, ptr %21, align 4, !tbaa !9
  %224 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %27)
  %225 = icmp eq i32 %223, %224
  br i1 %225, label %226, label %234

226:                                              ; preds = %222
  %227 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 23
  %228 = getelementptr inbounds %"class.qpOASES::Options", ptr %227, i32 0, i32 0
  %229 = load i32, ptr %228, align 8, !tbaa !47
  %230 = icmp eq i32 %229, 3
  br i1 %230, label %231, label %232

231:                                              ; preds = %226
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.2)
  br label %232

232:                                              ; preds = %231, %226
  %233 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 12
  store i32 2, ptr %233, align 8, !tbaa !11
  store i32 0, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %471

234:                                              ; preds = %222, %212
  %235 = load i32, ptr %19, align 4, !tbaa !40
  %236 = icmp eq i32 %235, 0
  br i1 %236, label %237, label %265

237:                                              ; preds = %234
  %238 = load i32, ptr %21, align 4, !tbaa !9
  %239 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %27)
  %240 = icmp sgt i32 %238, %239
  br i1 %240, label %241, label %265

241:                                              ; preds = %237
  %242 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 23
  %243 = getelementptr inbounds %"class.qpOASES::Options", ptr %242, i32 0, i32 0
  %244 = load i32, ptr %243, align 8, !tbaa !47
  %245 = icmp eq i32 %244, 3
  br i1 %245, label %246, label %249

246:                                              ; preds = %241
  %247 = load i32, ptr %21, align 4, !tbaa !9
  %248 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %27)
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.3, i32 noundef %247, i32 noundef %248)
  br label %249

249:                                              ; preds = %246, %241
  %250 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 23
  %251 = getelementptr inbounds %"class.qpOASES::Options", ptr %250, i32 0, i32 33
  %252 = load i32, ptr %251, align 8, !tbaa !48
  %253 = icmp ne i32 %252, 0
  br i1 %253, label %254, label %261

254:                                              ; preds = %249
  %255 = call noundef i32 @_ZN7qpOASES14SQProblemSchur14correctInertiaEv(ptr noundef nonnull align 8 dereferenceable(1256) %27)
  store i32 %255, ptr %19, align 4, !tbaa !40
  %256 = load i32, ptr %19, align 4, !tbaa !40
  %257 = icmp eq i32 %256, 0
  br i1 %257, label %258, label %260

258:                                              ; preds = %254
  %259 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 12
  store i32 2, ptr %259, align 8, !tbaa !11
  store i32 0, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %471

260:                                              ; preds = %254
  br label %264

261:                                              ; preds = %249
  %262 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %263 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %262, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 434, i32 noundef 1)
  store i32 %263, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %471

264:                                              ; preds = %260
  br label %265

265:                                              ; preds = %264, %237, %234
  br label %266

266:                                              ; preds = %265
  %267 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 23
  %268 = getelementptr inbounds %"class.qpOASES::Options", ptr %267, i32 0, i32 0
  %269 = load i32, ptr %268, align 8, !tbaa !47
  %270 = icmp eq i32 %269, 3
  br i1 %270, label %271, label %272

271:                                              ; preds = %266
  call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef @.str.4)
  br label %272

272:                                              ; preds = %271, %266
  call void @llvm.lifetime.start.p0(i64 120, ptr %22) #7
  %273 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 6
  call void @_ZN7qpOASES6BoundsC1ERKS0_(ptr noundef nonnull align 8 dereferenceable(120) %22, ptr noundef nonnull align 8 dereferenceable(120) %273)
  call void @llvm.lifetime.start.p0(i64 120, ptr %23) #7
  %274 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 5
  invoke void @_ZN7qpOASES11ConstraintsC1ERKS0_(ptr noundef nonnull align 8 dereferenceable(120) %23, ptr noundef nonnull align 8 dereferenceable(120) %274)
          to label %275 unwind label %296

275:                                              ; preds = %272
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %276

276:                                              ; preds = %326, %275
  %277 = load i32, ptr %16, align 4, !tbaa !9
  %278 = load i32, ptr %17, align 4, !tbaa !9
  %279 = icmp slt i32 %277, %278
  br i1 %279, label %280, label %329

280:                                              ; preds = %276
  %281 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 6
  %282 = load i32, ptr %16, align 4, !tbaa !9
  %283 = invoke noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %281, i32 noundef %282)
          to label %284 unwind label %300

284:                                              ; preds = %280
  %285 = icmp eq i32 %283, 2
  br i1 %285, label %286, label %305

286:                                              ; preds = %284
  %287 = load i32, ptr %16, align 4, !tbaa !9
  %288 = invoke noundef i32 @_ZN7qpOASES9SubjectTo9setStatusEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(40) %22, i32 noundef %287, i32 noundef -1)
          to label %289 unwind label %300

289:                                              ; preds = %286
  %290 = icmp ne i32 %288, 0
  br i1 %290, label %291, label %304

291:                                              ; preds = %289
  %292 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %293 unwind label %300

293:                                              ; preds = %291
  %294 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %292, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 453, i32 noundef 1)
          to label %295 unwind label %300

295:                                              ; preds = %293
  store i32 %294, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %469

296:                                              ; preds = %272
  %297 = landingpad { ptr, i32 }
          cleanup
  %298 = extractvalue { ptr, i32 } %297, 0
  store ptr %298, ptr %24, align 8
  %299 = extractvalue { ptr, i32 } %297, 1
  store i32 %299, ptr %25, align 4
  br label %470

300:                                              ; preds = %463, %434, %432, %425, %422, %420, %415, %412, %410, %405, %402, %400, %389, %385, %381, %373, %371, %366, %360, %347, %345, %340, %334, %320, %318, %310, %305, %293, %291, %286, %280
  %301 = landingpad { ptr, i32 }
          cleanup
  %302 = extractvalue { ptr, i32 } %301, 0
  store ptr %302, ptr %24, align 8
  %303 = extractvalue { ptr, i32 } %301, 1
  store i32 %303, ptr %25, align 4
  call void @_ZN7qpOASES11ConstraintsD1Ev(ptr noundef nonnull align 8 dereferenceable(120) %23) #7
  br label %470

304:                                              ; preds = %289
  br label %325

305:                                              ; preds = %284
  %306 = load i32, ptr %16, align 4, !tbaa !9
  %307 = invoke noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %22, i32 noundef %306)
          to label %308 unwind label %300

308:                                              ; preds = %305
  %309 = icmp eq i32 %307, 0
  br i1 %309, label %310, label %324

310:                                              ; preds = %308
  %311 = load i32, ptr %16, align 4, !tbaa !9
  %312 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 23
  %313 = getelementptr inbounds %"class.qpOASES::Options", ptr %312, i32 0, i32 21
  %314 = load i32, ptr %313, align 8, !tbaa !49
  %315 = invoke noundef i32 @_ZN7qpOASES9SubjectTo9setStatusEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(40) %22, i32 noundef %311, i32 noundef %314)
          to label %316 unwind label %300

316:                                              ; preds = %310
  %317 = icmp ne i32 %315, 0
  br i1 %317, label %318, label %323

318:                                              ; preds = %316
  %319 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %320 unwind label %300

320:                                              ; preds = %318
  %321 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %319, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 460, i32 noundef 1)
          to label %322 unwind label %300

322:                                              ; preds = %320
  store i32 %321, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %469

323:                                              ; preds = %316
  br label %324

324:                                              ; preds = %323, %308
  br label %325

325:                                              ; preds = %324, %304
  br label %326

326:                                              ; preds = %325
  %327 = load i32, ptr %16, align 4, !tbaa !9
  %328 = add nsw i32 %327, 1
  store i32 %328, ptr %16, align 4, !tbaa !9
  br label %276, !llvm.loop !50

329:                                              ; preds = %276
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %330

330:                                              ; preds = %352, %329
  %331 = load i32, ptr %16, align 4, !tbaa !9
  %332 = load i32, ptr %18, align 4, !tbaa !9
  %333 = icmp slt i32 %331, %332
  br i1 %333, label %334, label %355

334:                                              ; preds = %330
  %335 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 5
  %336 = load i32, ptr %16, align 4, !tbaa !9
  %337 = invoke noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %335, i32 noundef %336)
          to label %338 unwind label %300

338:                                              ; preds = %334
  %339 = icmp eq i32 %337, 2
  br i1 %339, label %340, label %351

340:                                              ; preds = %338
  %341 = load i32, ptr %16, align 4, !tbaa !9
  %342 = invoke noundef i32 @_ZN7qpOASES9SubjectTo9setStatusEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(40) %23, i32 noundef %341, i32 noundef -1)
          to label %343 unwind label %300

343:                                              ; preds = %340
  %344 = icmp ne i32 %342, 0
  br i1 %344, label %345, label %350

345:                                              ; preds = %343
  %346 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %347 unwind label %300

347:                                              ; preds = %345
  %348 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %346, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 470, i32 noundef 1)
          to label %349 unwind label %300

349:                                              ; preds = %347
  store i32 %348, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %469

350:                                              ; preds = %343
  br label %351

351:                                              ; preds = %350, %338
  br label %352

352:                                              ; preds = %351
  %353 = load i32, ptr %16, align 4, !tbaa !9
  %354 = add nsw i32 %353, 1
  store i32 %354, ptr %16, align 4, !tbaa !9
  br label %330, !llvm.loop !51

355:                                              ; preds = %330
  store i32 0, ptr %16, align 4, !tbaa !9
  br label %356

356:                                              ; preds = %378, %355
  %357 = load i32, ptr %16, align 4, !tbaa !9
  %358 = load i32, ptr %18, align 4, !tbaa !9
  %359 = icmp slt i32 %357, %358
  br i1 %359, label %360, label %381

360:                                              ; preds = %356
  %361 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 5
  %362 = load i32, ptr %16, align 4, !tbaa !9
  %363 = invoke noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %361, i32 noundef %362)
          to label %364 unwind label %300

