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

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [14 x i8], align 1
@__FUNCTION__._ZN7qpOASES14SQProblemSchur22addConstraint_ensureLIEiNS_15SubjectToStatusE = external hidden unnamed_addr constant [23 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [19 x i8], align 1

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

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

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare { i64, i1 } @llvm.umul.with.overflow.i64(i64, i64) #1

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) #2

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #3

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) #3

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800)) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) #5 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800)) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur26addConstraint_checkLISchurEiPdS1_(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, ptr noundef, ptr noundef) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120)) #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) #7 align 2

declare noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) #3

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur22addConstraint_ensureLIEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, i32 noundef %2) unnamed_addr #6 align 2 {
  %4 = alloca i32, align 4
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca i32, align 4
  %13 = alloca i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca i32, align 4
  %16 = alloca i32, align 4
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca double, align 8
  %21 = alloca i32, align 4
  %22 = alloca i32, align 4
  %23 = alloca i32, align 4
  %24 = alloca i32, align 4
  %25 = alloca [80 x i8], align 16
  store ptr %0, ptr %5, align 8, !tbaa !5
  store i32 %1, ptr %6, align 4, !tbaa !9
  store i32 %2, ptr %7, align 4, !tbaa !11
  %26 = load ptr, ptr %5, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #9
  %27 = call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %26)
  store i32 %27, ptr %8, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #9
  %28 = call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %26)
  store i32 %28, ptr %9, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #9
  %29 = load i32, ptr %8, align 4, !tbaa !9
  %30 = sext i32 %29 to i64
  %31 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %30, i64 8)
  %32 = extractvalue { i64, i1 } %31, 1
  %33 = extractvalue { i64, i1 } %31, 0
  %34 = select i1 %32, i64 -1, i64 %33
  %35 = call noalias noundef nonnull ptr @_Znam(i64 noundef %34) #10
  store ptr %35, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %11) #9
  %36 = load i32, ptr %9, align 4, !tbaa !9
  %37 = sext i32 %36 to i64
  %38 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %37, i64 8)
  %39 = extractvalue { i64, i1 } %38, 1
  %40 = extractvalue { i64, i1 } %38, 0
  %41 = select i1 %39, i64 -1, i64 %40
  %42 = call noalias noundef nonnull ptr @_Znam(i64 noundef %41) #10
  store ptr %42, ptr %11, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #9
  %43 = load i32, ptr %6, align 4, !tbaa !9
  %44 = load ptr, ptr %10, align 8, !tbaa !5
  %45 = load ptr, ptr %11, align 8, !tbaa !5
  %46 = call noundef i32 @_ZN7qpOASES14SQProblemSchur26addConstraint_checkLISchurEiPdS1_(ptr noundef nonnull align 8 dereferenceable(1256) %26, i32 noundef %43, ptr noundef %44, ptr noundef %45)
  store i32 %46, ptr %12, align 4, !tbaa !13
  %47 = load i32, ptr %12, align 4, !tbaa !13
  %48 = icmp eq i32 %47, 14
  br i1 %48, label %49, label %60

49:                                               ; preds = %3
  %50 = load ptr, ptr %11, align 8, !tbaa !5
  %51 = icmp eq ptr %50, null
  br i1 %51, label %53, label %52

52:                                               ; preds = %49
  call void @_ZdaPv(ptr noundef %50) #11
  br label %53

53:                                               ; preds = %52, %49
  %54 = load ptr, ptr %10, align 8, !tbaa !5
  %55 = icmp eq ptr %54, null
  br i1 %55, label %57, label %56

56:                                               ; preds = %53
  call void @_ZdaPv(ptr noundef %54) #11
  br label %57

57:                                               ; preds = %56, %53
  %58 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %59 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %58, i32 noundef 91, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 963, i32 noundef 1)
  store i32 %59, ptr %4, align 4
  store i32 1, ptr %13, align 4
  br label %384

60:                                               ; preds = %3
  %61 = load i32, ptr %12, align 4, !tbaa !13
  %62 = icmp eq i32 %61, 89
  br i1 %62, label %63, label %72

63:                                               ; preds = %60
  %64 = load ptr, ptr %11, align 8, !tbaa !5
  %65 = icmp eq ptr %64, null
  br i1 %65, label %67, label %66

66:                                               ; preds = %63
  call void @_ZdaPv(ptr noundef %64) #11
  br label %67

67:                                               ; preds = %66, %63
  %68 = load ptr, ptr %10, align 8, !tbaa !5
  %69 = icmp eq ptr %68, null
  br i1 %69, label %71, label %70

70:                                               ; preds = %67
  call void @_ZdaPv(ptr noundef %68) #11
  br label %71

71:                                               ; preds = %70, %67
  store i32 0, ptr %4, align 4
  store i32 1, ptr %13, align 4
  br label %384

72:                                               ; preds = %60
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #9
  %73 = load i32, ptr %7, align 4, !tbaa !11
  %74 = icmp ne i32 %73, -1
  br i1 %74, label %75, label %114

75:                                               ; preds = %72
  store i32 0, ptr %14, align 4, !tbaa !9
  br label %76

76:                                               ; preds = %91, %75
  %77 = load i32, ptr %14, align 4, !tbaa !9
  %78 = load i32, ptr %8, align 4, !tbaa !9
  %79 = icmp slt i32 %77, %78
  br i1 %79, label %80, label %94

80:                                               ; preds = %76
  %81 = load ptr, ptr %10, align 8, !tbaa !5
  %82 = load i32, ptr %14, align 4, !tbaa !9
  %83 = sext i32 %82 to i64
  %84 = getelementptr inbounds double, ptr %81, i64 %83
  %85 = load double, ptr %84, align 8, !tbaa !15
  %86 = fneg double %85
  %87 = load ptr, ptr %10, align 8, !tbaa !5
  %88 = load i32, ptr %14, align 4, !tbaa !9
  %89 = sext i32 %88 to i64
  %90 = getelementptr inbounds double, ptr %87, i64 %89
  store double %86, ptr %90, align 8, !tbaa !15
  br label %91

91:                                               ; preds = %80
  %92 = load i32, ptr %14, align 4, !tbaa !9
  %93 = add nsw i32 %92, 1
  store i32 %93, ptr %14, align 4, !tbaa !9
  br label %76, !llvm.loop !17

94:                                               ; preds = %76
  store i32 0, ptr %14, align 4, !tbaa !9
  br label %95

95:                                               ; preds = %110, %94
  %96 = load i32, ptr %14, align 4, !tbaa !9
  %97 = load i32, ptr %9, align 4, !tbaa !9
  %98 = icmp slt i32 %96, %97
  br i1 %98, label %99, label %113

99:                                               ; preds = %95
  %100 = load ptr, ptr %11, align 8, !tbaa !5
  %101 = load i32, ptr %14, align 4, !tbaa !9
  %102 = sext i32 %101 to i64
  %103 = getelementptr inbounds double, ptr %100, i64 %102
  %104 = load double, ptr %103, align 8, !tbaa !15
  %105 = fneg double %104
  %106 = load ptr, ptr %11, align 8, !tbaa !5
  %107 = load i32, ptr %14, align 4, !tbaa !9
  %108 = sext i32 %107 to i64
  %109 = getelementptr inbounds double, ptr %106, i64 %108
  store double %105, ptr %109, align 8, !tbaa !15
  br label %110

110:                                              ; preds = %99
  %111 = load i32, ptr %14, align 4, !tbaa !9
  %112 = add nsw i32 %111, 1
  store i32 %112, ptr %14, align 4, !tbaa !9
  br label %95, !llvm.loop !19

113:                                              ; preds = %95
  br label %114

114:                                              ; preds = %113, %72
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #9
  %115 = call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %26)
  store i32 %115, ptr %16, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #9
  %116 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 6
  %117 = call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %116)
  %118 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %117, ptr noundef %17)
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #9
  %119 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %26, i32 0, i32 5
  %120 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %119)
  %121 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %120, ptr noundef %18)
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #9
  %122 = load i32, ptr %16, align 4, !tbaa !9
  %123 = sext i32 %122 to i64
  %124 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %123, i64 8)
  %125 = extractvalue { i64, i1 } %124, 1
  %126 = extractvalue { i64, i1 } %124, 0
  %127 = select i1 %125, i64 -1, i64 %126
  %128 = call noalias noundef nonnull ptr @_Znam(i64 noundef %127) #10
  store ptr %128, ptr %19, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #9
  %129 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 23
  %130 = getelementptr inbounds %"class.qpOASES::Options", ptr %129, i32 0, i32 16
  %131 = load double, ptr %130, align 8, !tbaa !20
  store double %131, ptr %20, align 8, !tbaa !15
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #9
  store i32 -1, ptr %21, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #9
  store i32 -1, ptr %22, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #9
  store i32 0, ptr %23, align 4, !tbaa !33
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #9
  store i32 0, ptr %24, align 4, !tbaa !13
  store i32 0, ptr %14, align 4, !tbaa !9
  br label %132

