; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/MPC_Ctrl/OsqpTriples.ll (ZN10SparseCMPC13runSolverOSQPEv)

; 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.Timer = type { %struct.timespec }
%struct.timespec = type { i64, i64 }
%struct.OsqpCSC = type { i32, i32, i32, ptr, ptr, ptr }
%"class.Eigen::Matrix.70" = type { %"class.Eigen::PlainObjectBase.71" }
%"class.Eigen::PlainObjectBase.71" = type { %"class.Eigen::DenseStorage.78" }
%"class.Eigen::DenseStorage.78" = type { ptr, i64 }
%class.SparseCMPC = type <{ %"class.Eigen::Matrix", [8 x i8], %"class.Eigen::Matrix.3", double, double, double, double, %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.13", %"class.Eigen::Matrix.23", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.std::vector", %"class.std::vector.33", %"class.std::vector.38", %"class.std::vector.43", %"class.std::vector.49", %"class.std::vector.54", %"class.std::vector.60", %"class.std::vector.60", %"class.std::vector.65", %"class.std::vector.65", %"class.std::vector.38", %"class.std::vector.38", %"class.std::vector.38", %"class.Eigen::Matrix.70", i32, i32, i32, [12 x i8] }>
%"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 { [9 x double] }
%"class.Eigen::Matrix.13" = type { %"class.Eigen::PlainObjectBase.14" }
%"class.Eigen::PlainObjectBase.14" = type { %"class.Eigen::DenseStorage.21" }
%"class.Eigen::DenseStorage.21" = type { %"struct.Eigen::internal::plain_array.22" }
%"struct.Eigen::internal::plain_array.22" = type { [3 x double] }
%"class.Eigen::Matrix.23" = type { %"class.Eigen::PlainObjectBase.24" }
%"class.Eigen::PlainObjectBase.24" = type { %"class.Eigen::DenseStorage.31" }
%"class.Eigen::DenseStorage.31" = type { %"struct.Eigen::internal::plain_array.32" }
%"struct.Eigen::internal::plain_array.32" = type { [4 x double] }
%"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 { [12 x double] }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = 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.33" = type { %"struct.std::_Vector_base.34" }
%"struct.std::_Vector_base.34" = 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.std::vector.43" = type { %"struct.std::_Vector_base.44" }
%"struct.std::_Vector_base.44" = 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.49" = type { %"struct.std::_Vector_base.50" }
%"struct.std::_Vector_base.50" = 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.54" = type { %"struct.std::_Vector_base.55" }
%"struct.std::_Vector_base.55" = 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.60" = type { %"struct.std::_Vector_base.61" }
%"struct.std::_Vector_base.61" = 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.65" = type { %"struct.std::_Vector_base.66" }
%"struct.std::_Vector_base.66" = 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.38" = type { %"struct.std::_Vector_base.39" }
%"struct.std::_Vector_base.39" = 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 }
%struct.OSQPData = type { i64, i64, ptr, ptr, ptr, ptr, ptr }
%struct.OSQPSettings = type { double, double, i64, i64, i64, double, double, i64, double, double, double, double, double, i32, double, i64, i64, i64, i64, i64, i64, double }
%struct.OSQPWorkspace = type { ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, i64, i64 }
%struct.OSQPSolution = type { ptr, ptr }

@.str = external hidden unnamed_addr constant [31 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [91 x i8], align 1
@__PRETTY_FUNCTION__._ZN10SparseCMPC13runSolverOSQPEv = external hidden unnamed_addr constant [33 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [31 x i8], align 1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN10SparseCMPC13runSolverOSQPEv(ptr noundef nonnull align 16 dereferenceable(964) %0) #0 align 2 {
  %2 = alloca ptr, align 8
  %3 = alloca %class.Timer, align 8
  %4 = alloca i32, align 4
  %5 = alloca %struct.OsqpCSC, align 8
  %6 = alloca %struct.OsqpCSC, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca %"class.Eigen::Matrix.70", align 8
  %11 = alloca i32, align 4
  store ptr %0, ptr %2, align 8, !tbaa !5
  %12 = load ptr, ptr %2, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %3) #8
  call void @_ZN5TimerC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %3)
  call void @llvm.lifetime.start.p0(i64 4, ptr %4) #8
  %13 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 29
  %14 = load i32, ptr %13, align 8, !tbaa !9
  %15 = mul i32 12, %14
  %16 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 30
  %17 = load i32, ptr %16, align 4, !tbaa !65
  %18 = mul i32 3, %17
  %19 = add i32 %15, %18
  store i32 %19, ptr %4, align 4, !tbaa !66
  %20 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 31
  %21 = load i32, ptr %20, align 16, !tbaa !67
  %22 = zext i32 %21 to i64
  %23 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 26
  %24 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %23) #8
  %25 = icmp eq i64 %22, %24
  br i1 %25, label %26, label %27