364:                                              ; preds = %360
  %365 = icmp ne i32 %363, 2
  br i1 %365, label %366, label %377

366:                                              ; preds = %364
  %367 = load i32, ptr %16, align 4, !tbaa !9
  %368 = invoke noundef i32 @_ZN7qpOASES9SubjectTo9setStatusEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(40) %23, i32 noundef %367, i32 noundef 0)
          to label %369 unwind label %300

369:                                              ; preds = %366
  %370 = icmp ne i32 %368, 0
  br i1 %370, label %371, label %376

371:                                              ; preds = %369
  %372 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %373 unwind label %300

373:                                              ; preds = %371
  %374 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %372, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 479, i32 noundef 1)
          to label %375 unwind label %300

375:                                              ; preds = %373
  store i32 %374, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %469

376:                                              ; preds = %369
  br label %377

377:                                              ; preds = %376, %364
  br label %378

378:                                              ; preds = %377
  %379 = load i32, ptr %16, align 4, !tbaa !9
  %380 = add nsw i32 %379, 1
  store i32 %380, ptr %16, align 4, !tbaa !9
  br label %356, !llvm.loop !52

381:                                              ; preds = %356
  %382 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 6
  %383 = load i32, ptr %17, align 4, !tbaa !9
  %384 = invoke noundef i32 @_ZN7qpOASES6Bounds4initEi(ptr noundef nonnull align 8 dereferenceable(120) %382, i32 noundef %383)
          to label %385 unwind label %300

385:                                              ; preds = %381
  %386 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 5
  %387 = load i32, ptr %18, align 4, !tbaa !9
  %388 = invoke noundef i32 @_ZN7qpOASES11Constraints4initEi(ptr noundef nonnull align 8 dereferenceable(120) %386, i32 noundef %387)
          to label %389 unwind label %300

389:                                              ; preds = %385
  %390 = load ptr, ptr %12, align 8, !tbaa !5
  %391 = load ptr, ptr %13, align 8, !tbaa !5
  %392 = load ptr, ptr %14, align 8, !tbaa !5
  %393 = load ptr, ptr %15, align 8, !tbaa !5
  %394 = load ptr, ptr %27, align 8, !tbaa !45
  %395 = getelementptr inbounds ptr, ptr %394, i64 21
  %396 = load ptr, ptr %395, align 8
  %397 = invoke noundef i32 %396(ptr noundef nonnull align 8 dereferenceable(1064) %27, ptr noundef %390, ptr noundef %391, ptr noundef %392, ptr noundef %393)
          to label %398 unwind label %300

398:                                              ; preds = %389
  %399 = icmp ne i32 %397, 0
  br i1 %399, label %400, label %405

400:                                              ; preds = %398
  %401 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %402 unwind label %300

402:                                              ; preds = %400
  %403 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %401, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 487, i32 noundef 1)
          to label %404 unwind label %300

404:                                              ; preds = %402
  store i32 %403, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %469

405:                                              ; preds = %398
  %406 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 6
  %407 = invoke noundef i32 @_ZN7qpOASES6Bounds12setupAllFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %406)
          to label %408 unwind label %300

408:                                              ; preds = %405
  %409 = icmp ne i32 %407, 0
  br i1 %409, label %410, label %415

410:                                              ; preds = %408
  %411 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %412 unwind label %300

412:                                              ; preds = %410
  %413 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %411, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 490, i32 noundef 1)
          to label %414 unwind label %300

414:                                              ; preds = %412
  store i32 %413, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %469

415:                                              ; preds = %408
  %416 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 5
  %417 = invoke noundef i32 @_ZN7qpOASES11Constraints16setupAllInactiveEv(ptr noundef nonnull align 8 dereferenceable(120) %416)
          to label %418 unwind label %300

418:                                              ; preds = %415
  %419 = icmp ne i32 %417, 0
  br i1 %419, label %420, label %425

420:                                              ; preds = %418
  %421 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %422 unwind label %300

422:                                              ; preds = %420
  %423 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %421, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 493, i32 noundef 1)
          to label %424 unwind label %300

424:                                              ; preds = %422
  store i32 %423, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %469

425:                                              ; preds = %418
  %426 = load ptr, ptr %27, align 8, !tbaa !45
  %427 = getelementptr inbounds ptr, ptr %426, i64 24
  %428 = load ptr, ptr %427, align 8
  %429 = invoke noundef i32 %428(ptr noundef nonnull align 8 dereferenceable(1256) %27, ptr noundef %22, ptr noundef %23, i32 noundef 1)
          to label %430 unwind label %300

430:                                              ; preds = %425
  %431 = icmp ne i32 %429, 0
  br i1 %431, label %432, label %437

432:                                              ; preds = %430
  %433 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %434 unwind label %300

434:                                              ; preds = %432
  %435 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %433, i32 noundef 43, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 497, i32 noundef 1)
          to label %436 unwind label %300

436:                                              ; preds = %434
  store i32 %435, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %469

437:                                              ; preds = %430
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #7
  store i32 0, ptr %26, align 4, !tbaa !9
  br label %438

438:                                              ; preds = %460, %437
  %439 = load i32, ptr %26, align 4, !tbaa !9
  %440 = load i32, ptr %18, align 4, !tbaa !9
  %441 = icmp slt i32 %439, %440
  br i1 %441, label %443, label %442

442:                                              ; preds = %438
  store i32 20, ptr %20, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #7
  br label %463

443:                                              ; preds = %438
  %444 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 9
  %445 = load ptr, ptr %444, align 8, !tbaa !34
  %446 = load i32, ptr %26, align 4, !tbaa !9
  %447 = sext i32 %446 to i64
  %448 = getelementptr inbounds double, ptr %445, i64 %447
  %449 = load double, ptr %448, align 8, !tbaa !28
  %450 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 11
  %451 = load ptr, ptr %450, align 8, !tbaa !30
  %452 = load i32, ptr %26, align 4, !tbaa !9
  %453 = sext i32 %452 to i64
  %454 = getelementptr inbounds double, ptr %451, i64 %453
  store double %449, ptr %454, align 8, !tbaa !28
  %455 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 10
  %456 = load ptr, ptr %455, align 8, !tbaa !26
  %457 = load i32, ptr %26, align 4, !tbaa !9
  %458 = sext i32 %457 to i64
  %459 = getelementptr inbounds double, ptr %456, i64 %458
  store double %449, ptr %459, align 8, !tbaa !28
  br label %460

460:                                              ; preds = %443
  %461 = load i32, ptr %26, align 4, !tbaa !9
  %462 = add nsw i32 %461, 1
  store i32 %462, ptr %26, align 4, !tbaa !9
  br label %438, !llvm.loop !53

463:                                              ; preds = %442
  %464 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 6
  %465 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %27, i32 0, i32 5
  %466 = invoke noundef i32 @_ZN7qpOASES8QProblem22setupAuxiliaryQPboundsEPKNS_6BoundsEPKNS_11ConstraintsENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064) %27, ptr noundef %464, ptr noundef %465, i32 noundef 0)
          to label %467 unwind label %300

467:                                              ; preds = %463
  %468 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %27, i32 0, i32 12
  store i32 2, ptr %468, align 8, !tbaa !11
  store i32 0, ptr %8, align 4
  store i32 1, ptr %20, align 4
  br label %469

469:                                              ; preds = %467, %436, %424, %414, %404, %375, %349, %322, %295
  call void @_ZN7qpOASES11ConstraintsD1Ev(ptr noundef nonnull align 8 dereferenceable(120) %23) #7
  call void @llvm.lifetime.end.p0(i64 120, ptr %23) #7
  call void @_ZN7qpOASES6BoundsD1Ev(ptr noundef nonnull align 8 dereferenceable(120) %22) #7
  call void @llvm.lifetime.end.p0(i64 120, ptr %22) #7
  br label %471

470:                                              ; preds = %300, %296
  call void @llvm.lifetime.end.p0(i64 120, ptr %23) #7
  call void @_ZN7qpOASES6BoundsD1Ev(ptr noundef nonnull align 8 dereferenceable(120) %22) #7
  call void @llvm.lifetime.end.p0(i64 120, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #7
  br label %474

471:                                              ; preds = %469, %261, %258, %232
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #7
  br label %472

472:                                              ; preds = %471, %209, %202, %193, %175, %48, %38
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #7
  %473 = load i32, ptr %8, align 4
  ret i32 %473

474:                                              ; preds = %470
  %475 = load ptr, ptr %24, align 8
  %476 = load i32, ptr %25, align 4
  %477 = insertvalue { ptr, i32 } poison, ptr %475, 0
  %478 = insertvalue { ptr, i32 } %477, i32 %476, 1
  resume { ptr, i32 } %478
}

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064)) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES8QProblem4setAEPNS_6MatrixE(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN7qpOASES9QProblemB4setHEPNS_15SymmetricMatrixE(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef) #5 align 2

declare noundef i32 @_ZN7qpOASES9QProblemB20determineHessianTypeEv(ptr noundef nonnull align 8 dereferenceable(800)) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800)) #5 align 2

declare noundef i32 @_ZN7qpOASES9QProblemB17regulariseHessianEv(ptr noundef nonnull align 8 dereferenceable(800)) #2

declare noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064)) #2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur14correctInertiaEv(ptr noundef nonnull align 8 dereferenceable(1256)) #3 align 2

declare void @_ZN7qpOASES6BoundsC1ERKS0_(ptr noundef nonnull align 8 dereferenceable(120), ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #2

declare void @_ZN7qpOASES11ConstraintsC1ERKS0_(ptr noundef nonnull align 8 dereferenceable(120), ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES9SubjectTo9setStatusEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef, i32 noundef) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #5 align 2

declare noundef i32 @_ZN7qpOASES6Bounds4initEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) #2