132:                                              ; preds = %154, %114
  %133 = load i32, ptr %14, align 4, !tbaa !9
  %134 = load i32, ptr %8, align 4, !tbaa !9
  %135 = icmp slt i32 %133, %134
  br i1 %135, label %136, label %157

136:                                              ; preds = %132
  %137 = load ptr, ptr %18, align 8, !tbaa !5
  %138 = load i32, ptr %14, align 4, !tbaa !9
  %139 = sext i32 %138 to i64
  %140 = getelementptr inbounds i32, ptr %137, i64 %139
  %141 = load i32, ptr %140, align 4, !tbaa !9
  store i32 %141, ptr %15, align 4, !tbaa !9
  %142 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 10
  %143 = load ptr, ptr %142, align 8, !tbaa !34
  %144 = load i32, ptr %16, align 4, !tbaa !9
  %145 = load i32, ptr %15, align 4, !tbaa !9
  %146 = add nsw i32 %144, %145
  %147 = sext i32 %146 to i64
  %148 = getelementptr inbounds double, ptr %143, i64 %147
  %149 = load double, ptr %148, align 8, !tbaa !15
  %150 = load ptr, ptr %19, align 8, !tbaa !5
  %151 = load i32, ptr %14, align 4, !tbaa !9
  %152 = sext i32 %151 to i64
  %153 = getelementptr inbounds double, ptr %150, i64 %152
  store double %149, ptr %153, align 8, !tbaa !15
  br label %154

154:                                              ; preds = %136
  %155 = load i32, ptr %14, align 4, !tbaa !9
  %156 = add nsw i32 %155, 1
  store i32 %156, ptr %14, align 4, !tbaa !9
  br label %132, !llvm.loop !35

157:                                              ; preds = %132
  %158 = load i32, ptr %8, align 4, !tbaa !9
  %159 = load ptr, ptr %18, align 8, !tbaa !5
  %160 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %26, i32 0, i32 5
  %161 = load ptr, ptr %19, align 8, !tbaa !5
  %162 = load ptr, ptr %10, align 8, !tbaa !5
  %163 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 23
  %164 = getelementptr inbounds %"class.qpOASES::Options", ptr %163, i32 0, i32 13
  %165 = load double, ptr %164, align 8, !tbaa !36
  %166 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 23
  %167 = getelementptr inbounds %"class.qpOASES::Options", ptr %166, i32 0, i32 14
  %168 = load double, ptr %167, align 8, !tbaa !37
  %169 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %26, i32 noundef %158, ptr noundef %159, ptr noundef %160, ptr noundef %161, ptr noundef %162, double noundef %165, double noundef %168, ptr noundef nonnull align 8 dereferenceable(8) %20, ptr noundef nonnull align 4 dereferenceable(4) %21)
  store i32 0, ptr %14, align 4, !tbaa !9
  br label %170

170:                                              ; preds = %190, %157
  %171 = load i32, ptr %14, align 4, !tbaa !9
  %172 = load i32, ptr %9, align 4, !tbaa !9
  %173 = icmp slt i32 %171, %172
  br i1 %173, label %174, label %193

174:                                              ; preds = %170
  %175 = load ptr, ptr %17, align 8, !tbaa !5
  %176 = load i32, ptr %14, align 4, !tbaa !9
  %177 = sext i32 %176 to i64
  %178 = getelementptr inbounds i32, ptr %175, i64 %177
  %179 = load i32, ptr %178, align 4, !tbaa !9
  store i32 %179, ptr %15, align 4, !tbaa !9
  %180 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 10
  %181 = load ptr, ptr %180, align 8, !tbaa !34
  %182 = load i32, ptr %15, align 4, !tbaa !9
  %183 = sext i32 %182 to i64
  %184 = getelementptr inbounds double, ptr %181, i64 %183
  %185 = load double, ptr %184, align 8, !tbaa !15
  %186 = load ptr, ptr %19, align 8, !tbaa !5
  %187 = load i32, ptr %14, align 4, !tbaa !9
  %188 = sext i32 %187 to i64
  %189 = getelementptr inbounds double, ptr %186, i64 %188
  store double %185, ptr %189, align 8, !tbaa !15
  br label %190

190:                                              ; preds = %174
  %191 = load i32, ptr %14, align 4, !tbaa !9
  %192 = add nsw i32 %191, 1
  store i32 %192, ptr %14, align 4, !tbaa !9
  br label %170, !llvm.loop !38

193:                                              ; preds = %170
  %194 = load i32, ptr %9, align 4, !tbaa !9
  %195 = load ptr, ptr %17, align 8, !tbaa !5
  %196 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 6
  %197 = load ptr, ptr %19, align 8, !tbaa !5
  %198 = load ptr, ptr %11, align 8, !tbaa !5
  %199 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 23
  %200 = getelementptr inbounds %"class.qpOASES::Options", ptr %199, i32 0, i32 13
  %201 = load double, ptr %200, align 8, !tbaa !36
  %202 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 23
  %203 = getelementptr inbounds %"class.qpOASES::Options", ptr %202, i32 0, i32 14
  %204 = load double, ptr %203, align 8, !tbaa !37
  %205 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %26, i32 noundef %194, ptr noundef %195, ptr noundef %196, ptr noundef %197, ptr noundef %198, double noundef %201, double noundef %204, ptr noundef nonnull align 8 dereferenceable(8) %20, ptr noundef nonnull align 4 dereferenceable(4) %22)
  %206 = load i32, ptr %22, align 4, !tbaa !9
  %207 = icmp sge i32 %206, 0
  br i1 %207, label %208, label %210

208:                                              ; preds = %193
  %209 = load i32, ptr %22, align 4, !tbaa !9
  store i32 %209, ptr %21, align 4, !tbaa !9
  store i32 1, ptr %23, align 4, !tbaa !33
  br label %210

210:                                              ; preds = %208, %193
  call void @llvm.lifetime.start.p0(i64 80, ptr %25) #9
  %211 = load i32, ptr %21, align 4, !tbaa !9
  %212 = icmp sge i32 %211, 0
  br i1 %212, label %213, label %343

213:                                              ; preds = %210
  store i32 0, ptr %14, align 4, !tbaa !9
  br label %214

214:                                              ; preds = %240, %213
  %215 = load i32, ptr %14, align 4, !tbaa !9
  %216 = load i32, ptr %8, align 4, !tbaa !9
  %217 = icmp slt i32 %215, %216
  br i1 %217, label %218, label %243

218:                                              ; preds = %214
  %219 = load ptr, ptr %18, align 8, !tbaa !5
  %220 = load i32, ptr %14, align 4, !tbaa !9
  %221 = sext i32 %220 to i64
  %222 = getelementptr inbounds i32, ptr %219, i64 %221
  %223 = load i32, ptr %222, align 4, !tbaa !9
  store i32 %223, ptr %15, align 4, !tbaa !9
  %224 = load double, ptr %20, align 8, !tbaa !15
  %225 = load ptr, ptr %10, align 8, !tbaa !5
  %226 = load i32, ptr %14, align 4, !tbaa !9
  %227 = sext i32 %226 to i64
  %228 = getelementptr inbounds double, ptr %225, i64 %227
  %229 = load double, ptr %228, align 8, !tbaa !15
  %230 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 10
  %231 = load ptr, ptr %230, align 8, !tbaa !34
  %232 = load i32, ptr %16, align 4, !tbaa !9
  %233 = load i32, ptr %15, align 4, !tbaa !9
  %234 = add nsw i32 %232, %233
  %235 = sext i32 %234 to i64
  %236 = getelementptr inbounds double, ptr %231, i64 %235
  %237 = load double, ptr %236, align 8, !tbaa !15
  %238 = fneg double %224
  %239 = call double @llvm.fmuladd.f64(double %238, double %229, double %237)
  store double %239, ptr %236, align 8, !tbaa !15
  br label %240

240:                                              ; preds = %218
  %241 = load i32, ptr %14, align 4, !tbaa !9
  %242 = add nsw i32 %241, 1
  store i32 %242, ptr %14, align 4, !tbaa !9
  br label %214, !llvm.loop !39

243:                                              ; preds = %214
  store i32 0, ptr %14, align 4, !tbaa !9
  br label %244

244:                                              ; preds = %268, %243
  %245 = load i32, ptr %14, align 4, !tbaa !9
  %246 = load i32, ptr %9, align 4, !tbaa !9
  %247 = icmp slt i32 %245, %246
  br i1 %247, label %248, label %271