26:                                               ; preds = %1
  br label %29

27:                                               ; preds = %1
  call void @__assert_fail(ptr noundef @.str, ptr noundef @.str.3, i32 noundef 61, ptr noundef @__PRETTY_FUNCTION__._ZN10SparseCMPC13runSolverOSQPEv) #9
  unreachable

28:                                               ; No predecessors!
  br label %29

29:                                               ; preds = %28, %26
  %30 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 31
  %31 = load i32, ptr %30, align 16, !tbaa !67
  %32 = zext i32 %31 to i64
  %33 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 25
  %34 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %33) #8
  %35 = icmp eq i64 %32, %34
  br i1 %35, label %36, label %37

36:                                               ; preds = %29
  br label %39

37:                                               ; preds = %29
  call void @__assert_fail(ptr noundef @.str.4, ptr noundef @.str.3, i32 noundef 62, ptr noundef @__PRETTY_FUNCTION__._ZN10SparseCMPC13runSolverOSQPEv) #9
  unreachable

38:                                               ; No predecessors!
  br label %39

39:                                               ; preds = %38, %36
  %40 = load i32, ptr %4, align 4, !tbaa !66
  %41 = zext i32 %40 to i64
  %42 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 27
  %43 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %42) #8
  %44 = icmp eq i64 %41, %43
  br i1 %44, label %45, label %46

45:                                               ; preds = %39
  br label %48

46:                                               ; preds = %39
  call void @__assert_fail(ptr noundef @.str.5, ptr noundef @.str.3, i32 noundef 63, ptr noundef @__PRETTY_FUNCTION__._ZN10SparseCMPC13runSolverOSQPEv) #9
  unreachable

47:                                               ; No predecessors!
  br label %48

