; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/MPC_Ctrl (ConvexMPCLocomotion)

; 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.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%struct.StateEstimate = type { %"class.Eigen::Matrix.3", %"class.Eigen::Matrix", %"class.Eigen::Matrix", [8 x i8], %"class.Eigen::Matrix.3", %"class.Eigen::Matrix", %"class.Eigen::Matrix.29", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", [4 x i8] }
%"class.Eigen::Matrix.3" = type { %"class.Eigen::PlainObjectBase.4" }
%"class.Eigen::PlainObjectBase.4" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { %"struct.Eigen::internal::plain_array.12" }
%"struct.Eigen::internal::plain_array.12" = type { [4 x float] }
%"class.Eigen::Matrix.29" = type { %"class.Eigen::PlainObjectBase.30" }
%"class.Eigen::PlainObjectBase.30" = type { %"class.Eigen::DenseStorage.37" }
%"class.Eigen::DenseStorage.37" = type { %"struct.Eigen::internal::plain_array.38" }
%"struct.Eigen::internal::plain_array.38" = type { [9 x float] }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x float] }
%class.Timer = type { %struct.timespec }
%struct.timespec = type { i64, i64 }
%"class.Eigen::Product.284" = type { %"class.Eigen::CwiseUnaryOp", ptr }
%"class.Eigen::CwiseUnaryOp" = type <{ ptr, [8 x i8] }>
%class.ConvexMPCLocomotion = type { i8, %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", [4 x %"class.Eigen::Matrix"], [4 x %"class.Eigen::Matrix"], [4 x %"class.Eigen::Matrix"], [4 x %"class.Eigen::Matrix"], %"class.Eigen::Matrix.3", float, float, float, float, float, float, float, float, float, float, i32, i32, i32, float, float, i32, [4 x %"class.Eigen::Matrix"], %"class.Eigen::Matrix.3", [4 x %class.FootSwingTrajectory], %class.OffsetDurationGait, %class.OffsetDurationGait, %class.OffsetDurationGait, %class.OffsetDurationGait, %class.OffsetDurationGait, %class.OffsetDurationGait, %class.OffsetDurationGait, %class.OffsetDurationGait, %class.OffsetDurationGait, %class.OffsetDurationGait, %class.OffsetDurationGait, %"class.Eigen::Matrix.29", %"class.Eigen::Matrix.29", %"class.Eigen::Matrix.29", %"class.Eigen::Matrix.29", %"class.Eigen::Matrix.29", i8, [4 x i8], [4 x float], [6 x float], i32, i32, %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", float, [4 x %"class.Eigen::Matrix"], [12 x i8], %struct.CMPC_Result, [720 x float], float, %struct.CMPC_Jump, %"class.std::vector", %class.SparseCMPC }
%class.FootSwingTrajectory = type { %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", float }
%class.OffsetDurationGait = type <{ %class.Gait, ptr, %"class.Eigen::Array", %"class.Eigen::Array", %"class.Eigen::Array.21", %"class.Eigen::Array.21", i32, i32, float, [4 x i8] }>
%class.Gait = type { ptr, %"class.std::__cxx11::basic_string" }
%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.Eigen::Array" = type { %"class.Eigen::PlainObjectBase.13" }
%"class.Eigen::PlainObjectBase.13" = type { %"class.Eigen::DenseStorage.19" }
%"class.Eigen::DenseStorage.19" = type { %"struct.Eigen::internal::plain_array.20" }
%"struct.Eigen::internal::plain_array.20" = type { [4 x i32] }
%"class.Eigen::Array.21" = type { %"class.Eigen::PlainObjectBase.22" }
%"class.Eigen::PlainObjectBase.22" = type { %"class.Eigen::DenseStorage.11" }
%struct.CMPC_Result = type { [4 x %struct.LegControllerCommand], %"class.Eigen::Matrix.3" }
%struct.LegControllerCommand = type { %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix.29", %"class.Eigen::Matrix.29", %"class.Eigen::Matrix.29", %"class.Eigen::Matrix.29" }
%struct.CMPC_Jump = type { i8, i8, i8, i32, i32, i32 }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%class.SparseCMPC = type <{ %"class.Eigen::Matrix.42", [8 x i8], %"class.Eigen::Matrix.52", double, double, double, double, %"class.Eigen::Matrix.62", %"class.Eigen::Matrix.62", %"class.Eigen::Matrix.62", %"class.Eigen::Matrix.62", %"class.Eigen::Matrix.72", %"class.Eigen::Matrix.52", %"class.Eigen::Matrix.52", %"class.Eigen::Matrix.52", %"class.std::vector.82", %"class.std::vector", %"class.std::vector.87", %"class.std::vector.92", %"class.std::vector.98", %"class.std::vector.103", %"class.std::vector.109", %"class.std::vector.109", %"class.std::vector.114", %"class.std::vector.114", %"class.std::vector.87", %"class.std::vector.87", %"class.std::vector.87", %"class.Eigen::Matrix.119", i32, i32, i32, [12 x i8] }>
%"class.Eigen::Matrix.42" = type { %"class.Eigen::PlainObjectBase.43" }
%"class.Eigen::PlainObjectBase.43" = type { %"class.Eigen::DenseStorage.50" }
%"class.Eigen::DenseStorage.50" = type { %"struct.Eigen::internal::plain_array.51" }
%"struct.Eigen::internal::plain_array.51" = type { [9 x double] }
%"class.Eigen::Matrix.62" = type { %"class.Eigen::PlainObjectBase.63" }
%"class.Eigen::PlainObjectBase.63" = type { %"class.Eigen::DenseStorage.70" }
%"class.Eigen::DenseStorage.70" = type { %"struct.Eigen::internal::plain_array.71" }
%"struct.Eigen::internal::plain_array.71" = type { [3 x double] }
%"class.Eigen::Matrix.72" = type { %"class.Eigen::PlainObjectBase.73" }
%"class.Eigen::PlainObjectBase.73" = type { %"class.Eigen::DenseStorage.80" }
%"class.Eigen::DenseStorage.80" = type { %"struct.Eigen::internal::plain_array.81" }
%"struct.Eigen::internal::plain_array.81" = type { [4 x double] }
%"class.Eigen::Matrix.52" = type { %"class.Eigen::PlainObjectBase.53" }
%"class.Eigen::PlainObjectBase.53" = type { %"class.Eigen::DenseStorage.60" }
%"class.Eigen::DenseStorage.60" = type { %"struct.Eigen::internal::plain_array.61" }
%"struct.Eigen::internal::plain_array.61" = type { [12 x double] }
%"class.std::vector.82" = type { %"struct.std::_Vector_base.83" }
%"struct.std::_Vector_base.83" = type { %"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl" }
%"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl" = type { %"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl_data" }
%"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.92" = type { %"struct.std::_Vector_base.93" }
%"struct.std::_Vector_base.93" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.98" = type { %"struct.std::_Vector_base.99" }
%"struct.std::_Vector_base.99" = type { %"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl" }
%"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl" = type { %"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl_data" }
%"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.103" = type { %"struct.std::_Vector_base.104" }
%"struct.std::_Vector_base.104" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.109" = type { %"struct.std::_Vector_base.110" }
%"struct.std::_Vector_base.110" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.114" = type { %"struct.std::_Vector_base.115" }
%"struct.std::_Vector_base.115" = type { %"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl" }
%"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl" = type { %"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.87" = type { %"struct.std::_Vector_base.88" }
%"struct.std::_Vector_base.88" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.Eigen::Matrix.119" = type { %"class.Eigen::PlainObjectBase.120" }
%"class.Eigen::PlainObjectBase.120" = type { %"class.Eigen::DenseStorage.127" }
%"class.Eigen::DenseStorage.127" = type { ptr, i64 }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@__const._ZN19ConvexMPCLocomotion13solveDenseMPCEPiR23StateEstimatorContainerIfE.Q = external hidden unnamed_addr constant [12 x float], align 16
@.str.18 = external hidden unnamed_addr constant [25 x i8], align 1
@.str.19 = external hidden unnamed_addr constant [18 x i8], align 1

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2Ev(ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #0 align 2

; 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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(172) ptr @_ZN23StateEstimatorContainerIfE9getResultEv(ptr noundef nonnull align 16 dereferenceable(96)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #0