248:                                              ; preds = %244
  %249 = load ptr, ptr %17, align 8, !tbaa !5
  %250 = load i32, ptr %14, align 4, !tbaa !9
  %251 = sext i32 %250 to i64
  %252 = getelementptr inbounds i32, ptr %249, i64 %251
  %253 = load i32, ptr %252, align 4, !tbaa !9
  store i32 %253, ptr %15, align 4, !tbaa !9
  %254 = load double, ptr %20, align 8, !tbaa !15
  %255 = load ptr, ptr %11, align 8, !tbaa !5
  %256 = load i32, ptr %14, align 4, !tbaa !9
  %257 = sext i32 %256 to i64
  %258 = getelementptr inbounds double, ptr %255, i64 %257
  %259 = load double, ptr %258, align 8, !tbaa !15
  %260 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 10
  %261 = load ptr, ptr %260, align 8, !tbaa !34
  %262 = load i32, ptr %15, align 4, !tbaa !9
  %263 = sext i32 %262 to i64
  %264 = getelementptr inbounds double, ptr %261, i64 %263
  %265 = load double, ptr %264, align 8, !tbaa !15
  %266 = fneg double %254
  %267 = call double @llvm.fmuladd.f64(double %266, double %259, double %265)
  store double %267, ptr %264, align 8, !tbaa !15
  br label %268

268:                                              ; preds = %248
  %269 = load i32, ptr %14, align 4, !tbaa !9
  %270 = add nsw i32 %269, 1
  store i32 %270, ptr %14, align 4, !tbaa !9
  br label %244, !llvm.loop !40

271:                                              ; preds = %244
  %272 = load i32, ptr %7, align 4, !tbaa !11
  %273 = icmp eq i32 %272, -1
  br i1 %273, label %274, label %283

274:                                              ; preds = %271
  %275 = load double, ptr %20, align 8, !tbaa !15
  %276 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 10
  %277 = load ptr, ptr %276, align 8, !tbaa !34
  %278 = load i32, ptr %16, align 4, !tbaa !9
  %279 = load i32, ptr %6, align 4, !tbaa !9
  %280 = add nsw i32 %278, %279
  %281 = sext i32 %280 to i64
  %282 = getelementptr inbounds double, ptr %277, i64 %281
  store double %275, ptr %282, align 8, !tbaa !15
  br label %293

283:                                              ; preds = %271
  %284 = load double, ptr %20, align 8, !tbaa !15
  %285 = fneg double %284
  %286 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 10
  %287 = load ptr, ptr %286, align 8, !tbaa !34
  %288 = load i32, ptr %16, align 4, !tbaa !9
  %289 = load i32, ptr %6, align 4, !tbaa !9
  %290 = add nsw i32 %288, %289
  %291 = sext i32 %290 to i64
  %292 = getelementptr inbounds double, ptr %287, i64 %291
  store double %285, ptr %292, align 8, !tbaa !15
  br label %293

293:                                              ; preds = %283, %274
  %294 = load i32, ptr %23, align 4, !tbaa !33
  %295 = icmp eq i32 %294, 1
  br i1 %295, label %296, label %318

296:                                              ; preds = %293
  %297 = getelementptr inbounds [80 x i8], ptr %25, i64 0, i64 0
  %298 = load i32, ptr %21, align 4, !tbaa !9
  %299 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %297, i64 noundef 80, ptr noundef @.str.9, i32 noundef %298) #9
  %300 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %301 = getelementptr inbounds [80 x i8], ptr %25, i64 0, i64 0
  %302 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %300, i32 noundef 82, ptr noundef %301, ptr noundef @__FUNCTION__._ZN7qpOASES14SQProblemSchur22addConstraint_ensureLIEiNS_15SubjectToStatusE, ptr noundef @.str.1, i64 noundef 1059, i32 noundef 1)
  %303 = load i32, ptr %21, align 4, !tbaa !9
  %304 = load ptr, ptr %26, align 8, !tbaa !41
  %305 = getelementptr inbounds ptr, ptr %304, i64 32
  %306 = load ptr, ptr %305, align 8
  %307 = call noundef i32 %306(ptr noundef nonnull align 8 dereferenceable(1256) %26, i32 noundef %303, i32 noundef 1, i32 noundef 0, i32 noundef 0)
  %308 = icmp ne i32 %307, 0
  br i1 %308, label %309, label %310

309:                                              ; preds = %296
  store i32 84, ptr %24, align 4, !tbaa !13
  br label %359

310:                                              ; preds = %296
  %311 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 25
  %312 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %311, i32 0, i32 5
  store i32 1, ptr %312, align 4, !tbaa !43
  %313 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 10
  %314 = load ptr, ptr %313, align 8, !tbaa !34
  %315 = load i32, ptr %21, align 4, !tbaa !9
  %316 = sext i32 %315 to i64
  %317 = getelementptr inbounds double, ptr %314, i64 %316
  store double 0.000000e+00, ptr %317, align 8, !tbaa !15
  br label %342

318:                                              ; preds = %293
  %319 = getelementptr inbounds [80 x i8], ptr %25, i64 0, i64 0
  %320 = load i32, ptr %21, align 4, !tbaa !9
  %321 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef %319, i64 noundef 80, ptr noundef @.str.10, i32 noundef %320) #9
  %322 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %323 = getelementptr inbounds [80 x i8], ptr %25, i64 0, i64 0
  %324 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %322, i32 noundef 82, ptr noundef %323, ptr noundef @__FUNCTION__._ZN7qpOASES14SQProblemSchur22addConstraint_ensureLIEiNS_15SubjectToStatusE, ptr noundef @.str.1, i64 noundef 1075, i32 noundef 1)
  %325 = load i32, ptr %21, align 4, !tbaa !9
  %326 = load ptr, ptr %26, align 8, !tbaa !41
  %327 = getelementptr inbounds ptr, ptr %326, i64 31
  %328 = load ptr, ptr %327, align 8
  %329 = call noundef i32 %328(ptr noundef nonnull align 8 dereferenceable(1256) %26, i32 noundef %325, i32 noundef 1, i32 noundef 0, i32 noundef 0)
  %330 = icmp ne i32 %329, 0
  br i1 %330, label %331, label %332

331:                                              ; preds = %318
  store i32 84, ptr %24, align 4, !tbaa !13
  br label %359

332:                                              ; preds = %318
  %333 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 25
  %334 = getelementptr inbounds %"struct.qpOASES::TabularOutput", ptr %333, i32 0, i32 7
  store i32 1, ptr %334, align 4, !tbaa !44
  %335 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 10
  %336 = load ptr, ptr %335, align 8, !tbaa !34
  %337 = load i32, ptr %16, align 4, !tbaa !9
  %338 = load i32, ptr %21, align 4, !tbaa !9
  %339 = add nsw i32 %337, %338
  %340 = sext i32 %339 to i64
  %341 = getelementptr inbounds double, ptr %336, i64 %340
  store double 0.000000e+00, ptr %341, align 8, !tbaa !15
  br label %342

342:                                              ; preds = %332, %310
  br label %358

343:                                              ; preds = %210
  %344 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %26, i32 0, i32 23
  %345 = getelementptr inbounds %"class.qpOASES::Options", ptr %344, i32 0, i32 34
  %346 = load i32, ptr %345, align 4, !tbaa !45
  %347 = icmp eq i32 %346, 1
  br i1 %347, label %348, label %354

348:                                              ; preds = %343
  %349 = load i32, ptr %6, align 4, !tbaa !9
  %350 = load i32, ptr %7, align 4, !tbaa !11
  %351 = load ptr, ptr %11, align 8, !tbaa !5
  %352 = load ptr, ptr %10, align 8, !tbaa !5
  %353 = call noundef i32 @_ZN7qpOASES8QProblem15dropInfeasiblesEiNS_15SubjectToStatusENS_11BooleanTypeEPdS3_(ptr noundef nonnull align 8 dereferenceable(1064) %26, i32 noundef %349, i32 noundef %350, i32 noundef 0, ptr noundef %351, ptr noundef %352)
  store i32 %353, ptr %24, align 4, !tbaa !13
  br label %357

354:                                              ; preds = %343
  store i32 93, ptr %24, align 4, !tbaa !13
  %355 = load i32, ptr %24, align 4, !tbaa !13
  %356 = call noundef i32 @_ZN7qpOASES9QProblemB20setInfeasibilityFlagENS_11returnValueENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %26, i32 noundef %355, i32 noundef 0)
  br label %357

357:                                              ; preds = %354, %348
  br label %358

358:                                              ; preds = %357, %342
  br label %359

359:                                              ; preds = %358, %331, %309
  %360 = load ptr, ptr %19, align 8, !tbaa !5
  %361 = icmp eq ptr %360, null
  br i1 %361, label %363, label %362

362:                                              ; preds = %359
  call void @_ZdaPv(ptr noundef %360) #11
  br label %363

363:                                              ; preds = %362, %359
  %364 = load ptr, ptr %11, align 8, !tbaa !5
  %365 = icmp eq ptr %364, null
  br i1 %365, label %367, label %366

366:                                              ; preds = %363
  call void @_ZdaPv(ptr noundef %364) #11
  br label %367

367:                                              ; preds = %366, %363
  %368 = load ptr, ptr %10, align 8, !tbaa !5
  %369 = icmp eq ptr %368, null
  br i1 %369, label %371, label %370