48:                                               ; preds = %47, %45
  %49 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 24
  call void @_Z17sortAndSumTriplesIdEvRSt6vectorI12SparseTripleIT_ESaIS3_EE(ptr noundef nonnull align 8 dereferenceable(24) %49)
  call void @llvm.lifetime.start.p0(i64 40, ptr %5) #8
  %50 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 24
  %51 = load i32, ptr %4, align 4, !tbaa !66
  %52 = load i32, ptr %4, align 4, !tbaa !66
  call void @_ZL8compressRSt6vectorI12SparseTripleIdESaIS1_EEjj(ptr dead_on_unwind writable sret(%struct.OsqpCSC) align 8 %5, ptr noundef nonnull align 8 dereferenceable(24) %50, i32 noundef %51, i32 noundef %52)
  %53 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 23
  call void @_Z17sortAndSumTriplesIdEvRSt6vectorI12SparseTripleIT_ESaIS3_EE(ptr noundef nonnull align 8 dereferenceable(24) %53)
  call void @llvm.lifetime.start.p0(i64 40, ptr %6) #8
  %54 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 23
  %55 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 31
  %56 = load i32, ptr %55, align 16, !tbaa !67
  %57 = load i32, ptr %4, align 4, !tbaa !66
  call void @_ZL8compressRSt6vectorI12SparseTripleIdESaIS1_EEjj(ptr dead_on_unwind writable sret(%struct.OsqpCSC) align 8 %6, ptr noundef nonnull align 8 dereferenceable(24) %54, i32 noundef %56, i32 noundef %57)
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #8
  %58 = call noalias ptr @malloc(i64 noundef 176) #10
  store ptr %58, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #8
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #8
  %59 = call noalias ptr @malloc(i64 noundef 56) #10
  store ptr %59, ptr %9, align 8, !tbaa !5
  %60 = load i32, ptr %4, align 4, !tbaa !66
  %61 = zext i32 %60 to i64
  %62 = load ptr, ptr %9, align 8, !tbaa !5
  %63 = getelementptr inbounds %struct.OSQPData, ptr %62, i32 0, i32 0
  store i64 %61, ptr %63, align 8, !tbaa !68
  %64 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 31
  %65 = load i32, ptr %64, align 16, !tbaa !67
  %66 = zext i32 %65 to i64
  %67 = load ptr, ptr %9, align 8, !tbaa !5
  %68 = getelementptr inbounds %struct.OSQPData, ptr %67, i32 0, i32 1
  store i64 %66, ptr %68, align 8, !tbaa !71
  %69 = load i32, ptr %4, align 4, !tbaa !66
  %70 = zext i32 %69 to i64
  %71 = load i32, ptr %4, align 4, !tbaa !66
  %72 = zext i32 %71 to i64
  %73 = getelementptr inbounds %struct.OsqpCSC, ptr %5, i32 0, i32 0
  %74 = load i32, ptr %73, align 8, !tbaa !72
  %75 = zext i32 %74 to i64
  %76 = getelementptr inbounds %struct.OsqpCSC, ptr %5, i32 0, i32 3
  %77 = load ptr, ptr %76, align 8, !tbaa !74
  %78 = getelementptr inbounds %struct.OsqpCSC, ptr %5, i32 0, i32 5
  %79 = load ptr, ptr %78, align 8, !tbaa !75
  %80 = getelementptr inbounds %struct.OsqpCSC, ptr %5, i32 0, i32 4
  %81 = load ptr, ptr %80, align 8, !tbaa !76
  %82 = call ptr @csc_matrix(i64 noundef %70, i64 noundef %72, i64 noundef %75, ptr noundef %77, ptr noundef %79, ptr noundef %81)
  %83 = load ptr, ptr %9, align 8, !tbaa !5
  %84 = getelementptr inbounds %struct.OSQPData, ptr %83, i32 0, i32 2
  store ptr %82, ptr %84, align 8, !tbaa !77
  %85 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 27
  %86 = call noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %85) #8
  %87 = load ptr, ptr %9, align 8, !tbaa !5