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2ERKfS3_S3_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #0 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEaSERKS1_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN13StateEstimateIfEC2ERKS0_(ptr noundef nonnull align 16 dereferenceable(172), ptr noundef nonnull align 16 dereferenceable(172)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEE4dataEv(ptr noundef nonnull align 4 dereferenceable(12)) #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5TimerC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN19ConvexMPCLocomotion13solveDenseMPCEPiR23StateEstimatorContainerIfE(ptr noundef nonnull align 16 dereferenceable(7184) %0, ptr noundef %1, ptr noundef nonnull align 16 dereferenceable(96) %2) #4 align 2 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca %struct.StateEstimate, align 16
  %8 = alloca [12 x float], align 16
  %9 = alloca float, align 4
  %10 = alloca ptr, align 8
  %11 = alloca float, align 4
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca ptr, align 8
  %16 = alloca [12 x float], align 16
  %17 = alloca i32, align 4
  %18 = alloca %"class.Eigen::Matrix", align 4
  %19 = alloca float, align 4
  %20 = alloca %"class.Eigen::Matrix", align 4
  %21 = alloca float, align 4
  %22 = alloca float, align 4
  %23 = alloca %"class.Eigen::Matrix", align 4
  %24 = alloca float, align 4
  %25 = alloca %class.Timer, align 8
  %26 = alloca float, align 4
  %27 = alloca i32, align 4
  %28 = alloca double, align 8
  %29 = alloca double, align 8
  %30 = alloca double, align 8
  %31 = alloca double, align 8
  %32 = alloca double, align 8
  %33 = alloca %class.Timer, align 8
  %34 = alloca i32, align 4
  %35 = alloca i32, align 4
  %36 = alloca %"class.Eigen::Matrix", align 4
  %37 = alloca i32, align 4
  %38 = alloca %"class.Eigen::Product.284", align 8
  %39 = alloca %"class.Eigen::CwiseUnaryOp", align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  store ptr %2, ptr %6, align 8, !tbaa !5
  %40 = load ptr, ptr %4, align 8
  call void @llvm.lifetime.start.p0(i64 176, ptr %7) #7
  %41 = load ptr, ptr %6, align 8, !tbaa !5
  %42 = call noundef nonnull align 16 dereferenceable(172) ptr @_ZN23StateEstimatorContainerIfE9getResultEv(ptr noundef nonnull align 16 dereferenceable(96) %41)
  call void @_ZN13StateEstimateIfEC2ERKS0_(ptr noundef nonnull align 16 dereferenceable(172) %7, ptr noundef nonnull align 16 dereferenceable(172) %42)
  call void @llvm.lifetime.start.p0(i64 48, ptr %8) #7
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %8, ptr align 16 @__const._ZN19ConvexMPCLocomotion13solveDenseMPCEPiR23StateEstimatorContainerIfE.Q, i64 48, i1 false)
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #7
  %43 = getelementptr inbounds %struct.StateEstimate, ptr %7, i32 0, i32 7
  %44 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %43, i64 noundef 2)
  %45 = load float, ptr %44, align 4, !tbaa !9
  store float %45, ptr %9, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #7
  %46 = getelementptr inbounds [12 x float], ptr %8, i64 0, i64 0
  store ptr %46, ptr %10, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #7
  store float 0x3F04F8B580000000, ptr %11, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %12) #7
  %47 = getelementptr inbounds %struct.StateEstimate, ptr %7, i32 0, i32 1
  %48 = call noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEE4dataEv(ptr noundef nonnull align 4 dereferenceable(12) %47)
  store ptr %48, ptr %12, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #7
  %49 = getelementptr inbounds %struct.StateEstimate, ptr %7, i32 0, i32 9
  %50 = call noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEE4dataEv(ptr noundef nonnull align 4 dereferenceable(12) %49)
  store ptr %50, ptr %13, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #7
  %51 = getelementptr inbounds %struct.StateEstimate, ptr %7, i32 0, i32 8
  %52 = call noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEE4dataEv(ptr noundef nonnull align 4 dereferenceable(12) %51)
  store ptr %52, ptr %14, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #7
  %53 = getelementptr inbounds %struct.StateEstimate, ptr %7, i32 0, i32 4
  %54 = call noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEE4dataEv(ptr noundef nonnull align 16 dereferenceable(16) %53)
  store ptr %54, ptr %15, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 48, ptr %16) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #7
  store i32 0, ptr %17, align 4, !tbaa !11
  br label %55

55:                                               ; preds = %80, %3
  %56 = load i32, ptr %17, align 4, !tbaa !11
  %57 = icmp slt i32 %56, 12
  br i1 %57, label %59, label %58

58:                                               ; preds = %55
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #7
  br label %83

59:                                               ; preds = %55
  %60 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 56
  %61 = load i32, ptr %17, align 4, !tbaa !11
  %62 = srem i32 %61, 4
  %63 = sext i32 %62 to i64
  %64 = getelementptr inbounds [4 x %"class.Eigen::Matrix"], ptr %60, i64 0, i64 %63
  %65 = load i32, ptr %17, align 4, !tbaa !11
  %66 = sdiv i32 %65, 4
  %67 = sext i32 %66 to i64
  %68 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %64, i64 noundef %67)
  %69 = load float, ptr %68, align 4, !tbaa !9
  %70 = getelementptr inbounds %struct.StateEstimate, ptr %7, i32 0, i32 1
  %71 = load i32, ptr %17, align 4, !tbaa !11
  %72 = sdiv i32 %71, 4
  %73 = sext i32 %72 to i64
  %74 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %70, i64 noundef %73)
  %75 = load float, ptr %74, align 4, !tbaa !9
  %76 = fsub float %69, %75
  %77 = load i32, ptr %17, align 4, !tbaa !11
  %78 = sext i32 %77 to i64
  %79 = getelementptr inbounds [12 x float], ptr %16, i64 0, i64 %78
  store float %76, ptr %79, align 4, !tbaa !9
  br label %80

80:                                               ; preds = %59
  %81 = load i32, ptr %17, align 4, !tbaa !11
  %82 = add nsw i32 %81, 1
  store i32 %82, ptr %17, align 4, !tbaa !11
  br label %55, !llvm.loop !13

83:                                               ; preds = %58
  %84 = load float, ptr %11, align 4, !tbaa !9
  %85 = fpext float %84 to double
  %86 = fcmp ogt double %85, 1.000000e-04
  br i1 %86, label %87, label %92

87:                                               ; preds = %83
  %88 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.18)
  %89 = load float, ptr %11, align 4, !tbaa !9
  %90 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEf(ptr noundef nonnull align 8 dereferenceable(8) %88, float noundef %89)
  %91 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %90, ptr noundef @.str.19)
  store float 0x3EE4F8B580000000, ptr %11, align 4, !tbaa !9
  br label %92