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

declare noundef i32 @_ZN7qpOASES6Bounds12setupAllFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) #2

declare noundef i32 @_ZN7qpOASES11Constraints16setupAllInactiveEv(ptr noundef nonnull align 8 dereferenceable(120)) #2

declare noundef i32 @_ZN7qpOASES8QProblem22setupAuxiliaryQPboundsEPKNS_6BoundsEPKNS_11ConstraintsENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef, ptr noundef, i32 noundef) #2

; Function Attrs: nounwind
declare void @_ZN7qpOASES11ConstraintsD1Ev(ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #6

; Function Attrs: nounwind
declare void @_ZN7qpOASES6BoundsD1Ev(ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #6

attributes #0 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { "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" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nounwind }

!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, !6, i64 984}
!27 = !{!"_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}
!28 = !{!17, !17, i64 0}
!29 = !{!27, !6, i64 816}
!30 = !{!27, !6, i64 992}
!31 = !{!27, !6, i64 824}
!32 = distinct !{!32, !33}
!33 = !{!"llvm.loop.mustprogress"}
!34 = !{!27, !6, i64 976}
!35 = distinct !{!35, !33}
!36 = distinct !{!36, !33}
!37 = !{!12, !19, i64 220}
!38 = !{!12, !17, i64 224}
!39 = !{!12, !6, i64 16}
!40 = !{!41, !41, i64 0}
!41 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!42 = !{!43, !6, i64 1064}
!43 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !44, i64 0, !6, i64 1064, !6, i64 1072, !10, i64 1080, !10, i64 1084, !6, i64 1088, !6, i64 1096, !17, i64 1104, !17, i64 1112, !10, i64 1120, !6, i64 1128, !6, i64 1136, !10, i64 1144, !6, i64 1152, !6, i64 1160, !6, i64 1168, !16, i64 1176, !16, i64 1216}
!44 = !{!"_ZTSN7qpOASES9SQProblemE", !27, i64 0}
!45 = !{!46, !46, i64 0}
!46 = !{!"vtable pointer", !8, i64 0}
!47 = !{!12, !21, i64 272}
!48 = !{!12, !13, i64 472}
!49 = !{!12, !22, i64 400}
!50 = distinct !{!50, !33}
!51 = distinct !{!51, !33}
!52 = distinct !{!52, !33}
!53 = distinct !{!53, !33}


; 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"

%"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::Constraints" = type { %"class.qpOASES::SubjectTo", %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.2 = external hidden unnamed_addr constant [96 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [123 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [79 x i8], align 1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_Z8MyPrintfPKcz(ptr noundef, ...) local_unnamed_addr #0

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

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

declare i32 @__gxx_personality_v0(...)

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #2

declare noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur16setupAuxiliaryQPEPNS_15SymmetricMatrixEPNS_6MatrixEPKdS6_S6_S6_(ptr noundef nonnull align 8 dereferenceable(1256) %0, ptr noundef %1, ptr noundef %2, ptr noundef %3, ptr noundef %4, ptr noundef %5, ptr noundef %6) unnamed_addr #3 align 2 personality ptr @__gxx_personality_v0 {
  %8 = alloca %"class.qpOASES::Bounds", align 8
  %9 = alloca %"class.qpOASES::Constraints", align 8
  %10 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %11 = tail call noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %12 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %13 = icmp eq i32 %12, 0
  br i1 %13, label %20, label %14

14:                                               ; preds = %7
  %15 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %16 = icmp eq i32 %15, 1
  br i1 %16, label %20, label %17

17:                                               ; preds = %14
  %18 = tail call noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %19 = icmp eq i32 %18, 3
  br i1 %19, label %20, label %23

20:                                               ; preds = %17, %14, %7
  %21 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %22 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %21, i32 noundef 126, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 330, i32 noundef 1)
  br label %369

23:                                               ; preds = %17
  %24 = getelementptr inbounds i8, ptr %0, i64 208
  store i32 1, ptr %24, align 8, !tbaa !5
  %25 = icmp sgt i32 %11, 0
  br i1 %25, label %26, label %.loopexit103

26:                                               ; preds = %23
  %27 = icmp eq ptr %2, null
  br i1 %27, label %65, label %.lr.ph

.lr.ph:                                           ; preds = %26
  %28 = getelementptr inbounds i8, ptr %0, i64 984
  %29 = load ptr, ptr %28, align 8, !tbaa !24
  %30 = getelementptr inbounds i8, ptr %0, i64 816
  %31 = load ptr, ptr %30, align 8, !tbaa !26
  %32 = getelementptr inbounds i8, ptr %0, i64 992
  %33 = load ptr, ptr %32, align 8, !tbaa !27
  %34 = getelementptr inbounds i8, ptr %0, i64 824
  %35 = load ptr, ptr %34, align 8, !tbaa !28
  %wide.trip.count = zext nneg i32 %11 to i64
  %min.iters.check = icmp ult i32 %11, 20
  br i1 %min.iters.check, label %scalar.ph.preheader, label %vector.memcheck

scalar.ph.preheader:                              ; preds = %middle.block, %vector.memcheck, %.lr.ph
  %indvars.iv.ph = phi i64 [ 0, %vector.memcheck ], [ 0, %.lr.ph ], [ %n.vec, %middle.block ]
  %xtraiter = and i64 %wide.trip.count, 1
  %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
  %36 = getelementptr inbounds double, ptr %29, i64 %indvars.iv.ph
  %37 = load double, ptr %36, align 8, !tbaa !29
  %38 = fneg double %37
  %39 = getelementptr inbounds double, ptr %31, i64 %indvars.iv.ph
  store double %38, ptr %39, align 8, !tbaa !29
  %40 = getelementptr inbounds double, ptr %33, i64 %indvars.iv.ph
  %41 = load double, ptr %40, align 8, !tbaa !29
  %42 = getelementptr inbounds double, ptr %35, i64 %indvars.iv.ph
  store double %41, ptr %42, align 8, !tbaa !29
  %indvars.iv.next.prol = or disjoint i64 %indvars.iv.ph, 1
  br label %scalar.ph.prol.loopexit

scalar.ph.prol.loopexit:                          ; preds = %scalar.ph.prol, %scalar.ph.preheader
  %indvars.iv.unr = phi i64 [ %indvars.iv.ph, %scalar.ph.preheader ], [ %indvars.iv.next.prol, %scalar.ph.prol ]
  %43 = add nsw i64 %wide.trip.count, -1
  %44 = icmp eq i64 %indvars.iv.ph, %43
  br i1 %44, label %.lr.ph108, label %scalar.ph

vector.memcheck:                                  ; preds = %.lr.ph
  %45 = ptrtoint ptr %35 to i64
  %46 = ptrtoint ptr %33 to i64
  %47 = ptrtoint ptr %31 to i64
  %48 = ptrtoint ptr %29 to i64
  %49 = sub i64 %45, %47
  %diff.check = icmp ult i64 %49, 32
  %50 = sub i64 %47, %48
  %diff.check141 = icmp ult i64 %50, 32
  %conflict.rdx = or i1 %diff.check, %diff.check141
  %51 = sub i64 %46, %47
  %diff.check142 = icmp ult i64 %51, 32
  %conflict.rdx143 = or i1 %conflict.rdx, %diff.check142
  %52 = sub i64 %45, %48
  %diff.check144 = icmp ult i64 %52, 32
  %conflict.rdx145 = or i1 %conflict.rdx143, %diff.check144
  %53 = sub i64 %45, %46
  %diff.check146 = icmp ult i64 %53, 32
  %conflict.rdx147 = or i1 %conflict.rdx145, %diff.check146
  br i1 %conflict.rdx147, label %scalar.ph.preheader, label %vector.ph

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

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %54 = getelementptr inbounds double, ptr %29, i64 %index
  %55 = getelementptr inbounds i8, ptr %54, i64 16
  %wide.load = load <2 x double>, ptr %54, align 8, !tbaa !29
  %wide.load148 = load <2 x double>, ptr %55, align 8, !tbaa !29
  %56 = fneg <2 x double> %wide.load
  %57 = fneg <2 x double> %wide.load148
  %58 = getelementptr inbounds double, ptr %31, i64 %index
  %59 = getelementptr inbounds i8, ptr %58, i64 16
  store <2 x double> %56, ptr %58, align 8, !tbaa !29
  store <2 x double> %57, ptr %59, align 8, !tbaa !29
  %60 = getelementptr inbounds double, ptr %33, i64 %index
  %61 = getelementptr inbounds i8, ptr %60, i64 16
  %wide.load149 = load <2 x double>, ptr %60, align 8, !tbaa !29
  %wide.load150 = load <2 x double>, ptr %61, align 8, !tbaa !29
  %62 = getelementptr inbounds double, ptr %35, i64 %index
  %63 = getelementptr inbounds i8, ptr %62, i64 16
  store <2 x double> %wide.load149, ptr %62, align 8, !tbaa !29
  store <2 x double> %wide.load150, ptr %63, align 8, !tbaa !29
  %index.next = add nuw i64 %index, 4
  %64 = icmp eq i64 %index.next, %n.vec
  br i1 %64, label %middle.block, label %vector.body, !llvm.loop !30

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %wide.trip.count
  br i1 %cmp.n, label %.lr.ph108, label %scalar.ph.preheader