  %88 = getelementptr inbounds %struct.OSQPData, ptr %87, i32 0, i32 4
  store ptr %86, ptr %88, align 8, !tbaa !78
  %89 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 31
  %90 = load i32, ptr %89, align 16, !tbaa !67
  %91 = zext i32 %90 to i64
  %92 = load i32, ptr %4, align 4, !tbaa !66
  %93 = zext i32 %92 to i64
  %94 = getelementptr inbounds %struct.OsqpCSC, ptr %6, i32 0, i32 0
  %95 = load i32, ptr %94, align 8, !tbaa !72
  %96 = zext i32 %95 to i64
  %97 = getelementptr inbounds %struct.OsqpCSC, ptr %6, i32 0, i32 3
  %98 = load ptr, ptr %97, align 8, !tbaa !74
  %99 = getelementptr inbounds %struct.OsqpCSC, ptr %6, i32 0, i32 5
  %100 = load ptr, ptr %99, align 8, !tbaa !75
  %101 = getelementptr inbounds %struct.OsqpCSC, ptr %6, i32 0, i32 4
  %102 = load ptr, ptr %101, align 8, !tbaa !76
  %103 = call ptr @csc_matrix(i64 noundef %91, i64 noundef %93, i64 noundef %96, ptr noundef %98, ptr noundef %100, ptr noundef %102)
  %104 = load ptr, ptr %9, align 8, !tbaa !5
  %105 = getelementptr inbounds %struct.OSQPData, ptr %104, i32 0, i32 3
  store ptr %103, ptr %105, align 8, !tbaa !79
  %106 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 25
  %107 = call noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %106) #8
  %108 = load ptr, ptr %9, align 8, !tbaa !5
  %109 = getelementptr inbounds %struct.OSQPData, ptr %108, i32 0, i32 5
  store ptr %107, ptr %109, align 8, !tbaa !80
  %110 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 26
  %111 = call noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %110) #8
  %112 = load ptr, ptr %9, align 8, !tbaa !5
  %113 = getelementptr inbounds %struct.OSQPData, ptr %112, i32 0, i32 6
  store ptr %111, ptr %113, align 8, !tbaa !81
  call void @_ZN5Timer5startEv(ptr noundef nonnull align 8 dereferenceable(16) %3)
  %114 = load ptr, ptr %7, align 8, !tbaa !5
  call void @osqp_set_default_settings(ptr noundef %114)
  %115 = load ptr, ptr %7, align 8, !tbaa !5
  %116 = getelementptr inbounds %struct.OSQPSettings, ptr %115, i32 0, i32 8
  store double 1.000000e-05, ptr %116, align 8, !tbaa !82
  %117 = load ptr, ptr %7, align 8, !tbaa !5
  %118 = getelementptr inbounds %struct.OSQPSettings, ptr %117, i32 0, i32 9
  store double 1.000000e-05, ptr %118, align 8, !tbaa !85
  %119 = load ptr, ptr %9, align 8, !tbaa !5
  %120 = load ptr, ptr %7, align 8, !tbaa !5
  %121 = call ptr @osqp_setup(ptr noundef %119, ptr noundef %120)
  store ptr %121, ptr %8, align 8, !tbaa !5
  call void @_ZN5Timer5startEv(ptr noundef nonnull align 8 dereferenceable(16) %3)
  %122 = load ptr, ptr %8, align 8, !tbaa !5
  %123 = call i64 @osqp_solve(ptr noundef %122)
  call void @llvm.lifetime.start.p0(i64 16, ptr %10) #8
  call void @_ZN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEC2IjEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %10, ptr noundef nonnull align 4 dereferenceable(4) %4)
  %124 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 28
  %125 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %124, ptr noundef nonnull align 8 dereferenceable(16) %10) #8
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %10) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %10) #8
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #8
  store i32 0, ptr %11, align 4, !tbaa !66
  br label %126