92:                                               ; preds = %87, %83
  call void @llvm.lifetime.start.p0(i64 12, ptr %18) #7
  %93 = load ptr, ptr %12, align 8, !tbaa !5
  %94 = getelementptr inbounds float, ptr %93, i64 0
  %95 = load ptr, ptr %12, align 8, !tbaa !5
  %96 = getelementptr inbounds float, ptr %95, i64 1
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #7
  store float 0.000000e+00, ptr %19, align 4, !tbaa !9
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2ERKfS3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %18, ptr noundef nonnull align 4 dereferenceable(4) %94, ptr noundef nonnull align 4 dereferenceable(4) %96, ptr noundef nonnull align 4 dereferenceable(4) %19)
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #7
  call void @llvm.lifetime.start.p0(i64 12, ptr %20) #7
  %97 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 52
  %98 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %97, i64 noundef 0)
  %99 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 52
  %100 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %99, i64 noundef 1)
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #7
  store float 0.000000e+00, ptr %21, align 4, !tbaa !9
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2ERKfS3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %20, ptr noundef nonnull align 4 dereferenceable(4) %98, ptr noundef nonnull align 4 dereferenceable(4) %100, ptr noundef nonnull align 4 dereferenceable(4) %21)
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #7
  %101 = load ptr, ptr %12, align 8, !tbaa !5
  %102 = getelementptr inbounds float, ptr %101, i64 2
  %103 = load float, ptr %102, align 4, !tbaa !9
  %104 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 18
  %105 = load float, ptr %104, align 4, !tbaa !15
  %106 = fsub float %103, %105
  store float %106, ptr %22, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 12, ptr %23) #7
  %107 = getelementptr inbounds %struct.StateEstimate, ptr %7, i32 0, i32 9
  %108 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %107, i64 noundef 0)
  %109 = getelementptr inbounds %struct.StateEstimate, ptr %7, i32 0, i32 9
  %110 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %109, i64 noundef 1)
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #7
  store float 0.000000e+00, ptr %24, align 4, !tbaa !9
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2ERKfS3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %23, ptr noundef nonnull align 4 dereferenceable(4) %108, ptr noundef nonnull align 4 dereferenceable(4) %110, ptr noundef nonnull align 4 dereferenceable(4) %24)
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %25) #7
  call void @_ZN5TimerC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %25)
  %111 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 24
  %112 = load float, ptr %111, align 4, !tbaa !96
  %113 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 21
  %114 = load i32, ptr %113, align 8, !tbaa !97
  %115 = sitofp i32 %114 to float
  %116 = fmul float %112, %115
  %117 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 25
  store float %116, ptr %117, align 8, !tbaa !98
  %118 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 25
  %119 = load float, ptr %118, align 8, !tbaa !98
  %120 = fpext float %119 to double
  %121 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 22
  %122 = load i32, ptr %121, align 4, !tbaa !99
  call void @setup_problem(double noundef %120, i32 noundef %122, double noundef 4.000000e-01, double noundef 1.200000e+02)
  %123 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 55
  %124 = load float, ptr %123, align 16, !tbaa !100
  call void @_Z13update_x_dragf(float noundef %124)
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #7
  store float 3.000000e+00, ptr %26, align 4, !tbaa !9
  %125 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %23, i64 noundef 0)
  %126 = load float, ptr %125, align 4, !tbaa !9
  %127 = fpext float %126 to double
  %128 = fcmp ogt double %127, 3.000000e-01
  br i1 %128, label %134, label %129

129:                                              ; preds = %92
  %130 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %23, i64 noundef 0)
  %131 = load float, ptr %130, align 4, !tbaa !9
  %132 = fpext float %131 to double
  %133 = fcmp olt double %132, -3.000000e-01
  br i1 %133, label %134, label %147

134:                                              ; preds = %129, %92
  %135 = load float, ptr %26, align 4, !tbaa !9
  %136 = load float, ptr %22, align 4, !tbaa !9
  %137 = fmul float %135, %136
  %138 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 25
  %139 = load float, ptr %138, align 8, !tbaa !98
  %140 = fmul float %137, %139
  %141 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %23, i64 noundef 0)
  %142 = load float, ptr %141, align 4, !tbaa !9
  %143 = fdiv float %140, %142
  %144 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 55
  %145 = load float, ptr %144, align 16, !tbaa !100
  %146 = fadd float %145, %143
  store float %146, ptr %144, align 16, !tbaa !100
  br label %147

147:                                              ; preds = %134, %129
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #7
  store i32 10000, ptr %27, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #7
  store double 0x3E7AD7F29ABCAF48, ptr %28, align 8, !tbaa !101
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #7
  store double 1.000000e-08, ptr %29, align 8, !tbaa !101
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #7
  store double 1.500000e+00, ptr %30, align 8, !tbaa !101
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #7
  store double 1.000000e-01, ptr %31, align 8, !tbaa !101
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #7
  store double 0.000000e+00, ptr %32, align 8, !tbaa !101
  %148 = load i32, ptr %27, align 4, !tbaa !11
  %149 = load double, ptr %28, align 8, !tbaa !101
  %150 = load double, ptr %29, align 8, !tbaa !101
  %151 = load double, ptr %30, align 8, !tbaa !101
  %152 = load double, ptr %31, align 8, !tbaa !101
  %153 = load double, ptr %32, align 8, !tbaa !101
  call void @update_solver_settings(i32 noundef %148, double noundef %149, double noundef %150, double noundef %151, double noundef %152, double noundef %153)
  call void @llvm.lifetime.start.p0(i64 16, ptr %33) #7
  call void @_ZN5TimerC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %33)
  %154 = load ptr, ptr %12, align 8, !tbaa !5
  %155 = load ptr, ptr %13, align 8, !tbaa !5
  %156 = load ptr, ptr %15, align 8, !tbaa !5
  %157 = load ptr, ptr %14, align 8, !tbaa !5
  %158 = getelementptr inbounds [12 x float], ptr %16, i64 0, i64 0
  %159 = load float, ptr %9, align 4, !tbaa !9
  %160 = load ptr, ptr %10, align 8, !tbaa !5
  %161 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 59
  %162 = getelementptr inbounds [720 x float], ptr %161, i64 0, i64 0
  %163 = load float, ptr %11, align 4, !tbaa !9
  %164 = load ptr, ptr %5, align 8, !tbaa !5
  call void @update_problem_data_floats(ptr noundef %154, ptr noundef %155, ptr noundef %156, ptr noundef %157, ptr noundef %158, float noundef %159, ptr noundef %160, ptr noundef %162, float noundef %163, ptr noundef %164)
  call void @llvm.lifetime.start.p0(i64 4, ptr %34) #7
  store i32 0, ptr %34, align 4, !tbaa !11
  br label %165

165:                                              ; preds = %199, %147
  %166 = load i32, ptr %34, align 4, !tbaa !11
  %167 = icmp slt i32 %166, 4
  br i1 %167, label %169, label %168

168:                                              ; preds = %165
  store i32 5, ptr %35, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %34) #7
  br label %202

169:                                              ; preds = %165
  call void @llvm.lifetime.start.p0(i64 12, ptr %36) #7
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2Ev(ptr noundef nonnull align 4 dereferenceable(12) %36)
  call void @llvm.lifetime.start.p0(i64 4, ptr %37) #7
  store i32 0, ptr %37, align 4, !tbaa !11
  br label %170

170:                                              ; preds = %184, %169
  %171 = load i32, ptr %37, align 4, !tbaa !11
  %172 = icmp slt i32 %171, 3
  br i1 %172, label %174, label %173

173:                                              ; preds = %170
  store i32 8, ptr %35, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %37) #7
  br label %187

174:                                              ; preds = %170
  %175 = load i32, ptr %34, align 4, !tbaa !11
  %176 = mul nsw i32 %175, 3
  %177 = load i32, ptr %37, align 4, !tbaa !11
  %178 = add nsw i32 %176, %177
  %179 = call double @get_solution(i32 noundef %178)
  %180 = fptrunc double %179 to float
  %181 = load i32, ptr %37, align 4, !tbaa !11
  %182 = sext i32 %181 to i64
  %183 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %36, i64 noundef %182)
  store float %180, ptr %183, align 4, !tbaa !9
  br label %184

184:                                              ; preds = %174
  %185 = load i32, ptr %37, align 4, !tbaa !11
  %186 = add nsw i32 %185, 1
  store i32 %186, ptr %37, align 4, !tbaa !11
  br label %170, !llvm.loop !102

187:                                              ; preds = %173
  call void @llvm.lifetime.start.p0(i64 24, ptr %38) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %39) #7
  %188 = getelementptr inbounds %struct.StateEstimate, ptr %7, i32 0, i32 6
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEngEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp") align 8 %39, ptr noundef nonnull align 1 dereferenceable(1) %188)
  call void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIfEEKNS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEEEmlINS5_IfLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS8_T_Li0EEERKNS0_ISD_EE(ptr dead_on_unwind writable sret(%"class.Eigen::Product.284") align 8 %38, ptr noundef nonnull align 1 dereferenceable(1) %39, ptr noundef nonnull align 1 dereferenceable(1) %36)
  %189 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 27
  %190 = load i32, ptr %34, align 4, !tbaa !11
  %191 = sext i32 %190 to i64
  %192 = getelementptr inbounds [4 x %"class.Eigen::Matrix"], ptr %189, i64 0, i64 %191
  %193 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEaSINS_7ProductINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIfEEKNS0_IfLi3ELi3ELi0ELi3ELi3EEEEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(12) %192, ptr noundef nonnull align 1 dereferenceable(1) %38)
  call void @llvm.lifetime.end.p0(i64 16, ptr %39) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %38) #7
  %194 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 9
  %195 = load i32, ptr %34, align 4, !tbaa !11
  %196 = sext i32 %195 to i64
  %197 = getelementptr inbounds [4 x %"class.Eigen::Matrix"], ptr %194, i64 0, i64 %196
  %198 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEaSERKS1_(ptr noundef nonnull align 4 dereferenceable(12) %197, ptr noundef nonnull align 4 dereferenceable(12) %36)
  call void @llvm.lifetime.end.p0(i64 12, ptr %36) #7
  br label %199