65:                                               ; preds = %26
  %66 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %67 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %66, i32 noundef 3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 343, i32 noundef 1)
  br label %369

scalar.ph:                                        ; preds = %scalar.ph.prol.loopexit, %scalar.ph
  %indvars.iv = phi i64 [ %indvars.iv.next.1, %scalar.ph ], [ %indvars.iv.unr, %scalar.ph.prol.loopexit ]
  %68 = getelementptr inbounds double, ptr %29, i64 %indvars.iv
  %69 = load double, ptr %68, align 8, !tbaa !29
  %70 = fneg double %69
  %71 = getelementptr inbounds double, ptr %31, i64 %indvars.iv
  store double %70, ptr %71, align 8, !tbaa !29
  %72 = getelementptr inbounds double, ptr %33, i64 %indvars.iv
  %73 = load double, ptr %72, align 8, !tbaa !29
  %74 = getelementptr inbounds double, ptr %35, i64 %indvars.iv
  store double %73, ptr %74, align 8, !tbaa !29
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %75 = getelementptr inbounds double, ptr %29, i64 %indvars.iv.next
  %76 = load double, ptr %75, align 8, !tbaa !29
  %77 = fneg double %76
  %78 = getelementptr inbounds double, ptr %31, i64 %indvars.iv.next
  store double %77, ptr %78, align 8, !tbaa !29
  %79 = getelementptr inbounds double, ptr %33, i64 %indvars.iv.next
  %80 = load double, ptr %79, align 8, !tbaa !29
  %81 = getelementptr inbounds double, ptr %35, i64 %indvars.iv.next
  store double %80, ptr %81, align 8, !tbaa !29
  %indvars.iv.next.1 = add nuw nsw i64 %indvars.iv, 2
  %exitcond.not.1 = icmp eq i64 %indvars.iv.next.1, %wide.trip.count
  br i1 %exitcond.not.1, label %.lr.ph108, label %scalar.ph, !llvm.loop !34

.lr.ph108:                                        ; preds = %scalar.ph.prol.loopexit, %scalar.ph, %middle.block
  %82 = tail call noundef i32 @_ZN7qpOASES8QProblem4setAEPNS_6MatrixE(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef nonnull %2)
  %83 = getelementptr inbounds i8, ptr %0, i64 976
  %84 = load ptr, ptr %83, align 8, !tbaa !35
  %85 = getelementptr inbounds i8, ptr %0, i64 816
  %86 = load ptr, ptr %85, align 8, !tbaa !26
  %87 = getelementptr inbounds i8, ptr %0, i64 824
  %88 = load ptr, ptr %87, align 8, !tbaa !28
  %smax = tail call i32 @llvm.smax.i32(i32 %11, i32 1)
  %wide.trip.count125 = zext nneg i32 %smax to i64
  %min.iters.check164 = icmp slt i32 %11, 10
  br i1 %min.iters.check164, label %scalar.ph163.preheader, label %vector.memcheck151

scalar.ph163.preheader:                           ; preds = %middle.block162, %vector.memcheck151, %.lr.ph108
  %indvars.iv122.ph = phi i64 [ 0, %vector.memcheck151 ], [ 0, %.lr.ph108 ], [ %n.vec167, %middle.block162 ]
  %xtraiter244 = and i64 %wide.trip.count125, 1
  %lcmp.mod245.not = icmp eq i64 %xtraiter244, 0
  br i1 %lcmp.mod245.not, label %scalar.ph163.prol.loopexit, label %scalar.ph163.prol

scalar.ph163.prol:                                ; preds = %scalar.ph163.preheader
  %89 = getelementptr inbounds double, ptr %84, i64 %indvars.iv122.ph
  %90 = load double, ptr %89, align 8, !tbaa !29
  %91 = getelementptr inbounds double, ptr %86, i64 %indvars.iv122.ph
  %92 = load double, ptr %91, align 8, !tbaa !29
  %93 = fadd double %90, %92
  store double %93, ptr %91, align 8, !tbaa !29
  %94 = load double, ptr %89, align 8, !tbaa !29
  %95 = getelementptr inbounds double, ptr %88, i64 %indvars.iv122.ph
  %96 = load double, ptr %95, align 8, !tbaa !29
  %97 = fadd double %94, %96
  store double %97, ptr %95, align 8, !tbaa !29
  %indvars.iv.next123.prol = or disjoint i64 %indvars.iv122.ph, 1
  br label %scalar.ph163.prol.loopexit

scalar.ph163.prol.loopexit:                       ; preds = %scalar.ph163.prol, %scalar.ph163.preheader
  %indvars.iv122.unr = phi i64 [ %indvars.iv122.ph, %scalar.ph163.preheader ], [ %indvars.iv.next123.prol, %scalar.ph163.prol ]
  %98 = add nsw i64 %wide.trip.count125, -1
  %99 = icmp eq i64 %indvars.iv122.ph, %98
  br i1 %99, label %.lr.ph110, label %scalar.ph163

vector.memcheck151:                               ; preds = %.lr.ph108
  %100 = shl nuw nsw i64 %wide.trip.count125, 3
  %scevgep = getelementptr i8, ptr %86, i64 %100
  %scevgep152 = getelementptr i8, ptr %88, i64 %100
  %scevgep153 = getelementptr i8, ptr %84, i64 %100
  %bound0 = icmp ult ptr %86, %scevgep152
  %bound1 = icmp ult ptr %88, %scevgep
  %found.conflict = and i1 %bound0, %bound1
  %bound0154 = icmp ult ptr %86, %scevgep153
  %bound1155 = icmp ult ptr %84, %scevgep
  %found.conflict156 = and i1 %bound0154, %bound1155
  %conflict.rdx157 = or i1 %found.conflict, %found.conflict156
  %bound0158 = icmp ult ptr %88, %scevgep153
  %bound1159 = icmp ult ptr %84, %scevgep152
  %found.conflict160 = and i1 %bound0158, %bound1159
  %conflict.rdx161 = or i1 %conflict.rdx157, %found.conflict160
  br i1 %conflict.rdx161, label %scalar.ph163.preheader, label %vector.ph165

vector.ph165:                                     ; preds = %vector.memcheck151
  %n.vec167 = and i64 %wide.trip.count125, 2147483646
  br label %vector.body169

vector.body169:                                   ; preds = %vector.body169, %vector.ph165
  %index170 = phi i64 [ 0, %vector.ph165 ], [ %index.next175, %vector.body169 ]
  %101 = getelementptr inbounds double, ptr %84, i64 %index170
  %wide.load171 = load <2 x double>, ptr %101, align 8, !tbaa !29, !alias.scope !36
  %102 = getelementptr inbounds double, ptr %86, i64 %index170
  %wide.load172 = load <2 x double>, ptr %102, align 8, !tbaa !29, !alias.scope !39, !noalias !41
  %103 = fadd <2 x double> %wide.load171, %wide.load172
  store <2 x double> %103, ptr %102, align 8, !tbaa !29, !alias.scope !39, !noalias !41
  %104 = getelementptr inbounds double, ptr %88, i64 %index170
  %wide.load174 = load <2 x double>, ptr %104, align 8, !tbaa !29, !alias.scope !43, !noalias !36
  %105 = fadd <2 x double> %wide.load171, %wide.load174
  store <2 x double> %105, ptr %104, align 8, !tbaa !29, !alias.scope !43, !noalias !36
  %index.next175 = add nuw i64 %index170, 2
  %106 = icmp eq i64 %index.next175, %n.vec167
  br i1 %106, label %middle.block162, label %vector.body169, !llvm.loop !44

middle.block162:                                  ; preds = %vector.body169
  %cmp.n176 = icmp eq i64 %n.vec167, %wide.trip.count125
  br i1 %cmp.n176, label %.lr.ph110, label %scalar.ph163.preheader

.lr.ph110:                                        ; preds = %scalar.ph163.prol.loopexit, %scalar.ph163, %middle.block162
  %107 = getelementptr inbounds i8, ptr %0, i64 824
  %108 = load ptr, ptr %107, align 8, !tbaa !28
  %109 = getelementptr inbounds i8, ptr %0, i64 976
  %110 = load ptr, ptr %109, align 8, !tbaa !35
  %111 = getelementptr inbounds i8, ptr %0, i64 992
  %112 = load ptr, ptr %111, align 8, !tbaa !27
  %113 = getelementptr inbounds i8, ptr %0, i64 816
  %114 = load ptr, ptr %113, align 8, !tbaa !26
  %115 = getelementptr inbounds i8, ptr %0, i64 984
  %116 = load ptr, ptr %115, align 8, !tbaa !24
  %smax130 = tail call i32 @llvm.smax.i32(i32 %11, i32 1)
  %wide.trip.count131 = zext nneg i32 %smax130 to i64
  %min.iters.check212 = icmp slt i32 %11, 24
  br i1 %min.iters.check212, label %scalar.ph211.preheader, label %vector.memcheck177

scalar.ph211.preheader:                           ; preds = %middle.block210, %vector.memcheck177, %.lr.ph110
  %indvars.iv127.ph = phi i64 [ 0, %vector.memcheck177 ], [ 0, %.lr.ph110 ], [ %n.vec215, %middle.block210 ]
  %xtraiter246 = and i64 %wide.trip.count125, 1
  %lcmp.mod247.not = icmp eq i64 %xtraiter246, 0
  br i1 %lcmp.mod247.not, label %scalar.ph211.prol.loopexit, label %scalar.ph211.prol

scalar.ph211.prol:                                ; preds = %scalar.ph211.preheader
  %117 = getelementptr inbounds double, ptr %108, i64 %indvars.iv127.ph
  %118 = load double, ptr %117, align 8, !tbaa !29
  %119 = getelementptr inbounds double, ptr %110, i64 %indvars.iv127.ph
  %120 = load double, ptr %119, align 8, !tbaa !29
  %121 = fsub double %118, %120
  %122 = getelementptr inbounds double, ptr %112, i64 %indvars.iv127.ph
  store double %121, ptr %122, align 8, !tbaa !29
  %123 = load double, ptr %119, align 8, !tbaa !29
  %124 = getelementptr inbounds double, ptr %114, i64 %indvars.iv127.ph
  %125 = load double, ptr %124, align 8, !tbaa !29
  %126 = fsub double %123, %125
  %127 = getelementptr inbounds double, ptr %116, i64 %indvars.iv127.ph
  store double %126, ptr %127, align 8, !tbaa !29
  %indvars.iv.next128.prol = or disjoint i64 %indvars.iv127.ph, 1
  br label %scalar.ph211.prol.loopexit