370:                                              ; preds = %367
  call void @_ZdaPv(ptr noundef %368) #11
  br label %371

371:                                              ; preds = %370, %367
  %372 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %373 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %372, i32 noundef 90, ptr noundef null, ptr noundef @__FUNCTION__._ZN7qpOASES14SQProblemSchur22addConstraint_ensureLIEiNS_15SubjectToStatusE, ptr noundef @.str.1, i64 noundef 1107, i32 noundef 1)
  %374 = load i32, ptr %24, align 4, !tbaa !13
  %375 = icmp ne i32 %374, 0
  br i1 %375, label %376, label %380

376:                                              ; preds = %371
  %377 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %378 = load i32, ptr %24, align 4, !tbaa !13
  %379 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %377, i32 noundef %378, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 1109, i32 noundef 1)
  br label %382

380:                                              ; preds = %371
  %381 = load i32, ptr %24, align 4, !tbaa !13
  br label %382

382:                                              ; preds = %380, %376
  %383 = phi i32 [ %379, %376 ], [ %381, %380 ]
  store i32 %383, ptr %4, align 4
  store i32 1, ptr %13, align 4
  call void @llvm.lifetime.end.p0(i64 80, ptr %25) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #9
  br label %384

384:                                              ; preds = %382, %71, %57
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %11) #9
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #9
  %385 = load i32, ptr %4, align 4
  ret i32 %385
}

declare noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) #3

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #1

; Function Attrs: nounwind
declare i32 @snprintf(ptr noundef, i64 noundef, ptr noundef, ...) #8

declare noundef i32 @_ZN7qpOASES8QProblem15dropInfeasiblesEiNS_15SubjectToStatusENS_11BooleanTypeEPdS3_(ptr noundef nonnull align 8 dereferenceable(1064), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef) #3

declare noundef i32 @_ZN7qpOASES9QProblemB20setInfeasibilityFlagENS_11returnValueENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, i32 noundef) #3

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #2 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { "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 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #6 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { 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 #8 = { 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 #9 = { nounwind }
attributes #10 = { builtin allocsize(0) }
attributes #11 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"_ZTSN7qpOASES11returnValueE", !7, i64 0}
!15 = !{!16, !16, i64 0}
!16 = !{!"double", !7, i64 0}
!17 = distinct !{!17, !18}
!18 = !{!"llvm.loop.mustprogress"}
!19 = distinct !{!19, !18}
!20 = !{!21, !16, i64 360}
!21 = !{!"_ZTSN7qpOASES9QProblemBE", !22, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !23, i64 48, !6, i64 168, !22, i64 176, !6, i64 184, !6, i64 192, !16, i64 200, !26, i64 208, !22, i64 212, !22, i64 216, !27, i64 220, !16, i64 224, !10, i64 232, !6, i64 240, !16, i64 248, !16, i64 256, !10, i64 264, !28, i64 272, !30, i64 496, !32, i64 768}
!22 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES6BoundsE", !24, i64 0, !25, i64 40, !25, i64 80}
!24 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !22, i64 32, !22, i64 36}
!25 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!26 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!27 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!28 = !{!"_ZTSN7qpOASES7OptionsE", !29, i64 0, !22, i64 4, !22, i64 8, !22, i64 12, !22, i64 16, !22, i64 20, !22, i64 24, !10, i64 28, !10, i64 32, !22, i64 36, !16, i64 40, !16, i64 48, !16, i64 56, !16, i64 64, !16, i64 72, !16, i64 80, !16, i64 88, !16, i64 96, !16, i64 104, !16, i64 112, !16, i64 120, !12, i64 128, !16, i64 136, !10, i64 144, !16, i64 152, !10, i64 160, !16, i64 168, !16, i64 176, !16, i64 184, !16, i64 192, !22, i64 200, !22, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!29 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!30 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !23, i64 8, !31, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!31 = !{!"_ZTSN7qpOASES11ConstraintsE", !24, i64 0, !25, i64 40, !25, i64 80}
!32 = !{!"_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}
!33 = !{!22, !22, i64 0}
!34 = !{!21, !6, i64 192}
!35 = distinct !{!35, !18}
!36 = !{!21, !16, i64 336}
!37 = !{!21, !16, i64 344}
!38 = distinct !{!38, !18}
!39 = distinct !{!39, !18}
!40 = distinct !{!40, !18}
!41 = !{!42, !42, i64 0}
!42 = !{!"vtable pointer", !8, i64 0}
!43 = !{!21, !10, i64 788}
!44 = !{!21, !10, i64 796}
!45 = !{!21, !22, i64 476}


; Optimized IR (opt -passes='default<O3>'):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [109 x i8], align 1
@.str.9 = external hidden unnamed_addr constant [14 x i8], align 1
@__FUNCTION__._ZN7qpOASES14SQProblemSchur22addConstraint_ensureLIEiNS_15SubjectToStatusE = external hidden unnamed_addr constant [23 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [19 x i8], align 1

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

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

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) local_unnamed_addr #1

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #2

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

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) local_unnamed_addr #3

; Function Attrs: 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 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064)) local_unnamed_addr #4 align 2

declare noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36), ptr noundef) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES14SQProblemSchur26addConstraint_checkLISchurEiPdS1_(ptr noundef nonnull align 8 dereferenceable(1256), i32 noundef, ptr noundef, ptr noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120)) local_unnamed_addr #6 align 2

declare noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_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 @_ZN7qpOASES14SQProblemSchur22addConstraint_ensureLIEiNS_15SubjectToStatusE(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, i32 noundef %2) unnamed_addr #5 align 2 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca double, align 8
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca [80 x i8], align 16
  %10 = tail call noundef i32 @_ZNK7qpOASES8QProblem6getNACEv(ptr noundef nonnull align 8 dereferenceable(1064) %0)
  %11 = tail call noundef i32 @_ZNK7qpOASES9QProblemB6getNFXEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  %12 = zext i32 %10 to i64
  %13 = icmp slt i32 %10, 0
  %14 = shl nuw nsw i64 %12, 3
  %15 = select i1 %13, i64 -1, i64 %14
  %16 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %15) #9
  %17 = zext i32 %11 to i64
  %18 = icmp slt i32 %11, 0
  %19 = shl nuw nsw i64 %17, 3
  %20 = select i1 %18, i64 -1, i64 %19
  %21 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %20) #9
  %22 = tail call noundef i32 @_ZN7qpOASES14SQProblemSchur26addConstraint_checkLISchurEiPdS1_(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %1, ptr noundef nonnull %16, ptr noundef nonnull %21)
  switch i32 %22, label %27 [
    i32 14, label %23
    i32 89, label %26
  ]

23:                                               ; preds = %3
  tail call void @_ZdaPv(ptr noundef nonnull %21) #10
  tail call void @_ZdaPv(ptr noundef nonnull %16) #10
  %24 = tail call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %25 = tail call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %24, i32 noundef 91, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 963, i32 noundef 1)
  br label %263

26:                                               ; preds = %3
  tail call void @_ZdaPv(ptr noundef nonnull %21) #10
  tail call void @_ZdaPv(ptr noundef nonnull %16) #10
  br label %263

27:                                               ; preds = %3
  %.not = icmp eq i32 %2, -1
  br i1 %.not, label %.loopexit, label %.preheader94

.preheader94:                                     ; preds = %27
  %28 = icmp sgt i32 %10, 0
  br i1 %28, label %.lr.ph.preheader, label %.preheader93

.lr.ph.preheader:                                 ; preds = %.preheader94
  %min.iters.check = icmp ult i32 %10, 4
  br i1 %min.iters.check, label %.lr.ph.preheader156, label %vector.ph

.lr.ph.preheader156:                              ; preds = %middle.block, %.lr.ph.preheader
  %indvars.iv.ph = phi i64 [ 0, %.lr.ph.preheader ], [ %n.vec, %middle.block ]
  br label %.lr.ph

vector.ph:                                        ; preds = %.lr.ph.preheader
  %n.vec = and i64 %12, 2147483644
  br label %vector.body

vector.body:                                      ; preds = %vector.body, %vector.ph
  %index = phi i64 [ 0, %vector.ph ], [ %index.next, %vector.body ]
  %29 = getelementptr inbounds double, ptr %16, i64 %index
  %30 = getelementptr inbounds i8, ptr %29, i64 16
  %wide.load = load <2 x double>, ptr %29, align 8, !tbaa !5
  %wide.load141 = load <2 x double>, ptr %30, align 8, !tbaa !5
  %31 = fneg <2 x double> %wide.load
  %32 = fneg <2 x double> %wide.load141
  store <2 x double> %31, ptr %29, align 8, !tbaa !5
  store <2 x double> %32, ptr %30, align 8, !tbaa !5
  %index.next = add nuw i64 %index, 4
  %33 = icmp eq i64 %index.next, %n.vec
  br i1 %33, label %middle.block, label %vector.body, !llvm.loop !9

middle.block:                                     ; preds = %vector.body
  %cmp.n = icmp eq i64 %n.vec, %12
  br i1 %cmp.n, label %.preheader93, label %.lr.ph.preheader156