199:                                              ; preds = %187
  %200 = load i32, ptr %34, align 4, !tbaa !11
  %201 = add nsw i32 %200, 1
  store i32 %201, ptr %34, align 4, !tbaa !11
  br label %165, !llvm.loop !103

202:                                              ; preds = %168
  %203 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 60
  %204 = load float, ptr %203, align 16, !tbaa !104
  %205 = fadd float %204, 1.000000e+00
  %206 = getelementptr inbounds %class.ConvexMPCLocomotion, ptr %40, i32 0, i32 60
  store float %205, ptr %206, align 16, !tbaa !104
  call void @llvm.lifetime.end.p0(i64 16, ptr %33) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 12, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 12, ptr %20) #7
  call void @llvm.lifetime.end.p0(i64 12, ptr %18) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %16) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %12) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr %8) #7
  call void @llvm.lifetime.end.p0(i64 176, ptr %7) #7
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEE4dataEv(ptr noundef nonnull align 16 dereferenceable(16)) #5 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEf(ptr noundef nonnull align 8 dereferenceable(8), float noundef) #4 align 2

declare void @setup_problem(double noundef, i32 noundef, double noundef, double noundef) #6

declare void @_Z13update_x_dragf(float noundef) #6

declare void @update_solver_settings(i32 noundef, double noundef, double noundef, double noundef, double noundef, double noundef) #6

declare void @update_problem_data_floats(ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, float noundef, ptr noundef, ptr noundef, float noundef, ptr noundef) #6

declare double @get_solution(i32 noundef) #6

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEngEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIfEEKNS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEEEmlINS5_IfLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS8_T_Li0EEERKNS0_ISD_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.284") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEaSINS_7ProductINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIfEEKNS0_IfLi3ELi3ELi0ELi3ELi3EEEEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 1 dereferenceable(1)) #0 align 2

attributes #0 = { 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 #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { "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 = !{!"float", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = !{!16, !10, i64 300}
!16 = !{!"_ZTS19ConvexMPCLocomotion", !17, i64 0, !18, i64 4, !18, i64 16, !18, i64 28, !18, i64 40, !18, i64 52, !7, i64 64, !7, i64 112, !7, i64 160, !7, i64 208, !22, i64 256, !10, i64 272, !10, i64 276, !10, i64 280, !10, i64 284, !10, i64 288, !10, i64 292, !10, i64 296, !10, i64 300, !10, i64 304, !10, i64 308, !12, i64 312, !12, i64 316, !12, i64 320, !10, i64 324, !10, i64 328, !12, i64 332, !7, i64 336, !22, i64 384, !7, i64 400, !26, i64 656, !26, i64 784, !26, i64 912, !26, i64 1040, !26, i64 1168, !26, i64 1296, !26, i64 1424, !26, i64 1552, !26, i64 1680, !26, i64 1808, !26, i64 1936, !37, i64 2064, !37, i64 2100, !37, i64 2136, !37, i64 2172, !37, i64 2208, !17, i64 2244, !7, i64 2245, !7, i64 2252, !7, i64 2268, !12, i64 2292, !12, i64 2296, !18, i64 2300, !18, i64 2312, !18, i64 2324, !10, i64 2336, !7, i64 2340, !41, i64 2400, !7, i64 3280, !10, i64 6160, !42, i64 6164, !43, i64 6184, !47, i64 6208}
!17 = !{!"bool", !7, i64 0}
!18 = !{!"_ZTSN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen12DenseStorageIfLi3ELi3ELi1ELi0EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi3ELi0ELi0EEE", !7, i64 0}
!22 = !{!"_ZTSN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen12DenseStorageIfLi4ELi4ELi1ELi0EEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi4ELi0ELi16EEE", !7, i64 0}
!26 = !{!"_ZTS18OffsetDurationGait", !27, i64 0, !6, i64 40, !31, i64 48, !31, i64 64, !35, i64 80, !35, i64 96, !12, i64 112, !12, i64 116, !10, i64 120}
!27 = !{!"_ZTS4Gait", !28, i64 8}
!28 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !29, i64 0, !30, i64 8, !7, i64 16}
!29 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !6, i64 0}
!30 = !{!"long", !7, i64 0}
!31 = !{!"_ZTSN5Eigen5ArrayIiLi4ELi1ELi0ELi4ELi1EEE", !32, i64 0}
!32 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIiLi4ELi1ELi0ELi4ELi1EEEEE", !33, i64 0}
!33 = !{!"_ZTSN5Eigen12DenseStorageIiLi4ELi4ELi1ELi0EEE", !34, i64 0}
!34 = !{!"_ZTSN5Eigen8internal11plain_arrayIiLi4ELi0ELi16EEE", !7, i64 0}
!35 = !{!"_ZTSN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEE", !36, i64 0}
!36 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEE", !24, i64 0}
!37 = !{!"_ZTSN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEE", !38, i64 0}
!38 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEE", !39, i64 0}
!39 = !{!"_ZTSN5Eigen12DenseStorageIfLi9ELi3ELi3ELi0EEE", !40, i64 0}
!40 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi9ELi0ELi0EEE", !7, i64 0}
!41 = !{!"_ZTS11CMPC_ResultIfE", !7, i64 0, !22, i64 864}
!42 = !{!"_ZTS9CMPC_Jump", !17, i64 0, !17, i64 1, !17, i64 2, !12, i64 4, !12, i64 8, !12, i64 12}
!43 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE", !44, i64 0}
!44 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE", !45, i64 0}
!45 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !46, i64 0}
!46 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!47 = !{!"_ZTS10SparseCMPC", !48, i64 0, !52, i64 80, !56, i64 176, !56, i64 184, !56, i64 192, !56, i64 200, !57, i64 208, !57, i64 232, !57, i64 256, !57, i64 280, !61, i64 304, !52, i64 336, !52, i64 432, !52, i64 528, !65, i64 624, !43, i64 648, !69, i64 672, !73, i64 696, !77, i64 720, !81, i64 744, !85, i64 768, !85, i64 792, !89, i64 816, !89, i64 840, !69, i64 864, !69, i64 888, !69, i64 912, !93, i64 936, !12, i64 952, !12, i64 956, !12, i64 960}
!48 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !49, i64 0}
!49 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !50, i64 0}
!50 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !51, i64 0}
!51 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!52 = !{!"_ZTSN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEE", !53, i64 0}
!53 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEEE", !54, i64 0}
!54 = !{!"_ZTSN5Eigen12DenseStorageIdLi12ELi12ELi1ELi0EEE", !55, i64 0}
!55 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi12ELi0ELi16EEE", !7, i64 0}
!56 = !{!"double", !7, i64 0}
!57 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !58, i64 0}
!58 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !59, i64 0}
!59 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !60, i64 0}
!60 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!61 = !{!"_ZTSN5Eigen6MatrixIdLi4ELi1ELi0ELi4ELi1EEE", !62, i64 0}
!62 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEE", !63, i64 0}
!63 = !{!"_ZTSN5Eigen12DenseStorageIdLi4ELi4ELi1ELi0EEE", !64, i64 0}
!64 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi4ELi0ELi16EEE", !7, i64 0}
!65 = !{!"_ZTSSt6vectorI12ContactStateSaIS0_EE", !66, i64 0}
!66 = !{!"_ZTSSt12_Vector_baseI12ContactStateSaIS0_EE", !67, i64 0}
!67 = !{!"_ZTSNSt12_Vector_baseI12ContactStateSaIS0_EE12_Vector_implE", !68, i64 0}
!68 = !{!"_ZTSNSt12_Vector_baseI12ContactStateSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!69 = !{!"_ZTSSt6vectorIdSaIdEE", !70, i64 0}
!70 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !71, i64 0}
!71 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !72, i64 0}
!72 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!73 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE", !74, i64 0}
!74 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE", !75, i64 0}
!75 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !76, i64 0}
!76 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!77 = !{!"_ZTSSt6vectorI8BblockIDSaIS0_EE", !78, i64 0}
!78 = !{!"_ZTSSt12_Vector_baseI8BblockIDSaIS0_EE", !79, i64 0}
!79 = !{!"_ZTSNSt12_Vector_baseI8BblockIDSaIS0_EE12_Vector_implE", !80, i64 0}
!80 = !{!"_ZTSNSt12_Vector_baseI8BblockIDSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!81 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE", !82, i64 0}
!82 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE", !83, i64 0}
!83 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !84, i64 0}
!84 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!85 = !{!"_ZTSSt6vectorIjSaIjEE", !86, i64 0}
!86 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !87, i64 0}
!87 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !88, i64 0}
!88 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!89 = !{!"_ZTSSt6vectorI12SparseTripleIdESaIS1_EE", !90, i64 0}
!90 = !{!"_ZTSSt12_Vector_baseI12SparseTripleIdESaIS1_EE", !91, i64 0}
!91 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE12_Vector_implE", !92, i64 0}
!92 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!93 = !{!"_ZTSN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEE", !94, i64 0}
!94 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLin1ELi1ELi0ELin1ELi1EEEEE", !95, i64 0}
!95 = !{!"_ZTSN5Eigen12DenseStorageIfLin1ELin1ELi1ELi0EEE", !6, i64 0, !30, i64 8}
!96 = !{!16, !10, i64 324}
!97 = !{!16, !12, i64 312}
!98 = !{!16, !10, i64 328}
!99 = !{!16, !12, i64 316}
!100 = !{!16, !10, i64 2336}
!101 = !{!56, !56, i64 0}
!102 = distinct !{!102, !14}
!103 = distinct !{!103, !14}
!104 = !{!16, !10, i64 6160}