126:                                              ; preds = %146, %48
  %127 = load i32, ptr %11, align 4, !tbaa !66
  %128 = load i32, ptr %4, align 4, !tbaa !66
  %129 = icmp ult i32 %127, %128
  br i1 %129, label %131, label %130

130:                                              ; preds = %126
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #8
  br label %149

131:                                              ; preds = %126
  %132 = load ptr, ptr %8, align 8, !tbaa !5
  %133 = getelementptr inbounds %struct.OSQPWorkspace, ptr %132, i32 0, i32 25
  %134 = load ptr, ptr %133, align 8, !tbaa !86
  %135 = getelementptr inbounds %struct.OSQPSolution, ptr %134, i32 0, i32 0
  %136 = load ptr, ptr %135, align 8, !tbaa !88
  %137 = load i32, ptr %11, align 4, !tbaa !66
  %138 = zext i32 %137 to i64
  %139 = getelementptr inbounds double, ptr %136, i64 %138
  %140 = load double, ptr %139, align 8, !tbaa !90
  %141 = fptrunc double %140 to float
  %142 = getelementptr inbounds %class.SparseCMPC, ptr %12, i32 0, i32 28
  %143 = load i32, ptr %11, align 4, !tbaa !66
  %144 = zext i32 %143 to i64
  %145 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %142, i64 noundef %144)
  store float %141, ptr %145, align 4, !tbaa !91
  br label %146

146:                                              ; preds = %131
  %147 = load i32, ptr %11, align 4, !tbaa !66
  %148 = add i32 %147, 1
  store i32 %148, ptr %11, align 4, !tbaa !66
  br label %126, !llvm.loop !93

149:                                              ; preds = %130
  call void @_ZN7OsqpCSC7freeAllEv(ptr noundef nonnull align 8 dereferenceable(40) %5)
  call void @_ZN7OsqpCSC7freeAllEv(ptr noundef nonnull align 8 dereferenceable(40) %6)
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #8
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr %6) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr %5) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr %4) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr %3) #8
  ret void
}

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN5TimerC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z17sortAndSumTriplesIdEvRSt6vectorI12SparseTripleIT_ESaIS3_EE(ptr noundef nonnull align 8 dereferenceable(24)) #0

; Function Attrs: mustprogress uwtable
declare hidden void @_ZL8compressRSt6vectorI12SparseTripleIdESaIS1_EEjj(ptr dead_on_unwind noalias writable sret(%struct.OsqpCSC) align 8, ptr noundef nonnull align 8 dereferenceable(24), i32 noundef, i32 noundef) #0