.preheader93:                                     ; preds = %.lr.ph, %middle.block, %.preheader94
  %34 = icmp sgt i32 %11, 0
  br i1 %34, label %.lr.ph97.preheader, label %.loopexit

.lr.ph97.preheader:                               ; preds = %.preheader93
  %min.iters.check144 = icmp ult i32 %11, 4
  br i1 %min.iters.check144, label %.lr.ph97.preheader155, label %vector.ph145

.lr.ph97.preheader155:                            ; preds = %middle.block142, %.lr.ph97.preheader
  %indvars.iv110.ph = phi i64 [ 0, %.lr.ph97.preheader ], [ %n.vec147, %middle.block142 ]
  br label %.lr.ph97

vector.ph145:                                     ; preds = %.lr.ph97.preheader
  %n.vec147 = and i64 %17, 2147483644
  br label %vector.body149

vector.body149:                                   ; preds = %vector.body149, %vector.ph145
  %index150 = phi i64 [ 0, %vector.ph145 ], [ %index.next153, %vector.body149 ]
  %35 = getelementptr inbounds double, ptr %21, i64 %index150
  %36 = getelementptr inbounds i8, ptr %35, i64 16
  %wide.load151 = load <2 x double>, ptr %35, align 8, !tbaa !5
  %wide.load152 = load <2 x double>, ptr %36, align 8, !tbaa !5
  %37 = fneg <2 x double> %wide.load151
  %38 = fneg <2 x double> %wide.load152
  store <2 x double> %37, ptr %35, align 8, !tbaa !5
  store <2 x double> %38, ptr %36, align 8, !tbaa !5
  %index.next153 = add nuw i64 %index150, 4
  %39 = icmp eq i64 %index.next153, %n.vec147
  br i1 %39, label %middle.block142, label %vector.body149, !llvm.loop !13

middle.block142:                                  ; preds = %vector.body149
  %cmp.n154 = icmp eq i64 %n.vec147, %17
  br i1 %cmp.n154, label %.loopexit, label %.lr.ph97.preheader155

.lr.ph:                                           ; preds = %.lr.ph.preheader156, %.lr.ph
  %indvars.iv = phi i64 [ %indvars.iv.next, %.lr.ph ], [ %indvars.iv.ph, %.lr.ph.preheader156 ]
  %40 = getelementptr inbounds double, ptr %16, i64 %indvars.iv
  %41 = load double, ptr %40, align 8, !tbaa !5
  %42 = fneg double %41
  store double %42, ptr %40, align 8, !tbaa !5
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, %12
  br i1 %exitcond.not, label %.preheader93, label %.lr.ph, !llvm.loop !14

.lr.ph97:                                         ; preds = %.lr.ph97.preheader155, %.lr.ph97
  %indvars.iv110 = phi i64 [ %indvars.iv.next111, %.lr.ph97 ], [ %indvars.iv110.ph, %.lr.ph97.preheader155 ]
  %43 = getelementptr inbounds double, ptr %21, i64 %indvars.iv110
  %44 = load double, ptr %43, align 8, !tbaa !5
  %45 = fneg double %44
  store double %45, ptr %43, align 8, !tbaa !5
  %indvars.iv.next111 = add nuw nsw i64 %indvars.iv110, 1
  %exitcond114.not = icmp eq i64 %indvars.iv.next111, %17
  br i1 %exitcond114.not, label %.loopexit, label %.lr.ph97, !llvm.loop !15

.loopexit:                                        ; preds = %.lr.ph97, %middle.block142, %.preheader93, %27
  %46 = tail call noundef i32 @_ZNK7qpOASES9QProblemB5getNVEv(ptr noundef nonnull align 8 dereferenceable(800) %0)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %4) #11
  %47 = getelementptr inbounds i8, ptr %0, i64 48
  %48 = tail call noundef ptr @_ZN7qpOASES6Bounds8getFixedEv(ptr noundef nonnull align 8 dereferenceable(120) %47)
  %49 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %48, ptr noundef nonnull %4)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #11
  %50 = getelementptr inbounds i8, ptr %0, i64 832
  %51 = call noundef ptr @_ZN7qpOASES11Constraints9getActiveEv(ptr noundef nonnull align 8 dereferenceable(120) %50)
  %52 = call noundef i32 @_ZNK7qpOASES9Indexlist14getNumberArrayEPPi(ptr noundef nonnull align 8 dereferenceable(36) %51, ptr noundef nonnull %5)
  %53 = zext nneg i32 %46 to i64
  %54 = icmp slt i32 %46, 0
  %55 = shl nuw nsw i64 %53, 3
  %56 = select i1 %54, i64 -1, i64 %55
  %57 = call noalias noundef nonnull ptr @_Znam(i64 noundef %56) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %6) #11
  %58 = getelementptr inbounds i8, ptr %0, i64 360
  %59 = load double, ptr %58, align 8, !tbaa !16
  store double %59, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %7) #11
  store i32 -1, ptr %7, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %8) #11
  store i32 -1, ptr %8, align 4, !tbaa !32
  %60 = icmp sgt i32 %10, 0
  %.pre = load ptr, ptr %5, align 8, !tbaa !33
  br i1 %60, label %.lr.ph99, label %._crit_edge

.lr.ph99:                                         ; preds = %.loopexit
  %61 = getelementptr inbounds i8, ptr %0, i64 192
  %62 = load ptr, ptr %61, align 8, !tbaa !34
  %xtraiter = and i64 %12, 1
  %63 = icmp eq i32 %10, 1
  br i1 %63, label %._crit_edge.loopexit.unr-lcssa, label %.lr.ph99.new

.lr.ph99.new:                                     ; preds = %.lr.ph99
  %unroll_iter = and i64 %12, 2147483646
  br label %64

64:                                               ; preds = %64, %.lr.ph99.new
  %indvars.iv115 = phi i64 [ 0, %.lr.ph99.new ], [ %indvars.iv.next116.1, %64 ]
  %niter = phi i64 [ 0, %.lr.ph99.new ], [ %niter.next.1, %64 ]
  %65 = getelementptr inbounds i32, ptr %.pre, i64 %indvars.iv115
  %66 = load i32, ptr %65, align 4, !tbaa !32
  %67 = add nsw i32 %66, %46
  %68 = sext i32 %67 to i64
  %69 = getelementptr inbounds double, ptr %62, i64 %68
  %70 = load double, ptr %69, align 8, !tbaa !5
  %71 = getelementptr inbounds double, ptr %57, i64 %indvars.iv115
  store double %70, ptr %71, align 8, !tbaa !5
  %indvars.iv.next116 = or disjoint i64 %indvars.iv115, 1
  %72 = getelementptr inbounds i32, ptr %.pre, i64 %indvars.iv.next116
  %73 = load i32, ptr %72, align 4, !tbaa !32
  %74 = add nsw i32 %73, %46
  %75 = sext i32 %74 to i64
  %76 = getelementptr inbounds double, ptr %62, i64 %75
  %77 = load double, ptr %76, align 8, !tbaa !5
  %78 = getelementptr inbounds double, ptr %57, i64 %indvars.iv.next116
  store double %77, ptr %78, align 8, !tbaa !5
  %indvars.iv.next116.1 = add nuw nsw i64 %indvars.iv115, 2
  %niter.next.1 = add i64 %niter, 2
  %niter.ncmp.1 = icmp eq i64 %niter.next.1, %unroll_iter
  br i1 %niter.ncmp.1, label %._crit_edge.loopexit.unr-lcssa, label %64, !llvm.loop !35

._crit_edge.loopexit.unr-lcssa:                   ; preds = %64, %.lr.ph99
  %indvars.iv115.unr = phi i64 [ 0, %.lr.ph99 ], [ %indvars.iv.next116.1, %64 ]
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %._crit_edge, label %._crit_edge.loopexit.epilog-lcssa

._crit_edge.loopexit.epilog-lcssa:                ; preds = %._crit_edge.loopexit.unr-lcssa
  %79 = getelementptr inbounds i32, ptr %.pre, i64 %indvars.iv115.unr
  %80 = load i32, ptr %79, align 4, !tbaa !32
  %81 = add nsw i32 %80, %46
  %82 = sext i32 %81 to i64
  %83 = getelementptr inbounds double, ptr %62, i64 %82
  %84 = load double, ptr %83, align 8, !tbaa !5
  %85 = getelementptr inbounds double, ptr %57, i64 %indvars.iv115.unr
  store double %84, ptr %85, align 8, !tbaa !5
  br label %._crit_edge