scalar.ph211.prol.loopexit:                       ; preds = %scalar.ph211.prol, %scalar.ph211.preheader
  %indvars.iv127.unr = phi i64 [ %indvars.iv127.ph, %scalar.ph211.preheader ], [ %indvars.iv.next128.prol, %scalar.ph211.prol ]
  %128 = add nsw i64 %wide.trip.count125, -1
  %129 = icmp eq i64 %indvars.iv127.ph, %128
  br i1 %129, label %.loopexit103, label %scalar.ph211

vector.memcheck177:                               ; preds = %.lr.ph110
  %130 = shl nuw nsw i64 %wide.trip.count125, 3
  %scevgep178 = getelementptr i8, ptr %112, i64 %130
  %scevgep179 = getelementptr i8, ptr %116, i64 %130
  %scevgep180 = getelementptr i8, ptr %108, i64 %130
  %scevgep181 = getelementptr i8, ptr %110, i64 %130
  %scevgep182 = getelementptr i8, ptr %114, i64 %130
  %bound0183 = icmp ult ptr %112, %scevgep179
  %bound1184 = icmp ult ptr %116, %scevgep178
  %found.conflict185 = and i1 %bound0183, %bound1184
  %bound0186 = icmp ult ptr %112, %scevgep180
  %bound1187 = icmp ult ptr %108, %scevgep178
  %found.conflict188 = and i1 %bound0186, %bound1187
  %conflict.rdx189 = or i1 %found.conflict185, %found.conflict188
  %bound0190 = icmp ult ptr %112, %scevgep181
  %bound1191 = icmp ult ptr %110, %scevgep178
  %found.conflict192 = and i1 %bound0190, %bound1191
  %conflict.rdx193 = or i1 %conflict.rdx189, %found.conflict192
  %bound0194 = icmp ult ptr %112, %scevgep182
  %bound1195 = icmp ult ptr %114, %scevgep178
  %found.conflict196 = and i1 %bound0194, %bound1195
  %conflict.rdx197 = or i1 %conflict.rdx193, %found.conflict196
  %bound0198 = icmp ult ptr %116, %scevgep180
  %bound1199 = icmp ult ptr %108, %scevgep179
  %found.conflict200 = and i1 %bound0198, %bound1199
  %conflict.rdx201 = or i1 %conflict.rdx197, %found.conflict200
  %bound0202 = icmp ult ptr %116, %scevgep181
  %bound1203 = icmp ult ptr %110, %scevgep179
  %found.conflict204 = and i1 %bound0202, %bound1203
  %conflict.rdx205 = or i1 %conflict.rdx201, %found.conflict204
  %bound0206 = icmp ult ptr %116, %scevgep182
  %bound1207 = icmp ult ptr %114, %scevgep179
  %found.conflict208 = and i1 %bound0206, %bound1207
  %conflict.rdx209 = or i1 %conflict.rdx205, %found.conflict208
  br i1 %conflict.rdx209, label %scalar.ph211.preheader, label %vector.ph213

vector.ph213:                                     ; preds = %vector.memcheck177
  %n.vec215 = and i64 %wide.trip.count125, 2147483646
  br label %vector.body217

vector.body217:                                   ; preds = %vector.body217, %vector.ph213
  %index218 = phi i64 [ 0, %vector.ph213 ], [ %index.next223, %vector.body217 ]
  %131 = getelementptr inbounds double, ptr %108, i64 %index218
  %wide.load219 = load <2 x double>, ptr %131, align 8, !tbaa !29, !alias.scope !45
  %132 = getelementptr inbounds double, ptr %110, i64 %index218
  %wide.load220 = load <2 x double>, ptr %132, align 8, !tbaa !29, !alias.scope !48
  %133 = fsub <2 x double> %wide.load219, %wide.load220
  %134 = getelementptr inbounds double, ptr %112, i64 %index218
  store <2 x double> %133, ptr %134, align 8, !tbaa !29, !alias.scope !50, !noalias !52
  %135 = getelementptr inbounds double, ptr %114, i64 %index218
  %wide.load222 = load <2 x double>, ptr %135, align 8, !tbaa !29, !alias.scope !55
  %136 = fsub <2 x double> %wide.load220, %wide.load222
  %137 = getelementptr inbounds double, ptr %116, i64 %index218
  store <2 x double> %136, ptr %137, align 8, !tbaa !29, !alias.scope !56, !noalias !57
  %index.next223 = add nuw i64 %index218, 2
  %138 = icmp eq i64 %index.next223, %n.vec215
  br i1 %138, label %middle.block210, label %vector.body217, !llvm.loop !58

middle.block210:                                  ; preds = %vector.body217
  %cmp.n224 = icmp eq i64 %n.vec215, %wide.trip.count125
  br i1 %cmp.n224, label %.loopexit103, label %scalar.ph211.preheader

scalar.ph163:                                     ; preds = %scalar.ph163.prol.loopexit, %scalar.ph163
  %indvars.iv122 = phi i64 [ %indvars.iv.next123.1, %scalar.ph163 ], [ %indvars.iv122.unr, %scalar.ph163.prol.loopexit ]
  %139 = getelementptr inbounds double, ptr %84, i64 %indvars.iv122
  %140 = load double, ptr %139, align 8, !tbaa !29
  %141 = getelementptr inbounds double, ptr %86, i64 %indvars.iv122
  %142 = load double, ptr %141, align 8, !tbaa !29
  %143 = fadd double %140, %142
  store double %143, ptr %141, align 8, !tbaa !29
  %144 = load double, ptr %139, align 8, !tbaa !29
  %145 = getelementptr inbounds double, ptr %88, i64 %indvars.iv122
  %146 = load double, ptr %145, align 8, !tbaa !29
  %147 = fadd double %144, %146
  store double %147, ptr %145, align 8, !tbaa !29
  %indvars.iv.next123 = add nuw nsw i64 %indvars.iv122, 1
  %148 = getelementptr inbounds double, ptr %84, i64 %indvars.iv.next123
  %149 = load double, ptr %148, align 8, !tbaa !29
  %150 = getelementptr inbounds double, ptr %86, i64 %indvars.iv.next123
  %151 = load double, ptr %150, align 8, !tbaa !29
  %152 = fadd double %149, %151
  store double %152, ptr %150, align 8, !tbaa !29
  %153 = load double, ptr %148, align 8, !tbaa !29
  %154 = getelementptr inbounds double, ptr %88, i64 %indvars.iv.next123
  %155 = load double, ptr %154, align 8, !tbaa !29
  %156 = fadd double %153, %155
  store double %156, ptr %154, align 8, !tbaa !29
  %indvars.iv.next123.1 = add nuw nsw i64 %indvars.iv122, 2
  %exitcond126.not.1 = icmp eq i64 %indvars.iv.next123.1, %wide.trip.count125
  br i1 %exitcond126.not.1, label %.lr.ph110, label %scalar.ph163, !llvm.loop !59

scalar.ph211:                                     ; preds = %scalar.ph211.prol.loopexit, %scalar.ph211
  %indvars.iv127 = phi i64 [ %indvars.iv.next128.1, %scalar.ph211 ], [ %indvars.iv127.unr, %scalar.ph211.prol.loopexit ]
  %157 = getelementptr inbounds double, ptr %108, i64 %indvars.iv127
  %158 = load double, ptr %157, align 8, !tbaa !29
  %159 = getelementptr inbounds double, ptr %110, i64 %indvars.iv127
  %160 = load double, ptr %159, align 8, !tbaa !29
  %161 = fsub double %158, %160
  %162 = getelementptr inbounds double, ptr %112, i64 %indvars.iv127
  store double %161, ptr %162, align 8, !tbaa !29
  %163 = load double, ptr %159, align 8, !tbaa !29
  %164 = getelementptr inbounds double, ptr %114, i64 %indvars.iv127
  %165 = load double, ptr %164, align 8, !tbaa !29
  %166 = fsub double %163, %165
  %167 = getelementptr inbounds double, ptr %116, i64 %indvars.iv127
  store double %166, ptr %167, align 8, !tbaa !29
  %indvars.iv.next128 = add nuw nsw i64 %indvars.iv127, 1
  %168 = getelementptr inbounds double, ptr %108, i64 %indvars.iv.next128
  %169 = load double, ptr %168, align 8, !tbaa !29
  %170 = getelementptr inbounds double, ptr %110, i64 %indvars.iv.next128
  %171 = load double, ptr %170, align 8, !tbaa !29
  %172 = fsub double %169, %171
  %173 = getelementptr inbounds double, ptr %112, i64 %indvars.iv.next128
  store double %172, ptr %173, align 8, !tbaa !29
  %174 = load double, ptr %170, align 8, !tbaa !29
  %175 = getelementptr inbounds double, ptr %114, i64 %indvars.iv.next128
  %176 = load double, ptr %175, align 8, !tbaa !29
  %177 = fsub double %174, %176
  %178 = getelementptr inbounds double, ptr %116, i64 %indvars.iv.next128
  store double %177, ptr %178, align 8, !tbaa !29
  %indvars.iv.next128.1 = add nuw nsw i64 %indvars.iv127, 2
  %exitcond132.not.1 = icmp eq i64 %indvars.iv.next128.1, %wide.trip.count131
  br i1 %exitcond132.not.1, label %.loopexit103, label %scalar.ph211, !llvm.loop !60

.loopexit103:                                     ; preds = %scalar.ph211.prol.loopexit, %scalar.ph211, %middle.block210, %23
  %.not = icmp eq ptr %1, null
  br i1 %.not, label %197, label %179

179:                                              ; preds = %.loopexit103
  %180 = tail call noundef i32 @_ZN7qpOASES9QProblemB4setHEPNS_15SymmetricMatrixE(ptr noundef nonnull align 8 dereferenceable(800) %0, ptr noundef nonnull %1)
  %181 = getelementptr inbounds i8, ptr %0, i64 220
  store i32 6, ptr %181, align 4, !tbaa !61
  %182 = tail call noundef i32 @_ZN7qpOASES9QProblemB20determineHessianTypeEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %.not80 = icmp eq i32 %182, 0
  br i1 %.not80, label %186, label %183