; Function Attrs: nounwind allocsize(0)
declare noalias ptr @malloc(i64 noundef) #4

declare ptr @csc_matrix(i64 noundef, i64 noundef, i64 noundef, ptr noundef, ptr noundef, ptr noundef) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5Timer5startEv(ptr noundef nonnull align 8 dereferenceable(16)) #2 align 2

declare void @osqp_set_default_settings(ptr noundef) #5

declare ptr @osqp_setup(ptr noundef, ptr noundef) #5

declare i64 @osqp_solve(ptr noundef) #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEC2IjEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #7 align 2

; 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_6MatrixIfLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN7OsqpCSC7freeAllEv(ptr noundef nonnull align 8 dereferenceable(40)) #2 align 2

attributes #0 = { 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 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nounwind allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { nounwind }
attributes #9 = { noreturn nounwind }
attributes #10 = { nounwind allocsize(0) }

!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, !64, i64 952}
!10 = !{!"_ZTS10SparseCMPC", !11, i64 0, !15, i64 80, !19, i64 176, !19, i64 184, !19, i64 192, !19, i64 200, !20, i64 208, !20, i64 232, !20, i64 256, !20, i64 280, !24, i64 304, !15, i64 336, !15, i64 432, !15, i64 528, !28, i64 624, !32, i64 648, !36, i64 672, !40, i64 696, !44, i64 720, !48, i64 744, !52, i64 768, !52, i64 792, !56, i64 816, !56, i64 840, !36, i64 864, !36, i64 888, !36, i64 912, !60, i64 936, !64, i64 952, !64, i64 956, !64, i64 960}
!11 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !12, i64 0}
!12 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !13, i64 0}
!13 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !14, i64 0}
!14 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !7, i64 0}
!15 = !{!"_ZTSN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEE", !16, i64 0}
!16 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEEE", !17, i64 0}
!17 = !{!"_ZTSN5Eigen12DenseStorageIdLi12ELi12ELi1ELi0EEE", !18, i64 0}
!18 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi12ELi0ELi16EEE", !7, i64 0}
!19 = !{!"double", !7, i64 0}
!20 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !7, i64 0}
!24 = !{!"_ZTSN5Eigen6MatrixIdLi4ELi1ELi0ELi4ELi1EEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEE", !26, i64 0}
!26 = !{!"_ZTSN5Eigen12DenseStorageIdLi4ELi4ELi1ELi0EEE", !27, i64 0}
!27 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi4ELi0ELi16EEE", !7, i64 0}
!28 = !{!"_ZTSSt6vectorI12ContactStateSaIS0_EE", !29, i64 0}
!29 = !{!"_ZTSSt12_Vector_baseI12ContactStateSaIS0_EE", !30, i64 0}
!30 = !{!"_ZTSNSt12_Vector_baseI12ContactStateSaIS0_EE12_Vector_implE", !31, i64 0}
!31 = !{!"_ZTSNSt12_Vector_baseI12ContactStateSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!32 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE", !33, i64 0}
!33 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !35, i64 0}
!35 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!36 = !{!"_ZTSSt6vectorIdSaIdEE", !37, i64 0}
!37 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !39, i64 0}
!39 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!40 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE", !41, i64 0}
!41 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE", !42, i64 0}
!42 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !43, i64 0}
!43 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!44 = !{!"_ZTSSt6vectorI8BblockIDSaIS0_EE", !45, i64 0}
!45 = !{!"_ZTSSt12_Vector_baseI8BblockIDSaIS0_EE", !46, i64 0}
!46 = !{!"_ZTSNSt12_Vector_baseI8BblockIDSaIS0_EE12_Vector_implE", !47, i64 0}
!47 = !{!"_ZTSNSt12_Vector_baseI8BblockIDSaIS0_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!48 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE", !49, i64 0}
!49 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE", !50, i64 0}
!50 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !51, i64 0}
!51 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!52 = !{!"_ZTSSt6vectorIjSaIjEE", !53, i64 0}
!53 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !54, i64 0}
!54 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !55, i64 0}
!55 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!56 = !{!"_ZTSSt6vectorI12SparseTripleIdESaIS1_EE", !57, i64 0}
!57 = !{!"_ZTSSt12_Vector_baseI12SparseTripleIdESaIS1_EE", !58, i64 0}
!58 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE12_Vector_implE", !59, i64 0}
!59 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!60 = !{!"_ZTSN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEE", !61, i64 0}
!61 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLin1ELi1ELi0ELin1ELi1EEEEE", !62, i64 0}
!62 = !{!"_ZTSN5Eigen12DenseStorageIfLin1ELin1ELi1ELi0EEE", !6, i64 0, !63, i64 8}
!63 = !{!"long", !7, i64 0}
!64 = !{!"int", !7, i64 0}
!65 = !{!10, !64, i64 956}
!66 = !{!64, !64, i64 0}
!67 = !{!10, !64, i64 960}
!68 = !{!69, !70, i64 0}
!69 = !{!"_ZTS8OSQPData", !70, i64 0, !70, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !6, i64 48}
!70 = !{!"long long", !7, i64 0}
!71 = !{!69, !70, i64 8}
!72 = !{!73, !64, i64 0}
!73 = !{!"_ZTS7OsqpCSC", !64, i64 0, !64, i64 4, !64, i64 8, !6, i64 16, !6, i64 24, !6, i64 32}
!74 = !{!73, !6, i64 16}
!75 = !{!73, !6, i64 32}
!76 = !{!73, !6, i64 24}
!77 = !{!69, !6, i64 16}
!78 = !{!69, !6, i64 32}
!79 = !{!69, !6, i64 24}
!80 = !{!69, !6, i64 40}
!81 = !{!69, !6, i64 48}
!82 = !{!83, !19, i64 64}
!83 = !{!"_ZTS12OSQPSettings", !19, i64 0, !19, i64 8, !70, i64 16, !70, i64 24, !70, i64 32, !19, i64 40, !19, i64 48, !70, i64 56, !19, i64 64, !19, i64 72, !19, i64 80, !19, i64 88, !19, i64 96, !84, i64 104, !19, i64 112, !70, i64 120, !70, i64 128, !70, i64 136, !70, i64 144, !70, i64 152, !70, i64 160, !19, i64 168}
!84 = !{!"_ZTS18linsys_solver_type", !7, i64 0}
!85 = !{!83, !19, i64 72}
!86 = !{!87, !6, i64 200}
!87 = !{!"_ZTS13OSQPWorkspace", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !6, i64 48, !6, i64 56, !6, i64 64, !6, i64 72, !6, i64 80, !6, i64 88, !6, i64 96, !6, i64 104, !6, i64 112, !6, i64 120, !6, i64 128, !6, i64 136, !6, i64 144, !6, i64 152, !6, i64 160, !6, i64 168, !6, i64 176, !6, i64 184, !6, i64 192, !6, i64 200, !6, i64 208, !6, i64 216, !70, i64 224, !70, i64 232}
!88 = !{!89, !6, i64 0}
!89 = !{!"_ZTS12OSQPSolution", !6, i64 0, !6, i64 8}
!90 = !{!19, !19, i64 0}
!91 = !{!92, !92, i64 0}
!92 = !{!"float", !7, i64 0}
!93 = distinct !{!93, !94}
!94 = !{!"llvm.loop.mustprogress"}