._crit_edge:                                      ; preds = %._crit_edge.loopexit.epilog-lcssa, %._crit_edge.loopexit.unr-lcssa, %.loopexit
  %86 = getelementptr inbounds i8, ptr %0, i64 336
  %87 = load double, ptr %86, align 8, !tbaa !36
  %88 = getelementptr inbounds i8, ptr %0, i64 344
  %89 = load double, ptr %88, align 8, !tbaa !37
  %90 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %10, ptr noundef %.pre, ptr noundef nonnull %50, ptr noundef nonnull %57, ptr noundef nonnull %16, double noundef %87, double noundef %89, ptr noundef nonnull align 8 dereferenceable(8) %6, ptr noundef nonnull align 4 dereferenceable(4) %7)
  %91 = icmp sgt i32 %11, 0
  %.pre135 = load ptr, ptr %4, align 8, !tbaa !33
  br i1 %91, label %.lr.ph102, label %._crit_edge103

.lr.ph102:                                        ; preds = %._crit_edge
  %92 = getelementptr inbounds i8, ptr %0, i64 192
  %93 = load ptr, ptr %92, align 8, !tbaa !34
  %xtraiter158 = and i64 %17, 3
  %94 = icmp ult i32 %11, 4
  br i1 %94, label %._crit_edge103.loopexit.unr-lcssa, label %.lr.ph102.new

.lr.ph102.new:                                    ; preds = %.lr.ph102
  %unroll_iter160 = and i64 %17, 2147483644
  br label %95

95:                                               ; preds = %95, %.lr.ph102.new
  %indvars.iv120 = phi i64 [ 0, %.lr.ph102.new ], [ %indvars.iv.next121.3, %95 ]
  %niter161 = phi i64 [ 0, %.lr.ph102.new ], [ %niter161.next.3, %95 ]
  %96 = getelementptr inbounds i32, ptr %.pre135, i64 %indvars.iv120
  %97 = load i32, ptr %96, align 4, !tbaa !32
  %98 = sext i32 %97 to i64
  %99 = getelementptr inbounds double, ptr %93, i64 %98
  %100 = load double, ptr %99, align 8, !tbaa !5
  %101 = getelementptr inbounds double, ptr %57, i64 %indvars.iv120
  store double %100, ptr %101, align 8, !tbaa !5
  %indvars.iv.next121 = or disjoint i64 %indvars.iv120, 1
  %102 = getelementptr inbounds i32, ptr %.pre135, i64 %indvars.iv.next121
  %103 = load i32, ptr %102, align 4, !tbaa !32
  %104 = sext i32 %103 to i64
  %105 = getelementptr inbounds double, ptr %93, i64 %104
  %106 = load double, ptr %105, align 8, !tbaa !5
  %107 = getelementptr inbounds double, ptr %57, i64 %indvars.iv.next121
  store double %106, ptr %107, align 8, !tbaa !5
  %indvars.iv.next121.1 = or disjoint i64 %indvars.iv120, 2
  %108 = getelementptr inbounds i32, ptr %.pre135, i64 %indvars.iv.next121.1
  %109 = load i32, ptr %108, align 4, !tbaa !32
  %110 = sext i32 %109 to i64
  %111 = getelementptr inbounds double, ptr %93, i64 %110
  %112 = load double, ptr %111, align 8, !tbaa !5
  %113 = getelementptr inbounds double, ptr %57, i64 %indvars.iv.next121.1
  store double %112, ptr %113, align 8, !tbaa !5
  %indvars.iv.next121.2 = or disjoint i64 %indvars.iv120, 3
  %114 = getelementptr inbounds i32, ptr %.pre135, i64 %indvars.iv.next121.2
  %115 = load i32, ptr %114, align 4, !tbaa !32
  %116 = sext i32 %115 to i64
  %117 = getelementptr inbounds double, ptr %93, i64 %116
  %118 = load double, ptr %117, align 8, !tbaa !5
  %119 = getelementptr inbounds double, ptr %57, i64 %indvars.iv.next121.2
  store double %118, ptr %119, align 8, !tbaa !5
  %indvars.iv.next121.3 = add nuw nsw i64 %indvars.iv120, 4
  %niter161.next.3 = add i64 %niter161, 4
  %niter161.ncmp.3 = icmp eq i64 %niter161.next.3, %unroll_iter160
  br i1 %niter161.ncmp.3, label %._crit_edge103.loopexit.unr-lcssa, label %95, !llvm.loop !38

._crit_edge103.loopexit.unr-lcssa:                ; preds = %95, %.lr.ph102
  %indvars.iv120.unr = phi i64 [ 0, %.lr.ph102 ], [ %indvars.iv.next121.3, %95 ]
  %lcmp.mod159.not = icmp eq i64 %xtraiter158, 0
  br i1 %lcmp.mod159.not, label %._crit_edge103, label %.epil.preheader157

.epil.preheader157:                               ; preds = %._crit_edge103.loopexit.unr-lcssa, %.epil.preheader157
  %indvars.iv120.epil = phi i64 [ %indvars.iv.next121.epil, %.epil.preheader157 ], [ %indvars.iv120.unr, %._crit_edge103.loopexit.unr-lcssa ]
  %epil.iter = phi i64 [ %epil.iter.next, %.epil.preheader157 ], [ 0, %._crit_edge103.loopexit.unr-lcssa ]
  %120 = getelementptr inbounds i32, ptr %.pre135, i64 %indvars.iv120.epil
  %121 = load i32, ptr %120, align 4, !tbaa !32
  %122 = sext i32 %121 to i64
  %123 = getelementptr inbounds double, ptr %93, i64 %122
  %124 = load double, ptr %123, align 8, !tbaa !5
  %125 = getelementptr inbounds double, ptr %57, i64 %indvars.iv120.epil
  store double %124, ptr %125, align 8, !tbaa !5
  %indvars.iv.next121.epil = add nuw nsw i64 %indvars.iv120.epil, 1
  %epil.iter.next = add i64 %epil.iter, 1
  %epil.iter.cmp.not = icmp eq i64 %epil.iter.next, %xtraiter158
  br i1 %epil.iter.cmp.not, label %._crit_edge103, label %.epil.preheader157, !llvm.loop !39

._crit_edge103:                                   ; preds = %._crit_edge103.loopexit.unr-lcssa, %.epil.preheader157, %._crit_edge
  %126 = load double, ptr %86, align 8, !tbaa !36
  %127 = load double, ptr %88, align 8, !tbaa !37
  %128 = call noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %11, ptr noundef %.pre135, ptr noundef nonnull %47, ptr noundef nonnull %57, ptr noundef nonnull %21, double noundef %126, double noundef %127, ptr noundef nonnull align 8 dereferenceable(8) %6, ptr noundef nonnull align 4 dereferenceable(4) %8)
  %129 = load i32, ptr %8, align 4, !tbaa !32
  %130 = icmp sgt i32 %129, -1
  br i1 %130, label %.thread, label %131

.thread:                                          ; preds = %._crit_edge103
  store i32 %129, ptr %7, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %9) #11
  br label %.preheader92

131:                                              ; preds = %._crit_edge103
  %.pr = load i32, ptr %7, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 80, ptr nonnull %9) #11
  %132 = icmp sgt i32 %.pr, -1
  br i1 %132, label %.preheader92, label %247

.preheader92:                                     ; preds = %.thread, %131
  %133 = phi i32 [ %129, %.thread ], [ %.pr, %131 ]
  br i1 %60, label %.lr.ph105, label %.preheader

.lr.ph105:                                        ; preds = %.preheader92
  %134 = load ptr, ptr %5, align 8, !tbaa !33
  %135 = getelementptr inbounds i8, ptr %0, i64 192
  %136 = load ptr, ptr %135, align 8, !tbaa !34
  %xtraiter163 = and i64 %12, 1
  %137 = icmp eq i32 %10, 1
  br i1 %137, label %.preheader.loopexit.unr-lcssa, label %.lr.ph105.new

.lr.ph105.new:                                    ; preds = %.lr.ph105
  %unroll_iter166 = and i64 %12, 2147483646
  br label %153

.preheader.loopexit.unr-lcssa:                    ; preds = %153, %.lr.ph105
  %indvars.iv125.unr = phi i64 [ 0, %.lr.ph105 ], [ %indvars.iv.next126.1, %153 ]
  %lcmp.mod165.not = icmp eq i64 %xtraiter163, 0
  br i1 %lcmp.mod165.not, label %.preheader, label %.preheader.loopexit.epilog-lcssa

.preheader.loopexit.epilog-lcssa:                 ; preds = %.preheader.loopexit.unr-lcssa
  %138 = getelementptr inbounds i32, ptr %134, i64 %indvars.iv125.unr
  %139 = load i32, ptr %138, align 4, !tbaa !32
  %140 = load double, ptr %6, align 8, !tbaa !5
  %141 = getelementptr inbounds double, ptr %16, i64 %indvars.iv125.unr
  %142 = load double, ptr %141, align 8, !tbaa !5
  %143 = add nsw i32 %139, %46
  %144 = sext i32 %143 to i64
  %145 = getelementptr inbounds double, ptr %136, i64 %144
  %146 = load double, ptr %145, align 8, !tbaa !5
  %147 = fneg double %140
  %148 = call double @llvm.fmuladd.f64(double %147, double %142, double %146)
  store double %148, ptr %145, align 8, !tbaa !5
  br label %.preheader