183:                                              ; preds = %179
  %184 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %185 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %184, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 378, i32 noundef 1)
  br label %369

186:                                              ; preds = %179
  %187 = load i32, ptr %181, align 4, !tbaa !61
  switch i32 %187, label %188 [
    i32 0, label %191
    i32 4, label %191
  ]

188:                                              ; preds = %186
  %189 = tail call noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %190 = icmp eq i32 %189, 1
  br i1 %190, label %191, label %203

191:                                              ; preds = %186, %186, %188
  %192 = getelementptr inbounds i8, ptr %0, i64 224
  store double 0.000000e+00, ptr %192, align 8, !tbaa !62
  %193 = tail call noundef i32 @_ZN7qpOASES9QProblemB17regulariseHessianEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %.not81 = icmp eq i32 %193, 0
  br i1 %.not81, label %203, label %194

194:                                              ; preds = %191
  %195 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %196 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %195, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 388, i32 noundef 1)
  br label %369

197:                                              ; preds = %.loopexit103
  %198 = getelementptr inbounds i8, ptr %0, i64 16
  %199 = load ptr, ptr %198, align 8, !tbaa !63
  %.not79 = icmp eq ptr %199, null
  br i1 %.not79, label %203, label %200

200:                                              ; preds = %197
  %201 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %202 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %201, i32 noundef 109, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 394, i32 noundef 1)
  br label %369

203:                                              ; preds = %197, %188, %191
  %204 = tail call noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %.not82 = icmp eq i32 %204, 0
  br i1 %.not82, label %208, label %205

205:                                              ; preds = %203
  %206 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %207 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %206, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 399, i32 noundef 1)
  br label %369

208:                                              ; preds = %203
  %209 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef 0)
  %210 = getelementptr inbounds i8, ptr %0, i64 1064
  %211 = load ptr, ptr %210, align 8, !tbaa !64
  %212 = load ptr, ptr %211, align 8, !tbaa !67
  %213 = getelementptr inbounds i8, ptr %212, i64 56
  %214 = load ptr, ptr %213, align 8
  %215 = tail call noundef i32 %214(ptr noundef nonnull align 8 dereferenceable(8) %211)
  %216 = icmp eq i32 %209, 0
  br i1 %216, label %217, label %.critedge

217:                                              ; preds = %208
  %218 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %219 = icmp eq i32 %215, %218
  br i1 %219, label %220, label %226

220:                                              ; preds = %217
  %221 = getelementptr inbounds i8, ptr %0, i64 272
  %222 = load i32, ptr %221, align 8, !tbaa !69
  %223 = icmp eq i32 %222, 3
  br i1 %223, label %224, label %225

224:                                              ; preds = %220
  tail call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.2)
  br label %225

225:                                              ; preds = %224, %220
  store i32 2, ptr %24, align 8, !tbaa !5
  br label %369

226:                                              ; preds = %217
  %227 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %228 = icmp sgt i32 %215, %227
  br i1 %228, label %229, label %.critedge

229:                                              ; preds = %226
  %230 = getelementptr inbounds i8, ptr %0, i64 272
  %231 = load i32, ptr %230, align 8, !tbaa !69
  %232 = icmp eq i32 %231, 3
  br i1 %232, label %233, label %235

233:                                              ; preds = %229
  %234 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  tail call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.3, i32 noundef %215, i32 noundef %234)
  br label %235

235:                                              ; preds = %233, %229
  %236 = getelementptr inbounds i8, ptr %0, i64 472
  %237 = load i32, ptr %236, align 8, !tbaa !70
  %.not83 = icmp eq i32 %237, 0
  br i1 %.not83, label %242, label %238

238:                                              ; preds = %235
  %239 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur14correctInertiaEv(ptr noundef nonnull align 8 dereferenceable(1256) %0)
  %240 = icmp eq i32 %239, 0
  br i1 %240, label %241, label %.critedge

241:                                              ; preds = %238
  store i32 2, ptr %24, align 8, !tbaa !5
  br label %369

242:                                              ; preds = %235
  %243 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %244 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %243, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 434, i32 noundef 1)
  br label %369

.critedge:                                        ; preds = %208, %226, %238
  %245 = getelementptr inbounds i8, ptr %0, i64 272
  %246 = load i32, ptr %245, align 8, !tbaa !69
  %247 = icmp eq i32 %246, 3
  br i1 %247, label %248, label %249

248:                                              ; preds = %.critedge
  tail call void (ptr, ...) @_Z8MyPrintfPKcz(ptr noundef nonnull @.str.4)
  br label %249

249:                                              ; preds = %248, %.critedge
  call void @llvm.lifetime.start.p0(i64 120, ptr nonnull %8) #8
  %250 = getelementptr inbounds i8, ptr %0, i64 48
  call void @_ZN7qpOASES6BoundsC1ERKS0_(ptr noundef nonnull align 8 dereferenceable(120) %8, ptr noundef nonnull align 8 dereferenceable(120) %250)
  call void @llvm.lifetime.start.p0(i64 120, ptr nonnull %9) #8
  %251 = getelementptr inbounds i8, ptr %0, i64 832
  invoke void @_ZN7qpOASES11ConstraintsC1ERKS0_(ptr noundef nonnull align 8 dereferenceable(120) %9, ptr noundef nonnull align 8 dereferenceable(120) %251)
          to label %.preheader99 unwind label %265

.preheader99:                                     ; preds = %249
  %252 = icmp sgt i32 %10, 0
  br i1 %252, label %.lr.ph112, label %.preheader95

.lr.ph112:                                        ; preds = %.preheader99
  %253 = getelementptr inbounds i8, ptr %0, i64 400
  br label %254

.preheader95:                                     ; preds = %276, %.preheader99
  br i1 %25, label %.lr.ph114, label %._crit_edge117

254:                                              ; preds = %.lr.ph112, %276
  %.3111 = phi i32 [ 0, %.lr.ph112 ], [ %277, %276 ]
  %255 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %250, i32 noundef %.3111)
  %256 = icmp eq i32 %255, 2
  br i1 %256, label %257, label %267

257:                                              ; preds = %254
  %258 = invoke noundef i32 @_ZN7qpOASES9SubjectTo9setStatusEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(40) %8, i32 noundef %.3111, i32 noundef -1)
          to label %259 unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit

259:                                              ; preds = %257
  %.not92 = icmp eq i32 %258, 0
  br i1 %.not92, label %276, label %260

260:                                              ; preds = %259
  %261 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %.invoke unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

.invoke:                                          ; preds = %260, %347, %314, %309, %304, %291, %283, %274
  %262 = phi ptr [ %275, %274 ], [ %284, %283 ], [ %292, %291 ], [ %305, %304 ], [ %310, %309 ], [ %315, %314 ], [ %348, %347 ], [ %261, %260 ]
  %263 = phi i64 [ 460, %274 ], [ 470, %283 ], [ 479, %291 ], [ 487, %304 ], [ 490, %309 ], [ 493, %314 ], [ 497, %347 ], [ 453, %260 ]
  %264 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %262, i32 noundef 43, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef %263, i32 noundef 1)
          to label %367 unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

265:                                              ; preds = %249
  %266 = landingpad { ptr, i32 }
          cleanup
  br label %368

.loopexit:                                        ; preds = %288
  %lpad.loopexit = landingpad { ptr, i32 }
          cleanup
  br label %.loopexit.split-lp

.loopexit.split-lp.loopexit:                      ; preds = %280
  %lpad.loopexit96 = landingpad { ptr, i32 }
          cleanup
  br label %.loopexit.split-lp

.loopexit.split-lp.loopexit.split-lp.loopexit:    ; preds = %257, %270
  %lpad.loopexit100 = landingpad { ptr, i32 }
          cleanup
  br label %.loopexit.split-lp

.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp: ; preds = %.invoke, %260, %274, %283, %291, %._crit_edge117, %296, %298, %304, %306, %309, %311, %314, %316, %347, %._crit_edge120
  %lpad.loopexit.split-lp = landingpad { ptr, i32 }
          cleanup
  br label %.loopexit.split-lp

.loopexit.split-lp:                               ; preds = %.loopexit.split-lp.loopexit, %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp, %.loopexit.split-lp.loopexit.split-lp.loopexit, %.loopexit
  %lpad.phi = phi { ptr, i32 } [ %lpad.loopexit, %.loopexit ], [ %lpad.loopexit96, %.loopexit.split-lp.loopexit ], [ %lpad.loopexit100, %.loopexit.split-lp.loopexit.split-lp.loopexit ], [ %lpad.loopexit.split-lp, %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp ]
  call void @_ZN7qpOASES11ConstraintsD1Ev(ptr noundef nonnull align 8 dereferenceable(120) %9) #8
  br label %368

267:                                              ; preds = %254
  %268 = call noundef i32 @_ZNK7qpOASES9SubjectTo9getStatusEi(ptr noundef nonnull align 8 dereferenceable(40) %8, i32 noundef %.3111)
  %269 = icmp eq i32 %268, 0
  br i1 %269, label %270, label %276

270:                                              ; preds = %267
  %271 = load i32, ptr %253, align 8, !tbaa !71
  %272 = invoke noundef i32 @_ZN7qpOASES9SubjectTo9setStatusEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(40) %8, i32 noundef %.3111, i32 noundef %271)
          to label %273 unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit

273:                                              ; preds = %270
  %.not91 = icmp eq i32 %272, 0
  br i1 %.not91, label %276, label %274

274:                                              ; preds = %273
  %275 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %.invoke unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

276:                                              ; preds = %259, %273, %267
  %277 = add nuw nsw i32 %.3111, 1
  %exitcond133.not = icmp eq i32 %277, %10
  br i1 %exitcond133.not, label %.preheader95, label %254, !llvm.loop !72

.preheader94:                                     ; preds = %285
  br i1 %25, label %.lr.ph116, label %._crit_edge117