; 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"

%struct.StateEstimate = type { %"class.Eigen::Matrix.3", %"class.Eigen::Matrix", %"class.Eigen::Matrix", [8 x i8], %"class.Eigen::Matrix.3", %"class.Eigen::Matrix", %"class.Eigen::Matrix.29", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.Eigen::Matrix", [4 x i8] }
%"class.Eigen::Matrix.3" = type { %"class.Eigen::PlainObjectBase.4" }
%"class.Eigen::PlainObjectBase.4" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { %"struct.Eigen::internal::plain_array.12" }
%"struct.Eigen::internal::plain_array.12" = type { [4 x float] }
%"class.Eigen::Matrix.29" = type { %"class.Eigen::PlainObjectBase.30" }
%"class.Eigen::PlainObjectBase.30" = type { %"class.Eigen::DenseStorage.37" }
%"class.Eigen::DenseStorage.37" = type { %"struct.Eigen::internal::plain_array.38" }
%"struct.Eigen::internal::plain_array.38" = type { [9 x float] }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { %"struct.Eigen::internal::plain_array" }
%"struct.Eigen::internal::plain_array" = type { [3 x float] }
%class.Timer = type { %struct.timespec }
%struct.timespec = type { i64, i64 }
%"class.Eigen::Product.284" = type { %"class.Eigen::CwiseUnaryOp", ptr }
%"class.Eigen::CwiseUnaryOp" = type <{ ptr, [8 x i8] }>

@__const._ZN19ConvexMPCLocomotion13solveDenseMPCEPiR23StateEstimatorContainerIfE.Q = external hidden unnamed_addr constant [12 x float], align 16

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2Ev(ptr noundef nonnull align 4 dereferenceable(12)) unnamed_addr #0 align 2