.preheader:                                       ; preds = %.preheader.loopexit.epilog-lcssa, %.preheader.loopexit.unr-lcssa, %.preheader92
  br i1 %91, label %.lr.ph107, label %._crit_edge108

.lr.ph107:                                        ; preds = %.preheader
  %149 = load ptr, ptr %4, align 8, !tbaa !33
  %150 = getelementptr inbounds i8, ptr %0, i64 192
  %151 = load ptr, ptr %150, align 8, !tbaa !34
  %xtraiter169 = and i64 %17, 1
  %152 = icmp eq i32 %11, 1
  br i1 %152, label %._crit_edge108.loopexit.unr-lcssa, label %.lr.ph107.new

.lr.ph107.new:                                    ; preds = %.lr.ph107
  %unroll_iter172 = and i64 %17, 2147483646
  br label %176

153:                                              ; preds = %153, %.lr.ph105.new
  %indvars.iv125 = phi i64 [ 0, %.lr.ph105.new ], [ %indvars.iv.next126.1, %153 ]
  %niter167 = phi i64 [ 0, %.lr.ph105.new ], [ %niter167.next.1, %153 ]
  %154 = getelementptr inbounds i32, ptr %134, i64 %indvars.iv125
  %155 = load i32, ptr %154, align 4, !tbaa !32
  %156 = load double, ptr %6, align 8, !tbaa !5
  %157 = getelementptr inbounds double, ptr %16, i64 %indvars.iv125
  %158 = load double, ptr %157, align 8, !tbaa !5
  %159 = add nsw i32 %155, %46
  %160 = sext i32 %159 to i64
  %161 = getelementptr inbounds double, ptr %136, i64 %160
  %162 = load double, ptr %161, align 8, !tbaa !5
  %163 = fneg double %156
  %164 = call double @llvm.fmuladd.f64(double %163, double %158, double %162)
  store double %164, ptr %161, align 8, !tbaa !5
  %indvars.iv.next126 = or disjoint i64 %indvars.iv125, 1
  %165 = getelementptr inbounds i32, ptr %134, i64 %indvars.iv.next126
  %166 = load i32, ptr %165, align 4, !tbaa !32
  %167 = load double, ptr %6, align 8, !tbaa !5
  %168 = getelementptr inbounds double, ptr %16, i64 %indvars.iv.next126
  %169 = load double, ptr %168, align 8, !tbaa !5
  %170 = add nsw i32 %166, %46
  %171 = sext i32 %170 to i64
  %172 = getelementptr inbounds double, ptr %136, i64 %171
  %173 = load double, ptr %172, align 8, !tbaa !5
  %174 = fneg double %167
  %175 = call double @llvm.fmuladd.f64(double %174, double %169, double %173)
  store double %175, ptr %172, align 8, !tbaa !5
  %indvars.iv.next126.1 = add nuw nsw i64 %indvars.iv125, 2
  %niter167.next.1 = add i64 %niter167, 2
  %niter167.ncmp.1 = icmp eq i64 %niter167.next.1, %unroll_iter166
  br i1 %niter167.ncmp.1, label %.preheader.loopexit.unr-lcssa, label %153, !llvm.loop !41

176:                                              ; preds = %176, %.lr.ph107.new
  %indvars.iv130 = phi i64 [ 0, %.lr.ph107.new ], [ %indvars.iv.next131.1, %176 ]
  %niter173 = phi i64 [ 0, %.lr.ph107.new ], [ %niter173.next.1, %176 ]
  %177 = getelementptr inbounds i32, ptr %149, i64 %indvars.iv130
  %178 = load i32, ptr %177, align 4, !tbaa !32
  %179 = load double, ptr %6, align 8, !tbaa !5
  %180 = getelementptr inbounds double, ptr %21, i64 %indvars.iv130
  %181 = load double, ptr %180, align 8, !tbaa !5
  %182 = sext i32 %178 to i64
  %183 = getelementptr inbounds double, ptr %151, i64 %182
  %184 = load double, ptr %183, align 8, !tbaa !5
  %185 = fneg double %179
  %186 = call double @llvm.fmuladd.f64(double %185, double %181, double %184)
  store double %186, ptr %183, align 8, !tbaa !5
  %indvars.iv.next131 = or disjoint i64 %indvars.iv130, 1
  %187 = getelementptr inbounds i32, ptr %149, i64 %indvars.iv.next131
  %188 = load i32, ptr %187, align 4, !tbaa !32
  %189 = load double, ptr %6, align 8, !tbaa !5
  %190 = getelementptr inbounds double, ptr %21, i64 %indvars.iv.next131
  %191 = load double, ptr %190, align 8, !tbaa !5
  %192 = sext i32 %188 to i64
  %193 = getelementptr inbounds double, ptr %151, i64 %192
  %194 = load double, ptr %193, align 8, !tbaa !5
  %195 = fneg double %189
  %196 = call double @llvm.fmuladd.f64(double %195, double %191, double %194)
  store double %196, ptr %193, align 8, !tbaa !5
  %indvars.iv.next131.1 = add nuw nsw i64 %indvars.iv130, 2
  %niter173.next.1 = add i64 %niter173, 2
  %niter173.ncmp.1 = icmp eq i64 %niter173.next.1, %unroll_iter172
  br i1 %niter173.ncmp.1, label %._crit_edge108.loopexit.unr-lcssa, label %176, !llvm.loop !42

._crit_edge108.loopexit.unr-lcssa:                ; preds = %176, %.lr.ph107
  %indvars.iv130.unr = phi i64 [ 0, %.lr.ph107 ], [ %indvars.iv.next131.1, %176 ]
  %lcmp.mod171.not = icmp eq i64 %xtraiter169, 0
  br i1 %lcmp.mod171.not, label %._crit_edge108, label %._crit_edge108.loopexit.epilog-lcssa

._crit_edge108.loopexit.epilog-lcssa:             ; preds = %._crit_edge108.loopexit.unr-lcssa
  %197 = getelementptr inbounds i32, ptr %149, i64 %indvars.iv130.unr
  %198 = load i32, ptr %197, align 4, !tbaa !32
  %199 = load double, ptr %6, align 8, !tbaa !5
  %200 = getelementptr inbounds double, ptr %21, i64 %indvars.iv130.unr
  %201 = load double, ptr %200, align 8, !tbaa !5
  %202 = sext i32 %198 to i64
  %203 = getelementptr inbounds double, ptr %151, i64 %202
  %204 = load double, ptr %203, align 8, !tbaa !5
  %205 = fneg double %199
  %206 = call double @llvm.fmuladd.f64(double %205, double %201, double %204)
  store double %206, ptr %203, align 8, !tbaa !5
  br label %._crit_edge108

._crit_edge108:                                   ; preds = %._crit_edge108.loopexit.epilog-lcssa, %._crit_edge108.loopexit.unr-lcssa, %.preheader
  %207 = load double, ptr %6, align 8, !tbaa !5
  %208 = fneg double %207
  %.sink = select i1 %.not, double %207, double %208
  %209 = getelementptr inbounds i8, ptr %0, i64 192
  %210 = load ptr, ptr %209, align 8, !tbaa !34
  %211 = add nsw i32 %46, %1
  %212 = sext i32 %211 to i64
  %213 = getelementptr inbounds double, ptr %210, i64 %212
  store double %.sink, ptr %213, align 8, !tbaa !5
  br i1 %130, label %214, label %230

214:                                              ; preds = %._crit_edge108
  %215 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %9, i64 noundef 80, ptr noundef nonnull @.str.9, i32 noundef %133) #11
  %216 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %217 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %216, i32 noundef 82, ptr noundef nonnull %9, ptr noundef nonnull @__FUNCTION__._ZN7qpOASES14SQProblemSchur22addConstraint_ensureLIEiNS_15SubjectToStatusE, ptr noundef nonnull @.str.1, i64 noundef 1059, i32 noundef 1)
  %218 = load i32, ptr %7, align 4, !tbaa !32
  %219 = load ptr, ptr %0, align 8, !tbaa !43
  %220 = getelementptr inbounds i8, ptr %219, i64 256
  %221 = load ptr, ptr %220, align 8
  %222 = call noundef i32 %221(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %218, i32 noundef 1, i32 noundef 0, i32 noundef 0)
  %.not90 = icmp eq i32 %222, 0
  br i1 %.not90, label %223, label %255

223:                                              ; preds = %214
  %224 = getelementptr inbounds i8, ptr %0, i64 788
  store i32 1, ptr %224, align 4, !tbaa !45
  %225 = getelementptr inbounds i8, ptr %0, i64 192
  %226 = load ptr, ptr %225, align 8, !tbaa !34
  %227 = load i32, ptr %7, align 4, !tbaa !32
  %228 = sext i32 %227 to i64
  %229 = getelementptr inbounds double, ptr %226, i64 %228
  store double 0.000000e+00, ptr %229, align 8, !tbaa !5
  br label %255