.lr.ph114:                                        ; preds = %.preheader95, %285
  %.4113 = phi i32 [ %286, %285 ], [ 0, %.preheader95 ]
  %278 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %251, i32 noundef %.4113)
  %279 = icmp eq i32 %278, 2
  br i1 %279, label %280, label %285

280:                                              ; preds = %.lr.ph114
  %281 = invoke noundef i32 @_ZN7qpOASES9SubjectTo9setStatusEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(40) %9, i32 noundef %.4113, i32 noundef -1)
          to label %282 unwind label %.loopexit.split-lp.loopexit

282:                                              ; preds = %280
  %.not90 = icmp eq i32 %281, 0
  br i1 %.not90, label %285, label %283

283:                                              ; preds = %282
  %284 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %.invoke unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

285:                                              ; preds = %.lr.ph114, %282
  %286 = add nuw nsw i32 %.4113, 1
  %exitcond134.not = icmp eq i32 %286, %11
  br i1 %exitcond134.not, label %.preheader94, label %.lr.ph114, !llvm.loop !73

.lr.ph116:                                        ; preds = %.preheader94, %293
  %.5115 = phi i32 [ %294, %293 ], [ 0, %.preheader94 ]
  %287 = call noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40) %251, i32 noundef %.5115)
  %.not88 = icmp eq i32 %287, 2
  br i1 %.not88, label %293, label %288

288:                                              ; preds = %.lr.ph116
  %289 = invoke noundef i32 @_ZN7qpOASES9SubjectTo9setStatusEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(40) %9, i32 noundef %.5115, i32 noundef 0)
          to label %290 unwind label %.loopexit

290:                                              ; preds = %288
  %.not89 = icmp eq i32 %289, 0
  br i1 %.not89, label %293, label %291

291:                                              ; preds = %290
  %292 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %.invoke unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

293:                                              ; preds = %.lr.ph116, %290
  %294 = add nuw nsw i32 %.5115, 1
  %exitcond135.not = icmp eq i32 %294, %11
  br i1 %exitcond135.not, label %._crit_edge117, label %.lr.ph116, !llvm.loop !74

._crit_edge117:                                   ; preds = %293, %.preheader95, %.preheader94
  %295 = invoke noundef i32 @_ZN7qpOASES6Bounds4initEi(ptr noundef nonnull align 8 dereferenceable(120) %250, i32 noundef %10)
          to label %296 unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

296:                                              ; preds = %._crit_edge117
  %297 = invoke noundef i32 @_ZN7qpOASES11Constraints4initEi(ptr noundef nonnull align 8 dereferenceable(120) %251, i32 noundef %11)
          to label %298 unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

298:                                              ; preds = %296
  %299 = load ptr, ptr %0, align 8, !tbaa !67
  %300 = getelementptr inbounds i8, ptr %299, i64 168
  %301 = load ptr, ptr %300, align 8
  %302 = invoke noundef i32 %301(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef %3, ptr noundef %4, ptr noundef %5, ptr noundef %6)
          to label %303 unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

303:                                              ; preds = %298
  %.not84 = icmp eq i32 %302, 0
  br i1 %.not84, label %306, label %304

304:                                              ; preds = %303
  %305 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %.invoke unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

306:                                              ; preds = %303
  %307 = invoke noundef i32 @_ZN7qpOASES6Bounds12setupAllFreeEv(ptr noundef nonnull align 8 dereferenceable(120) %250)
          to label %308 unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

308:                                              ; preds = %306
  %.not85 = icmp eq i32 %307, 0
  br i1 %.not85, label %311, label %309

309:                                              ; preds = %308
  %310 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %.invoke unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

311:                                              ; preds = %308
  %312 = invoke noundef i32 @_ZN7qpOASES11Constraints16setupAllInactiveEv(ptr noundef nonnull align 8 dereferenceable(120) %251)
          to label %313 unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

313:                                              ; preds = %311
  %.not86 = icmp eq i32 %312, 0
  br i1 %.not86, label %316, label %314

314:                                              ; preds = %313
  %315 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %.invoke unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

316:                                              ; preds = %313
  %317 = load ptr, ptr %0, align 8, !tbaa !67
  %318 = getelementptr inbounds i8, ptr %317, i64 192
  %319 = load ptr, ptr %318, align 8
  %320 = invoke noundef i32 %319(ptr noundef nonnull align 8 dereferenceable(1256) %0, ptr noundef nonnull %8, ptr noundef nonnull %9, i32 noundef 1)
          to label %321 unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

321:                                              ; preds = %316
  %.not87 = icmp eq i32 %320, 0
  br i1 %.not87, label %.preheader, label %347

.preheader:                                       ; preds = %321
  br i1 %25, label %.lr.ph119, label %._crit_edge120

.lr.ph119:                                        ; preds = %.preheader
  %322 = getelementptr inbounds i8, ptr %0, i64 976
  %323 = load ptr, ptr %322, align 8, !tbaa !35
  %324 = getelementptr inbounds i8, ptr %0, i64 992
  %325 = load ptr, ptr %324, align 8, !tbaa !27
  %326 = getelementptr inbounds i8, ptr %0, i64 984
  %327 = load ptr, ptr %326, align 8, !tbaa !24
  %wide.trip.count139 = zext nneg i32 %11 to i64
  %min.iters.check233 = icmp ult i32 %11, 16
  br i1 %min.iters.check233, label %scalar.ph232.preheader, label %vector.memcheck225

scalar.ph232.preheader:                           ; preds = %middle.block231, %vector.memcheck225, %.lr.ph119
  %indvars.iv136.ph = phi i64 [ 0, %vector.memcheck225 ], [ 0, %.lr.ph119 ], [ %n.vec236, %middle.block231 ]
  %xtraiter248 = and i64 %wide.trip.count139, 3
  %lcmp.mod249.not = icmp eq i64 %xtraiter248, 0
  br i1 %lcmp.mod249.not, label %scalar.ph232.prol.loopexit, label %scalar.ph232.prol

scalar.ph232.prol:                                ; preds = %scalar.ph232.preheader, %scalar.ph232.prol
  %indvars.iv136.prol = phi i64 [ %indvars.iv.next137.prol, %scalar.ph232.prol ], [ %indvars.iv136.ph, %scalar.ph232.preheader ]
  %prol.iter = phi i64 [ %prol.iter.next, %scalar.ph232.prol ], [ 0, %scalar.ph232.preheader ]
  %328 = getelementptr inbounds double, ptr %323, i64 %indvars.iv136.prol
  %329 = load double, ptr %328, align 8, !tbaa !29
  %330 = getelementptr inbounds double, ptr %325, i64 %indvars.iv136.prol
  store double %329, ptr %330, align 8, !tbaa !29
  %331 = getelementptr inbounds double, ptr %327, i64 %indvars.iv136.prol
  store double %329, ptr %331, align 8, !tbaa !29
  %indvars.iv.next137.prol = add nuw nsw i64 %indvars.iv136.prol, 1
  %prol.iter.next = add i64 %prol.iter, 1
  %prol.iter.cmp.not = icmp eq i64 %prol.iter.next, %xtraiter248
  br i1 %prol.iter.cmp.not, label %scalar.ph232.prol.loopexit, label %scalar.ph232.prol, !llvm.loop !75

scalar.ph232.prol.loopexit:                       ; preds = %scalar.ph232.prol, %scalar.ph232.preheader
  %indvars.iv136.unr = phi i64 [ %indvars.iv136.ph, %scalar.ph232.preheader ], [ %indvars.iv.next137.prol, %scalar.ph232.prol ]
  %332 = sub nsw i64 %indvars.iv136.ph, %wide.trip.count139
  %333 = icmp ugt i64 %332, -4
  br i1 %333, label %._crit_edge120, label %scalar.ph232

vector.memcheck225:                               ; preds = %.lr.ph119
  %334 = ptrtoint ptr %327 to i64
  %335 = ptrtoint ptr %325 to i64
  %336 = ptrtoint ptr %323 to i64
  %337 = sub i64 %334, %335
  %diff.check226 = icmp ult i64 %337, 32
  %338 = sub i64 %335, %336
  %diff.check227 = icmp ult i64 %338, 32
  %conflict.rdx228 = or i1 %diff.check226, %diff.check227
  %339 = sub i64 %334, %336
  %diff.check229 = icmp ult i64 %339, 32
  %conflict.rdx230 = or i1 %conflict.rdx228, %diff.check229
  br i1 %conflict.rdx230, label %scalar.ph232.preheader, label %vector.ph234

vector.ph234:                                     ; preds = %vector.memcheck225
  %n.vec236 = and i64 %wide.trip.count139, 2147483644
  br label %vector.body238

vector.body238:                                   ; preds = %vector.body238, %vector.ph234
  %index239 = phi i64 [ 0, %vector.ph234 ], [ %index.next242, %vector.body238 ]
  %340 = getelementptr inbounds double, ptr %323, i64 %index239
  %341 = getelementptr inbounds i8, ptr %340, i64 16
  %wide.load240 = load <2 x double>, ptr %340, align 8, !tbaa !29
  %wide.load241 = load <2 x double>, ptr %341, align 8, !tbaa !29
  %342 = getelementptr inbounds double, ptr %325, i64 %index239
  %343 = getelementptr inbounds i8, ptr %342, i64 16
  store <2 x double> %wide.load240, ptr %342, align 8, !tbaa !29
  store <2 x double> %wide.load241, ptr %343, align 8, !tbaa !29
  %344 = getelementptr inbounds double, ptr %327, i64 %index239
  %345 = getelementptr inbounds i8, ptr %344, i64 16
  store <2 x double> %wide.load240, ptr %344, align 8, !tbaa !29
  store <2 x double> %wide.load241, ptr %345, align 8, !tbaa !29
  %index.next242 = add nuw i64 %index239, 4
  %346 = icmp eq i64 %index.next242, %n.vec236
  br i1 %346, label %middle.block231, label %vector.body238, !llvm.loop !77

middle.block231:                                  ; preds = %vector.body238
  %cmp.n243 = icmp eq i64 %n.vec236, %wide.trip.count139
  br i1 %cmp.n243, label %._crit_edge120, label %scalar.ph232.preheader