; 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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(172) ptr @_ZN23StateEstimatorContainerIfE9getResultEv(ptr noundef nonnull align 16 dereferenceable(96)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2ERKfS3_S3_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite)
declare void @llvm.memcpy.p0.p0.i64(ptr noalias nocapture writeonly, ptr noalias nocapture readonly, i64, i1 immarg) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEaSERKS1_(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN13StateEstimateIfEC2ERKS0_(ptr noundef nonnull align 16 dereferenceable(172), ptr noundef nonnull align 16 dereferenceable(172)) unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEE4dataEv(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #0 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5TimerC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN19ConvexMPCLocomotion13solveDenseMPCEPiR23StateEstimatorContainerIfE(ptr noundef nonnull align 16 dereferenceable(7184) %0, ptr noundef %1, ptr noundef nonnull align 16 dereferenceable(96) %2) local_unnamed_addr #4 align 2 {
  %4 = alloca %struct.StateEstimate, align 16
  %5 = alloca [12 x float], align 16
  %6 = alloca [12 x float], align 16
  %7 = alloca %"class.Eigen::Matrix", align 4
  %8 = alloca float, align 4
  %9 = alloca %"class.Eigen::Matrix", align 4
  %10 = alloca float, align 4
  %11 = alloca %"class.Eigen::Matrix", align 4
  %12 = alloca float, align 4
  %13 = alloca %class.Timer, align 8
  %14 = alloca %class.Timer, align 8
  %15 = alloca %"class.Eigen::Matrix", align 4
  %16 = alloca %"class.Eigen::Product.284", align 8
  %17 = alloca %"class.Eigen::CwiseUnaryOp", align 8
  call void @llvm.lifetime.start.p0(i64 176, ptr nonnull %4) #7
  %18 = tail call noundef nonnull align 16 dereferenceable(172) ptr @_ZN23StateEstimatorContainerIfE9getResultEv(ptr noundef nonnull align 16 dereferenceable(96) %2)
  call void @_ZN13StateEstimateIfEC2ERKS0_(ptr noundef nonnull align 16 dereferenceable(172) %4, ptr noundef nonnull align 16 dereferenceable(172) %18)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %5) #7
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(48) %5, ptr noundef nonnull align 16 dereferenceable(48) @__const._ZN19ConvexMPCLocomotion13solveDenseMPCEPiR23StateEstimatorContainerIfE.Q, i64 48, i1 false)
  %19 = getelementptr inbounds i8, ptr %4, i64 112
  %20 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %19, i64 noundef 2)
  %21 = load float, ptr %20, align 4, !tbaa !5
  %22 = getelementptr inbounds i8, ptr %4, i64 16
  %23 = call noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEE4dataEv(ptr noundef nonnull align 4 dereferenceable(12) %22)
  %24 = getelementptr inbounds i8, ptr %4, i64 136
  %25 = call noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEE4dataEv(ptr noundef nonnull align 4 dereferenceable(12) %24)
  %26 = getelementptr inbounds i8, ptr %4, i64 124
  %27 = call noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEE4dataEv(ptr noundef nonnull align 4 dereferenceable(12) %26)
  %28 = getelementptr inbounds i8, ptr %4, i64 48
  %29 = call noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEE4dataEv(ptr noundef nonnull align 16 dereferenceable(16) %28)
  call void @llvm.lifetime.start.p0(i64 48, ptr nonnull %6) #7
  %30 = getelementptr inbounds i8, ptr %0, i64 2340
  %31 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %30, i64 noundef 0)
  %32 = load float, ptr %31, align 4, !tbaa !5
  %33 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %22, i64 noundef 0)
  %34 = load float, ptr %33, align 4, !tbaa !5
  %35 = fsub float %32, %34
  store float %35, ptr %6, align 16, !tbaa !5
  %36 = getelementptr inbounds i8, ptr %0, i64 2352
  %37 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %36, i64 noundef 0)
  %38 = load float, ptr %37, align 4, !tbaa !5
  %39 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %22, i64 noundef 0)
  %40 = load float, ptr %39, align 4, !tbaa !5
  %41 = fsub float %38, %40
  %42 = getelementptr inbounds i8, ptr %6, i64 4
  store float %41, ptr %42, align 4, !tbaa !5
  %43 = getelementptr inbounds i8, ptr %0, i64 2364
  %44 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %43, i64 noundef 0)
  %45 = load float, ptr %44, align 4, !tbaa !5
  %46 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %22, i64 noundef 0)
  %47 = load float, ptr %46, align 4, !tbaa !5
  %48 = fsub float %45, %47
  %49 = getelementptr inbounds i8, ptr %6, i64 8
  store float %48, ptr %49, align 8, !tbaa !5
  %50 = getelementptr inbounds i8, ptr %0, i64 2376
  %51 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %50, i64 noundef 0)
  %52 = load float, ptr %51, align 4, !tbaa !5
  %53 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %22, i64 noundef 0)
  %54 = load float, ptr %53, align 4, !tbaa !5
  %55 = fsub float %52, %54
  %56 = getelementptr inbounds i8, ptr %6, i64 12
  store float %55, ptr %56, align 4, !tbaa !5
  %57 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %30, i64 noundef 1)
  %58 = load float, ptr %57, align 4, !tbaa !5
  %59 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %22, i64 noundef 1)
  %60 = load float, ptr %59, align 4, !tbaa !5
  %61 = fsub float %58, %60
  %62 = getelementptr inbounds i8, ptr %6, i64 16
  store float %61, ptr %62, align 16, !tbaa !5
  %63 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %36, i64 noundef 1)
  %64 = load float, ptr %63, align 4, !tbaa !5
  %65 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %22, i64 noundef 1)
  %66 = load float, ptr %65, align 4, !tbaa !5
  %67 = fsub float %64, %66
  %68 = getelementptr inbounds i8, ptr %6, i64 20
  store float %67, ptr %68, align 4, !tbaa !5
  %69 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %43, i64 noundef 1)
  %70 = load float, ptr %69, align 4, !tbaa !5
  %71 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %22, i64 noundef 1)
  %72 = load float, ptr %71, align 4, !tbaa !5
  %73 = fsub float %70, %72
  %74 = getelementptr inbounds i8, ptr %6, i64 24
  store float %73, ptr %74, align 8, !tbaa !5
  %75 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %50, i64 noundef 1)
  %76 = load float, ptr %75, align 4, !tbaa !5
  %77 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %22, i64 noundef 1)
  %78 = load float, ptr %77, align 4, !tbaa !5
  %79 = fsub float %76, %78
  %80 = getelementptr inbounds i8, ptr %6, i64 28
  store float %79, ptr %80, align 4, !tbaa !5
  %81 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %30, i64 noundef 2)
  %82 = load float, ptr %81, align 4, !tbaa !5
  %83 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %22, i64 noundef 2)
  %84 = load float, ptr %83, align 4, !tbaa !5
  %85 = fsub float %82, %84
  %86 = getelementptr inbounds i8, ptr %6, i64 32
  store float %85, ptr %86, align 16, !tbaa !5
  %87 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %36, i64 noundef 2)
  %88 = load float, ptr %87, align 4, !tbaa !5
  %89 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %22, i64 noundef 2)
  %90 = load float, ptr %89, align 4, !tbaa !5
  %91 = fsub float %88, %90
  %92 = getelementptr inbounds i8, ptr %6, i64 36
  store float %91, ptr %92, align 4, !tbaa !5
  %93 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %43, i64 noundef 2)
  %94 = load float, ptr %93, align 4, !tbaa !5
  %95 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %22, i64 noundef 2)
  %96 = load float, ptr %95, align 4, !tbaa !5
  %97 = fsub float %94, %96
  %98 = getelementptr inbounds i8, ptr %6, i64 40
  store float %97, ptr %98, align 8, !tbaa !5
  %99 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %50, i64 noundef 2)
  %100 = load float, ptr %99, align 4, !tbaa !5
  %101 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %22, i64 noundef 2)
  %102 = load float, ptr %101, align 4, !tbaa !5
  %103 = fsub float %100, %102
  %104 = getelementptr inbounds i8, ptr %6, i64 44
  store float %103, ptr %104, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %7) #7
  %105 = getelementptr inbounds i8, ptr %23, i64 4
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %8) #7
  store float 0.000000e+00, ptr %8, align 4, !tbaa !5
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2ERKfS3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %7, ptr noundef nonnull align 4 dereferenceable(4) %23, ptr noundef nonnull align 4 dereferenceable(4) %105, ptr noundef nonnull align 4 dereferenceable(4) %8)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #7
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %9) #7
  %106 = getelementptr inbounds i8, ptr %0, i64 2300
  %107 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %106, i64 noundef 0)
  %108 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %106, i64 noundef 1)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %10) #7
  store float 0.000000e+00, ptr %10, align 4, !tbaa !5
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2ERKfS3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %9, ptr noundef nonnull align 4 dereferenceable(4) %107, ptr noundef nonnull align 4 dereferenceable(4) %108, ptr noundef nonnull align 4 dereferenceable(4) %10)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %10) #7
  %109 = getelementptr inbounds i8, ptr %23, i64 8
  %110 = load float, ptr %109, align 4, !tbaa !5
  %111 = getelementptr inbounds i8, ptr %0, i64 300
  %112 = load float, ptr %111, align 4, !tbaa !9
  %113 = fsub float %110, %112
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %11) #7
  %114 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %24, i64 noundef 0)
  %115 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %24, i64 noundef 1)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %12) #7
  store float 0.000000e+00, ptr %12, align 4, !tbaa !5
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2ERKfS3_S3_(ptr noundef nonnull align 4 dereferenceable(12) %11, ptr noundef nonnull align 4 dereferenceable(4) %114, ptr noundef nonnull align 4 dereferenceable(4) %115, ptr noundef nonnull align 4 dereferenceable(4) %12)
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %12) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #7
  call void @_ZN5TimerC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %13)
  %116 = getelementptr inbounds i8, ptr %0, i64 324
  %117 = load float, ptr %116, align 4, !tbaa !92
  %118 = getelementptr inbounds i8, ptr %0, i64 312
  %119 = load i32, ptr %118, align 8, !tbaa !93
  %120 = sitofp i32 %119 to float
  %121 = fmul float %117, %120
  %122 = getelementptr inbounds i8, ptr %0, i64 328
  store float %121, ptr %122, align 8, !tbaa !94
  %123 = fpext float %121 to double
  %124 = getelementptr inbounds i8, ptr %0, i64 316
  %125 = load i32, ptr %124, align 4, !tbaa !95
  call void @setup_problem(double noundef %123, i32 noundef %125, double noundef 4.000000e-01, double noundef 1.200000e+02)
  %126 = getelementptr inbounds i8, ptr %0, i64 2336
  %127 = load float, ptr %126, align 16, !tbaa !96
  call void @_Z13update_x_dragf(float noundef %127)
  %128 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef 0)
  %129 = load float, ptr %128, align 4, !tbaa !5
  %130 = fpext float %129 to double
  %131 = fcmp ogt double %130, 3.000000e-01
  br i1 %131, label %137, label %132

132:                                              ; preds = %3
  %133 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef 0)
  %134 = load float, ptr %133, align 4, !tbaa !5
  %135 = fpext float %134 to double
  %136 = fcmp olt double %135, -3.000000e-01
  br i1 %136, label %137, label %146

137:                                              ; preds = %132, %3
  %138 = fmul float %113, 3.000000e+00
  %139 = load float, ptr %122, align 8, !tbaa !94
  %140 = fmul float %138, %139
  %141 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %11, i64 noundef 0)
  %142 = load float, ptr %141, align 4, !tbaa !5
  %143 = fdiv float %140, %142
  %144 = load float, ptr %126, align 16, !tbaa !96
  %145 = fadd float %144, %143
  store float %145, ptr %126, align 16, !tbaa !96
  br label %146