230:                                              ; preds = %._crit_edge108
  %231 = call i32 (ptr, i64, ptr, ...) @snprintf(ptr noundef nonnull dereferenceable(1) %9, i64 noundef 80, ptr noundef nonnull @.str.10, i32 noundef %133) #11
  %232 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %233 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %232, i32 noundef 82, ptr noundef nonnull %9, ptr noundef nonnull @__FUNCTION__._ZN7qpOASES14SQProblemSchur22addConstraint_ensureLIEiNS_15SubjectToStatusE, ptr noundef nonnull @.str.1, i64 noundef 1075, i32 noundef 1)
  %234 = load i32, ptr %7, align 4, !tbaa !32
  %235 = load ptr, ptr %0, align 8, !tbaa !43
  %236 = getelementptr inbounds i8, ptr %235, i64 248
  %237 = load ptr, ptr %236, align 8
  %238 = call noundef i32 %237(ptr noundef nonnull align 8 dereferenceable(1256) %0, i32 noundef %234, i32 noundef 1, i32 noundef 0, i32 noundef 0)
  %.not89 = icmp eq i32 %238, 0
  br i1 %.not89, label %239, label %255

239:                                              ; preds = %230
  %240 = getelementptr inbounds i8, ptr %0, i64 796
  store i32 1, ptr %240, align 4, !tbaa !46
  %241 = getelementptr inbounds i8, ptr %0, i64 192
  %242 = load ptr, ptr %241, align 8, !tbaa !34
  %243 = load i32, ptr %7, align 4, !tbaa !32
  %244 = add nsw i32 %243, %46
  %245 = sext i32 %244 to i64
  %246 = getelementptr inbounds double, ptr %242, i64 %245
  store double 0.000000e+00, ptr %246, align 8, !tbaa !5
  br label %255

247:                                              ; preds = %131
  %248 = getelementptr inbounds i8, ptr %0, i64 476
  %249 = load i32, ptr %248, align 4, !tbaa !47
  %250 = icmp eq i32 %249, 1
  br i1 %250, label %251, label %253

251:                                              ; preds = %247
  %252 = call noundef i32 @_ZN7qpOASES8QProblem15dropInfeasiblesEiNS_15SubjectToStatusENS_11BooleanTypeEPdS3_(ptr noundef nonnull align 8 dereferenceable(1064) %0, i32 noundef %1, i32 noundef %2, i32 noundef 0, ptr noundef nonnull %21, ptr noundef nonnull %16)
  br label %255

253:                                              ; preds = %247
  %254 = call noundef i32 @_ZN7qpOASES9QProblemB20setInfeasibilityFlagENS_11returnValueENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef 93, i32 noundef 0)
  br label %255

255:                                              ; preds = %251, %253, %223, %239, %214, %230
  %.0 = phi i32 [ 0, %223 ], [ 0, %239 ], [ %252, %251 ], [ 93, %253 ], [ 84, %214 ], [ 84, %230 ]
  call void @_ZdaPv(ptr noundef nonnull %57) #10
  call void @_ZdaPv(ptr noundef nonnull %21) #10
  call void @_ZdaPv(ptr noundef nonnull %16) #10
  %256 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %257 = call noundef i32 @_ZN7qpOASES15MessageHandling9throwInfoENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %256, i32 noundef 90, ptr noundef null, ptr noundef nonnull @__FUNCTION__._ZN7qpOASES14SQProblemSchur22addConstraint_ensureLIEiNS_15SubjectToStatusE, ptr noundef nonnull @.str.1, i64 noundef 1107, i32 noundef 1)
  %.not91 = icmp eq i32 %.0, 0
  br i1 %.not91, label %261, label %258

258:                                              ; preds = %255
  %259 = call noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
  %260 = call noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %259, i32 noundef %.0, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 1109, i32 noundef 1)
  br label %261

261:                                              ; preds = %255, %258
  %262 = phi i32 [ %260, %258 ], [ 0, %255 ]
  call void @llvm.lifetime.end.p0(i64 80, ptr nonnull %9) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %7) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %6) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %4) #11
  br label %263

263:                                              ; preds = %261, %26, %23
  %.083 = phi i32 [ %25, %23 ], [ 0, %26 ], [ %262, %261 ]
  ret i32 %.083
}

declare noundef i32 @_ZNK7qpOASES9QProblemB16performRatioTestEiPKiPKNS_9SubjectToEPKdS7_ddRdRi(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #2

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #7

; Function Attrs: nofree nounwind
declare noundef i32 @snprintf(ptr noalias nocapture noundef writeonly, i64 noundef, ptr nocapture noundef readonly, ...) local_unnamed_addr #8

declare noundef i32 @_ZN7qpOASES8QProblem15dropInfeasiblesEiNS_15SubjectToStatusENS_11BooleanTypeEPdS3_(ptr noundef nonnull align 8 dereferenceable(1064), i32 noundef, i32 noundef, i32 noundef, ptr noundef, ptr noundef) local_unnamed_addr #2

declare noundef i32 @_ZN7qpOASES9QProblemB20setInfeasibilityFlagENS_11returnValueENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, i32 noundef) local_unnamed_addr #2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #8 = { nofree 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 #9 = { builtin allocsize(0) }
attributes #10 = { builtin nounwind }
attributes #11 = { 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 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = distinct !{!9, !10, !11, !12}
!10 = !{!"llvm.loop.mustprogress"}
!11 = !{!"llvm.loop.isvectorized", i32 1}
!12 = !{!"llvm.loop.unroll.runtime.disable"}
!13 = distinct !{!13, !10, !11, !12}
!14 = distinct !{!14, !10, !12, !11}
!15 = distinct !{!15, !10, !12, !11}
!16 = !{!17, !6, i64 360}
!17 = !{!"_ZTSN7qpOASES9QProblemBE", !18, i64 8, !19, i64 16, !19, i64 24, !19, i64 32, !19, i64 40, !20, i64 48, !19, i64 168, !18, i64 176, !19, i64 184, !19, i64 192, !6, i64 200, !24, i64 208, !18, i64 212, !18, i64 216, !25, i64 220, !6, i64 224, !22, i64 232, !19, i64 240, !6, i64 248, !6, i64 256, !22, i64 264, !26, i64 272, !29, i64 496, !31, i64 768}
!18 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!19 = !{!"any pointer", !7, i64 0}
!20 = !{!"_ZTSN7qpOASES6BoundsE", !21, i64 0, !23, i64 40, !23, i64 80}
!21 = !{!"_ZTSN7qpOASES9SubjectToE", !22, i64 8, !19, i64 16, !19, i64 24, !18, i64 32, !18, i64 36}
!22 = !{!"int", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES9IndexlistE", !19, i64 0, !19, i64 8, !22, i64 16, !22, i64 20, !22, i64 24, !22, i64 28, !22, i64 32}
!24 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!25 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES7OptionsE", !27, i64 0, !18, i64 4, !18, i64 8, !18, i64 12, !18, i64 16, !18, i64 20, !18, i64 24, !22, i64 28, !22, i64 32, !18, i64 36, !6, i64 40, !6, i64 48, !6, i64 56, !6, i64 64, !6, i64 72, !6, i64 80, !6, i64 88, !6, i64 96, !6, i64 104, !6, i64 112, !6, i64 120, !28, i64 128, !6, i64 136, !22, i64 144, !6, i64 152, !22, i64 160, !6, i64 168, !6, i64 176, !6, i64 184, !6, i64 192, !18, i64 200, !18, i64 204, !22, i64 208, !22, i64 212, !22, i64 216}
!27 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!28 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!29 = !{!"_ZTSN7qpOASES7FlipperE", !22, i64 0, !22, i64 4, !20, i64 8, !30, i64 128, !19, i64 248, !19, i64 256, !19, i64 264}
!30 = !{!"_ZTSN7qpOASES11ConstraintsE", !21, i64 0, !23, i64 40, !23, i64 80}
!31 = !{!"_ZTSN7qpOASES13TabularOutputE", !22, i64 0, !22, i64 4, !22, i64 8, !22, i64 12, !22, i64 16, !22, i64 20, !22, i64 24, !22, i64 28}
!32 = !{!22, !22, i64 0}
!33 = !{!19, !19, i64 0}
!34 = !{!17, !19, i64 192}
!35 = distinct !{!35, !10}
!36 = !{!17, !6, i64 336}
!37 = !{!17, !6, i64 344}
!38 = distinct !{!38, !10}
!39 = distinct !{!39, !40}
!40 = !{!"llvm.loop.unroll.disable"}
!41 = distinct !{!41, !10}
!42 = distinct !{!42, !10}
!43 = !{!44, !44, i64 0}
!44 = !{!"vtable pointer", !8, i64 0}
!45 = !{!17, !22, i64 788}
!46 = !{!17, !22, i64 796}
!47 = !{!17, !18, i64 476}


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