347:                                              ; preds = %321
  %348 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %.invoke unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

._crit_edge120:                                   ; preds = %scalar.ph232.prol.loopexit, %scalar.ph232, %middle.block231, %.preheader
  %349 = invoke noundef i32 @_ZN7qpOASES8QProblem22setupAuxiliaryQPboundsEPKNS_6BoundsEPKNS_11ConstraintsENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064) %0, ptr noundef nonnull %250, ptr noundef nonnull %251, i32 noundef 0)
          to label %366 unwind label %.loopexit.split-lp.loopexit.split-lp.loopexit.split-lp

scalar.ph232:                                     ; preds = %scalar.ph232.prol.loopexit, %scalar.ph232
  %indvars.iv136 = phi i64 [ %indvars.iv.next137.3, %scalar.ph232 ], [ %indvars.iv136.unr, %scalar.ph232.prol.loopexit ]
  %350 = getelementptr inbounds double, ptr %323, i64 %indvars.iv136
  %351 = load double, ptr %350, align 8, !tbaa !29
  %352 = getelementptr inbounds double, ptr %325, i64 %indvars.iv136
  store double %351, ptr %352, align 8, !tbaa !29
  %353 = getelementptr inbounds double, ptr %327, i64 %indvars.iv136
  store double %351, ptr %353, align 8, !tbaa !29
  %indvars.iv.next137 = add nuw nsw i64 %indvars.iv136, 1
  %354 = getelementptr inbounds double, ptr %323, i64 %indvars.iv.next137
  %355 = load double, ptr %354, align 8, !tbaa !29
  %356 = getelementptr inbounds double, ptr %325, i64 %indvars.iv.next137
  store double %355, ptr %356, align 8, !tbaa !29
  %357 = getelementptr inbounds double, ptr %327, i64 %indvars.iv.next137
  store double %355, ptr %357, align 8, !tbaa !29
  %indvars.iv.next137.1 = add nuw nsw i64 %indvars.iv136, 2
  %358 = getelementptr inbounds double, ptr %323, i64 %indvars.iv.next137.1
  %359 = load double, ptr %358, align 8, !tbaa !29
  %360 = getelementptr inbounds double, ptr %325, i64 %indvars.iv.next137.1
  store double %359, ptr %360, align 8, !tbaa !29
  %361 = getelementptr inbounds double, ptr %327, i64 %indvars.iv.next137.1
  store double %359, ptr %361, align 8, !tbaa !29
  %indvars.iv.next137.2 = add nuw nsw i64 %indvars.iv136, 3
  %362 = getelementptr inbounds double, ptr %323, i64 %indvars.iv.next137.2
  %363 = load double, ptr %362, align 8, !tbaa !29
  %364 = getelementptr inbounds double, ptr %325, i64 %indvars.iv.next137.2
  store double %363, ptr %364, align 8, !tbaa !29
  %365 = getelementptr inbounds double, ptr %327, i64 %indvars.iv.next137.2
  store double %363, ptr %365, align 8, !tbaa !29
  %indvars.iv.next137.3 = add nuw nsw i64 %indvars.iv136, 4
  %exitcond140.not.3 = icmp eq i64 %indvars.iv.next137.3, %wide.trip.count139
  br i1 %exitcond140.not.3, label %._crit_edge120, label %scalar.ph232, !llvm.loop !78

366:                                              ; preds = %._crit_edge120
  store i32 2, ptr %24, align 8, !tbaa !5
  br label %367

367:                                              ; preds = %.invoke, %366
  %.068 = phi i32 [ 0, %366 ], [ %264, %.invoke ]
  call void @_ZN7qpOASES11ConstraintsD1Ev(ptr noundef nonnull align 8 dereferenceable(120) %9) #8
  call void @llvm.lifetime.end.p0(i64 120, ptr nonnull %9) #8
  call void @_ZN7qpOASES6BoundsD1Ev(ptr noundef nonnull align 8 dereferenceable(120) %8) #8
  call void @llvm.lifetime.end.p0(i64 120, ptr nonnull %8) #8
  br label %369

368:                                              ; preds = %.loopexit.split-lp, %265
  %.pn = phi { ptr, i32 } [ %lpad.phi, %.loopexit.split-lp ], [ %266, %265 ]
  call void @llvm.lifetime.end.p0(i64 120, ptr nonnull %9) #8
  call void @_ZN7qpOASES6BoundsD1Ev(ptr noundef nonnull align 8 dereferenceable(120) %8) #8
  call void @llvm.lifetime.end.p0(i64 120, ptr nonnull %8) #8
  resume { ptr, i32 } %.pn

369:                                              ; preds = %225, %241, %242, %367, %205, %200, %194, %183, %65, %20
  %.2 = phi i32 [ %22, %20 ], [ %67, %65 ], [ %185, %183 ], [ %196, %194 ], [ %207, %205 ], [ %202, %200 ], [ 0, %225 ], [ 0, %241 ], [ %.068, %367 ], [ %244, %242 ]
  ret i32 %.2
}

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem5getNCEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB9getStatusEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES8QProblem4setAEPNS_6MatrixE(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN7qpOASES9QProblemB4setHEPNS_15SymmetricMatrixE(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef) local_unnamed_addr #5 align 2

declare noundef i32 @_ZN7qpOASES9QProblemB20determineHessianTypeEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB19usingRegularisationEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #5 align 2

declare noundef i32 @_ZN7qpOASES9QProblemB17regulariseHessianEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #2

declare noundef i32 @_ZN7qpOASES8QProblem24setupAuxiliaryQPgradientEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur20resetSchurComplementENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur14correctInertiaEv(ptr noundef nonnull align 8 dereferenceable(1256)) local_unnamed_addr #3 align 2

declare void @_ZN7qpOASES6BoundsC1ERKS0_(ptr noundef nonnull align 8 dereferenceable(120), ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #2

declare void @_ZN7qpOASES11ConstraintsC1ERKS0_(ptr noundef nonnull align 8 dereferenceable(120), ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9SubjectTo7getTypeEi(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES9SubjectTo9setStatusEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef, i32 noundef) local_unnamed_addr #4 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 #5 align 2

declare noundef i32 @_ZN7qpOASES6Bounds4initEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) local_unnamed_addr #2

declare noundef i32 @_ZN7qpOASES11Constraints4initEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) local_unnamed_addr #2

declare noundef i32 @_ZN7qpOASES6Bounds12setupAllFreeEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #2

declare noundef i32 @_ZN7qpOASES11Constraints16setupAllInactiveEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #2

declare noundef i32 @_ZN7qpOASES8QProblem22setupAuxiliaryQPboundsEPKNS_6BoundsEPKNS_11ConstraintsENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef, ptr noundef, i32 noundef) local_unnamed_addr #2

; Function Attrs: nounwind
declare void @_ZN7qpOASES11ConstraintsD1Ev(ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #6

; Function Attrs: nounwind
declare void @_ZN7qpOASES6BoundsD1Ev(ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #6

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare i32 @llvm.smax.i32(i32, i32) #7

attributes #0 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #8 = { nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !16, i64 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, !10, i64 984}
!25 = !{!"_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}
!26 = !{!25, !10, i64 816}
!27 = !{!25, !10, i64 992}
!28 = !{!25, !10, i64 824}
!29 = !{!15, !15, i64 0}
!30 = distinct !{!30, !31, !32, !33}
!31 = !{!"llvm.loop.mustprogress"}
!32 = !{!"llvm.loop.isvectorized", i32 1}
!33 = !{!"llvm.loop.unroll.runtime.disable"}
!34 = distinct !{!34, !31, !32}
!35 = !{!25, !10, i64 976}
!36 = !{!37}
!37 = distinct !{!37, !38}
!38 = distinct !{!38, !"LVerDomain"}
!39 = !{!40}
!40 = distinct !{!40, !38}
!41 = !{!42, !37}
!42 = distinct !{!42, !38}
!43 = !{!42}
!44 = distinct !{!44, !31, !32, !33}
!45 = !{!46}
!46 = distinct !{!46, !47}
!47 = distinct !{!47, !"LVerDomain"}
!48 = !{!49}
!49 = distinct !{!49, !47}
!50 = !{!51}
!51 = distinct !{!51, !47}
!52 = !{!53, !46, !49, !54}
!53 = distinct !{!53, !47}
!54 = distinct !{!54, !47}
!55 = !{!54}
!56 = !{!53}
!57 = !{!46, !49, !54}
!58 = distinct !{!58, !31, !32, !33}
!59 = distinct !{!59, !31, !32}
!60 = distinct !{!60, !31, !32}
!61 = !{!6, !17, i64 220}
!62 = !{!6, !15, i64 224}
!63 = !{!6, !10, i64 16}
!64 = !{!65, !10, i64 1064}
!65 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !66, i64 0, !10, i64 1064, !10, i64 1072, !13, i64 1080, !13, i64 1084, !10, i64 1088, !10, i64 1096, !15, i64 1104, !15, i64 1112, !13, i64 1120, !10, i64 1128, !10, i64 1136, !13, i64 1144, !10, i64 1152, !10, i64 1160, !10, i64 1168, !14, i64 1176, !14, i64 1216}
!66 = !{!"_ZTSN7qpOASES9SQProblemE", !25, i64 0}
!67 = !{!68, !68, i64 0}
!68 = !{!"vtable pointer", !9, i64 0}
!69 = !{!6, !19, i64 272}
!70 = !{!6, !7, i64 472}
!71 = !{!6, !20, i64 400}
!72 = distinct !{!72, !31}
!73 = distinct !{!73, !31}
!74 = distinct !{!74, !31}
!75 = distinct !{!75, !76}
!76 = !{!"llvm.loop.unroll.disable"}
!77 = distinct !{!77, !31, !32, !33}
!78 = distinct !{!78, !31, !32}


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