146:                                              ; preds = %137, %132
  call void @update_solver_settings(i32 noundef 10000, double noundef 0x3E7AD7F29ABCAF48, double noundef 1.000000e-08, double noundef 1.500000e+00, double noundef 1.000000e-01, double noundef 0.000000e+00)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %14) #7
  call void @_ZN5TimerC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %14)
  %147 = getelementptr inbounds i8, ptr %0, i64 3280
  call void @update_problem_data_floats(ptr noundef nonnull %23, ptr noundef %25, ptr noundef %29, ptr noundef %27, ptr noundef nonnull %6, float noundef %21, ptr noundef nonnull %5, ptr noundef nonnull %147, float noundef 0x3F04F8B580000000, ptr noundef %1)
  %148 = getelementptr inbounds i8, ptr %4, i64 76
  %149 = getelementptr inbounds i8, ptr %0, i64 336
  %150 = getelementptr inbounds i8, ptr %0, i64 208
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %15) #7
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2Ev(ptr noundef nonnull align 4 dereferenceable(12) %15)
  %151 = call double @get_solution(i32 noundef 0)
  %152 = fptrunc double %151 to float
  %153 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef 0)
  store float %152, ptr %153, align 4, !tbaa !5
  %154 = call double @get_solution(i32 noundef 1)
  %155 = fptrunc double %154 to float
  %156 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef 1)
  store float %155, ptr %156, align 4, !tbaa !5
  %157 = call double @get_solution(i32 noundef 2)
  %158 = fptrunc double %157 to float
  %159 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef 2)
  store float %158, ptr %159, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %16) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #7
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEngEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %148)
  call void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIfEEKNS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEEEmlINS5_IfLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS8_T_Li0EEERKNS0_ISD_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.284") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %17, ptr noundef nonnull align 1 dereferenceable(1) %15)
  %160 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEaSINS_7ProductINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIfEEKNS0_IfLi3ELi3ELi0ELi3ELi3EEEEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(12) %149, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %16) #7
  %161 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEaSERKS1_(ptr noundef nonnull align 4 dereferenceable(12) %150, ptr noundef nonnull align 4 dereferenceable(12) %15)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %15) #7
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %15) #7
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2Ev(ptr noundef nonnull align 4 dereferenceable(12) %15)
  %162 = call double @get_solution(i32 noundef 3)
  %163 = fptrunc double %162 to float
  %164 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef 0)
  store float %163, ptr %164, align 4, !tbaa !5
  %165 = call double @get_solution(i32 noundef 4)
  %166 = fptrunc double %165 to float
  %167 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef 1)
  store float %166, ptr %167, align 4, !tbaa !5
  %168 = call double @get_solution(i32 noundef 5)
  %169 = fptrunc double %168 to float
  %170 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef 2)
  store float %169, ptr %170, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %16) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #7
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEngEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %148)
  call void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIfEEKNS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEEEmlINS5_IfLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS8_T_Li0EEERKNS0_ISD_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.284") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %17, ptr noundef nonnull align 1 dereferenceable(1) %15)
  %171 = getelementptr inbounds i8, ptr %0, i64 348
  %172 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEaSINS_7ProductINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIfEEKNS0_IfLi3ELi3ELi0ELi3ELi3EEEEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(12) %171, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %16) #7
  %173 = getelementptr inbounds i8, ptr %0, i64 220
  %174 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEaSERKS1_(ptr noundef nonnull align 4 dereferenceable(12) %173, ptr noundef nonnull align 4 dereferenceable(12) %15)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %15) #7
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %15) #7
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2Ev(ptr noundef nonnull align 4 dereferenceable(12) %15)
  %175 = call double @get_solution(i32 noundef 6)
  %176 = fptrunc double %175 to float
  %177 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef 0)
  store float %176, ptr %177, align 4, !tbaa !5
  %178 = call double @get_solution(i32 noundef 7)
  %179 = fptrunc double %178 to float
  %180 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef 1)
  store float %179, ptr %180, align 4, !tbaa !5
  %181 = call double @get_solution(i32 noundef 8)
  %182 = fptrunc double %181 to float
  %183 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef 2)
  store float %182, ptr %183, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %16) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #7
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEngEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %148)
  call void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIfEEKNS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEEEmlINS5_IfLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS8_T_Li0EEERKNS0_ISD_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.284") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %17, ptr noundef nonnull align 1 dereferenceable(1) %15)
  %184 = getelementptr inbounds i8, ptr %0, i64 360
  %185 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEaSINS_7ProductINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIfEEKNS0_IfLi3ELi3ELi0ELi3ELi3EEEEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(12) %184, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %16) #7
  %186 = getelementptr inbounds i8, ptr %0, i64 232
  %187 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEaSERKS1_(ptr noundef nonnull align 4 dereferenceable(12) %186, ptr noundef nonnull align 4 dereferenceable(12) %15)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %15) #7
  call void @llvm.lifetime.start.p0(i64 12, ptr nonnull %15) #7
  call void @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEC2Ev(ptr noundef nonnull align 4 dereferenceable(12) %15)
  %188 = call double @get_solution(i32 noundef 9)
  %189 = fptrunc double %188 to float
  %190 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef 0)
  store float %189, ptr %190, align 4, !tbaa !5
  %191 = call double @get_solution(i32 noundef 10)
  %192 = fptrunc double %191 to float
  %193 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef 1)
  store float %192, ptr %193, align 4, !tbaa !5
  %194 = call double @get_solution(i32 noundef 11)
  %195 = fptrunc double %194 to float
  %196 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef 2)
  store float %195, ptr %196, align 4, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %16) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #7
  call void @_ZNK5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEngEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp") align 8 %17, ptr noundef nonnull align 1 dereferenceable(1) %148)
  call void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIfEEKNS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEEEmlINS5_IfLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS8_T_Li0EEERKNS0_ISD_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::Product.284") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %17, ptr noundef nonnull align 1 dereferenceable(1) %15)
  %197 = getelementptr inbounds i8, ptr %0, i64 372
  %198 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEaSINS_7ProductINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIfEEKNS0_IfLi3ELi3ELi0ELi3ELi3EEEEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(12) %197, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %16) #7
  %199 = getelementptr inbounds i8, ptr %0, i64 244
  %200 = call noundef nonnull align 4 dereferenceable(12) ptr @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEaSERKS1_(ptr noundef nonnull align 4 dereferenceable(12) %199, ptr noundef nonnull align 4 dereferenceable(12) %15)
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %15) #7
  %201 = getelementptr inbounds i8, ptr %0, i64 6160
  %202 = load float, ptr %201, align 16, !tbaa !97
  %203 = fadd float %202, 1.000000e+00
  store float %203, ptr %201, align 16, !tbaa !97
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %14) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #7
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %11) #7
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %9) #7
  call void @llvm.lifetime.end.p0(i64 12, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %6) #7
  call void @llvm.lifetime.end.p0(i64 48, ptr nonnull %5) #7
  call void @llvm.lifetime.end.p0(i64 176, ptr nonnull %4) #7
  ret void
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEE4dataEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #5 align 2

declare void @setup_problem(double noundef, i32 noundef, double noundef, double noundef) local_unnamed_addr #6

declare void @_Z13update_x_dragf(float noundef) local_unnamed_addr #6

declare void @update_solver_settings(i32 noundef, double noundef, double noundef, double noundef, double noundef, double noundef) local_unnamed_addr #6

declare void @update_problem_data_floats(ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, float noundef, ptr noundef, ptr noundef, float noundef, ptr noundef) local_unnamed_addr #6

declare double @get_solution(i32 noundef) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEngEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIfEEKNS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEEEmlINS5_IfLi3ELi1ELi0ELi3ELi1EEEEEKNS_7ProductIS8_T_Li0EEERKNS0_ISD_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Product.284") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(12) ptr @_ZN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEaSINS_7ProductINS_12CwiseUnaryOpINS_8internal18scalar_opposite_opIfEEKNS0_IfLi3ELi3ELi0ELi3ELi3EEEEES1_Li0EEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 4 dereferenceable(12), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #0 align 2

attributes #0 = { 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 #1 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { "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 = !{!"float", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !6, i64 300}
!10 = !{!"_ZTS19ConvexMPCLocomotion", !11, i64 0, !12, i64 4, !12, i64 16, !12, i64 28, !12, i64 40, !12, i64 52, !7, i64 64, !7, i64 112, !7, i64 160, !7, i64 208, !16, i64 256, !6, i64 272, !6, i64 276, !6, i64 280, !6, i64 284, !6, i64 288, !6, i64 292, !6, i64 296, !6, i64 300, !6, i64 304, !6, i64 308, !20, i64 312, !20, i64 316, !20, i64 320, !6, i64 324, !6, i64 328, !20, i64 332, !7, i64 336, !16, i64 384, !7, i64 400, !21, i64 656, !21, i64 784, !21, i64 912, !21, i64 1040, !21, i64 1168, !21, i64 1296, !21, i64 1424, !21, i64 1552, !21, i64 1680, !21, i64 1808, !21, i64 1936, !33, i64 2064, !33, i64 2100, !33, i64 2136, !33, i64 2172, !33, i64 2208, !11, i64 2244, !7, i64 2245, !7, i64 2252, !7, i64 2268, !20, i64 2292, !20, i64 2296, !12, i64 2300, !12, i64 2312, !12, i64 2324, !6, i64 2336, !7, i64 2340, !37, i64 2400, !7, i64 3280, !6, i64 6160, !38, i64 6164, !39, i64 6184, !43, i64 6208}
!11 = !{!"bool", !7, i64 0}
!12 = !{!"_ZTSN5Eigen6MatrixIfLi3ELi1ELi0ELi3ELi1EEE", !13, i64 0}
!13 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi1ELi0ELi3ELi1EEEEE", !14, i64 0}
!14 = !{!"_ZTSN5Eigen12DenseStorageIfLi3ELi3ELi1ELi0EEE", !15, i64 0}
!15 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi3ELi0ELi0EEE", !7, i64 0}
!16 = !{!"_ZTSN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi4ELi1ELi0ELi4ELi1EEEEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen12DenseStorageIfLi4ELi4ELi1ELi0EEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi4ELi0ELi16EEE", !7, i64 0}
!20 = !{!"int", !7, i64 0}
!21 = !{!"_ZTS18OffsetDurationGait", !22, i64 0, !25, i64 40, !27, i64 48, !27, i64 64, !31, i64 80, !31, i64 96, !20, i64 112, !20, i64 116, !6, i64 120}
!22 = !{!"_ZTS4Gait", !23, i64 8}
!23 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE", !24, i64 0, !26, i64 8, !7, i64 16}
!24 = !{!"_ZTSNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE12_Alloc_hiderE", !25, i64 0}
!25 = !{!"any pointer", !7, i64 0}
!26 = !{!"long", !7, i64 0}
!27 = !{!"_ZTSN5Eigen5ArrayIiLi4ELi1ELi0ELi4ELi1EEE", !28, i64 0}
!28 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIiLi4ELi1ELi0ELi4ELi1EEEEE", !29, i64 0}
!29 = !{!"_ZTSN5Eigen12DenseStorageIiLi4ELi4ELi1ELi0EEE", !30, i64 0}
!30 = !{!"_ZTSN5Eigen8internal11plain_arrayIiLi4ELi0ELi16EEE", !7, i64 0}
!31 = !{!"_ZTSN5Eigen5ArrayIfLi4ELi1ELi0ELi4ELi1EEE", !32, i64 0}
!32 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_5ArrayIfLi4ELi1ELi0ELi4ELi1EEEEE", !18, i64 0}
!33 = !{!"_ZTSN5Eigen6MatrixIfLi3ELi3ELi0ELi3ELi3EEE", !34, i64 0}
!34 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLi3ELi3ELi0ELi3ELi3EEEEE", !35, i64 0}
!35 = !{!"_ZTSN5Eigen12DenseStorageIfLi9ELi3ELi3ELi0EEE", !36, i64 0}
!36 = !{!"_ZTSN5Eigen8internal11plain_arrayIfLi9ELi0ELi0EEE", !7, i64 0}
!37 = !{!"_ZTS11CMPC_ResultIfE", !7, i64 0, !16, i64 864}
!38 = !{!"_ZTS9CMPC_Jump", !11, i64 0, !11, i64 1, !11, i64 2, !20, i64 4, !20, i64 8, !20, i64 12}
!39 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE", !40, i64 0}
!40 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE", !41, i64 0}
!41 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !42, i64 0}
!42 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !25, i64 0, !25, i64 8, !25, i64 16}
!43 = !{!"_ZTS10SparseCMPC", !44, i64 0, !48, i64 80, !52, i64 176, !52, i64 184, !52, i64 192, !52, i64 200, !53, i64 208, !53, i64 232, !53, i64 256, !53, i64 280, !57, i64 304, !48, i64 336, !48, i64 432, !48, i64 528, !61, i64 624, !39, i64 648, !65, i64 672, !69, i64 696, !73, i64 720, !77, i64 744, !81, i64 768, !81, i64 792, !85, i64 816, !85, i64 840, !65, i64 864, !65, i64 888, !65, i64 912, !89, i64 936, !20, i64 952, !20, i64 956, !20, i64 960}
!44 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !45, i64 0}
!45 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !46, i64 0}
!46 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !47, i64 0}
!47 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!48 = !{!"_ZTSN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEE", !49, i64 0}
!49 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEEE", !50, i64 0}
!50 = !{!"_ZTSN5Eigen12DenseStorageIdLi12ELi12ELi1ELi0EEE", !51, i64 0}
!51 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi12ELi0ELi16EEE", !7, i64 0}
!52 = !{!"double", !7, i64 0}
!53 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !54, i64 0}
!54 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !55, i64 0}
!55 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !56, i64 0}
!56 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!57 = !{!"_ZTSN5Eigen6MatrixIdLi4ELi1ELi0ELi4ELi1EEE", !58, i64 0}
!58 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEE", !59, i64 0}
!59 = !{!"_ZTSN5Eigen12DenseStorageIdLi4ELi4ELi1ELi0EEE", !60, i64 0}
!60 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi4ELi0ELi16EEE", !7, i64 0}
!61 = !{!"_ZTSSt6vectorI12ContactStateSaIS0_EE", !62, i64 0}
!62 = !{!"_ZTSSt12_Vector_baseI12ContactStateSaIS0_EE", !63, i64 0}
!63 = !{!"_ZTSNSt12_Vector_baseI12ContactStateSaIS0_EE12_Vector_implE", !64, i64 0}
!64 = !{!"_ZTSNSt12_Vector_baseI12ContactStateSaIS0_EE17_Vector_impl_dataE", !25, i64 0, !25, i64 8, !25, i64 16}
!65 = !{!"_ZTSSt6vectorIdSaIdEE", !66, i64 0}
!66 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !67, i64 0}
!67 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !68, i64 0}
!68 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !25, i64 0, !25, i64 8, !25, i64 16}
!69 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE", !70, i64 0}
!70 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE", !71, i64 0}
!71 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !72, i64 0}
!72 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !25, i64 0, !25, i64 8, !25, i64 16}
!73 = !{!"_ZTSSt6vectorI8BblockIDSaIS0_EE", !74, i64 0}
!74 = !{!"_ZTSSt12_Vector_baseI8BblockIDSaIS0_EE", !75, i64 0}
!75 = !{!"_ZTSNSt12_Vector_baseI8BblockIDSaIS0_EE12_Vector_implE", !76, i64 0}
!76 = !{!"_ZTSNSt12_Vector_baseI8BblockIDSaIS0_EE17_Vector_impl_dataE", !25, i64 0, !25, i64 8, !25, i64 16}
!77 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE", !78, i64 0}
!78 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE", !79, i64 0}
!79 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !80, i64 0}
!80 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !25, i64 0, !25, i64 8, !25, i64 16}
!81 = !{!"_ZTSSt6vectorIjSaIjEE", !82, i64 0}
!82 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !83, i64 0}
!83 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !84, i64 0}
!84 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !25, i64 0, !25, i64 8, !25, i64 16}
!85 = !{!"_ZTSSt6vectorI12SparseTripleIdESaIS1_EE", !86, i64 0}
!86 = !{!"_ZTSSt12_Vector_baseI12SparseTripleIdESaIS1_EE", !87, i64 0}
!87 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE12_Vector_implE", !88, i64 0}
!88 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE17_Vector_impl_dataE", !25, i64 0, !25, i64 8, !25, i64 16}
!89 = !{!"_ZTSN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEE", !90, i64 0}
!90 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLin1ELi1ELi0ELin1ELi1EEEEE", !91, i64 0}
!91 = !{!"_ZTSN5Eigen12DenseStorageIfLin1ELin1ELi1ELi0EEE", !25, i64 0, !26, i64 8}
!92 = !{!10, !6, i64 324}
!93 = !{!10, !20, i64 312}
!94 = !{!10, !6, i64 328}
!95 = !{!10, !20, i64 316}
!96 = !{!10, !6, i64 2336}
!97 = !{!10, !6, i64 6160}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferAlignmentPass,InferFunctionAttrsPass,InstCombinePass,LICMPass,LoopRotatePass,ReassociatePass,SROAPass,SimplifyCFGPass,TailCallElimPass