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

%class.Timer = type { %struct.timespec }
%struct.timespec = type { i64, i64 }
%struct.OsqpCSC = type { i32, i32, i32, ptr, ptr, ptr }
%"class.Eigen::Matrix.70" = type { %"class.Eigen::PlainObjectBase.71" }
%"class.Eigen::PlainObjectBase.71" = type { %"class.Eigen::DenseStorage.78" }
%"class.Eigen::DenseStorage.78" = type { ptr, i64 }

@.str = external hidden unnamed_addr constant [31 x i8], align 1
@.str.3 = external hidden unnamed_addr constant [91 x i8], align 1
@__PRETTY_FUNCTION__._ZN10SparseCMPC13runSolverOSQPEv = external hidden unnamed_addr constant [33 x i8], align 1
@.str.4 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.5 = external hidden unnamed_addr constant [31 x i8], align 1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN10SparseCMPC13runSolverOSQPEv(ptr noundef nonnull align 16 dereferenceable(964) %0) local_unnamed_addr #0 align 2 {
  %2 = alloca %class.Timer, align 8
  %3 = alloca i32, align 4
  %4 = alloca %struct.OsqpCSC, align 8
  %5 = alloca %struct.OsqpCSC, align 8
  %6 = alloca %"class.Eigen::Matrix.70", align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %2) #8
  call void @_ZN5TimerC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %3) #8
  %7 = getelementptr inbounds i8, ptr %0, i64 952
  %8 = load i32, ptr %7, align 8, !tbaa !5
  %9 = mul i32 %8, 12
  %10 = getelementptr inbounds i8, ptr %0, i64 956
  %11 = load i32, ptr %10, align 4, !tbaa !64
  %12 = mul i32 %11, 3
  %13 = add i32 %12, %9
  store i32 %13, ptr %3, align 4, !tbaa !65
  %14 = getelementptr inbounds i8, ptr %0, i64 960
  %15 = load i32, ptr %14, align 16, !tbaa !66
  %16 = zext i32 %15 to i64
  %17 = getelementptr inbounds i8, ptr %0, i64 888
  %18 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %17) #8
  %19 = icmp eq i64 %18, %16
  br i1 %19, label %21, label %20

20:                                               ; preds = %1
  call void @__assert_fail(ptr noundef nonnull @.str, ptr noundef nonnull @.str.3, i32 noundef 61, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN10SparseCMPC13runSolverOSQPEv) #9
  unreachable

21:                                               ; preds = %1
  %22 = load i32, ptr %14, align 16, !tbaa !66
  %23 = zext i32 %22 to i64
  %24 = getelementptr inbounds i8, ptr %0, i64 864
  %25 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %24) #8
  %26 = icmp eq i64 %25, %23
  br i1 %26, label %28, label %27

27:                                               ; preds = %21
  call void @__assert_fail(ptr noundef nonnull @.str.4, ptr noundef nonnull @.str.3, i32 noundef 62, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN10SparseCMPC13runSolverOSQPEv) #9
  unreachable

28:                                               ; preds = %21
  %29 = zext i32 %13 to i64
  %30 = getelementptr inbounds i8, ptr %0, i64 912
  %31 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %30) #8
  %32 = icmp eq i64 %31, %29
  br i1 %32, label %34, label %33

33:                                               ; preds = %28
  call void @__assert_fail(ptr noundef nonnull @.str.5, ptr noundef nonnull @.str.3, i32 noundef 63, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN10SparseCMPC13runSolverOSQPEv) #9
  unreachable

34:                                               ; preds = %28
  %35 = getelementptr inbounds i8, ptr %0, i64 840
  call void @_Z17sortAndSumTriplesIdEvRSt6vectorI12SparseTripleIT_ESaIS3_EE(ptr noundef nonnull align 8 dereferenceable(24) %35)
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %4) #8
  call void @_ZL8compressRSt6vectorI12SparseTripleIdESaIS1_EEjj(ptr dead_on_unwind nonnull writable sret(%struct.OsqpCSC) align 8 %4, ptr noundef nonnull align 8 dereferenceable(24) %35, i32 noundef %13, i32 noundef %13)
  %36 = getelementptr inbounds i8, ptr %0, i64 816
  call void @_Z17sortAndSumTriplesIdEvRSt6vectorI12SparseTripleIT_ESaIS3_EE(ptr noundef nonnull align 8 dereferenceable(24) %36)
  call void @llvm.lifetime.start.p0(i64 40, ptr nonnull %5) #8
  %37 = load i32, ptr %14, align 16, !tbaa !66
  call void @_ZL8compressRSt6vectorI12SparseTripleIdESaIS1_EEjj(ptr dead_on_unwind nonnull writable sret(%struct.OsqpCSC) align 8 %5, ptr noundef nonnull align 8 dereferenceable(24) %36, i32 noundef %37, i32 noundef %13)
  %38 = call noalias dereferenceable_or_null(176) ptr @malloc(i64 noundef 176) #10
  %39 = call noalias dereferenceable_or_null(56) ptr @malloc(i64 noundef 56) #10
  store i64 %29, ptr %39, align 8, !tbaa !67
  %40 = load i32, ptr %14, align 16, !tbaa !66
  %41 = zext i32 %40 to i64
  %42 = getelementptr inbounds i8, ptr %39, i64 8
  store i64 %41, ptr %42, align 8, !tbaa !70
  %43 = load i32, ptr %4, align 8, !tbaa !71
  %44 = zext i32 %43 to i64
  %45 = getelementptr inbounds i8, ptr %4, i64 16
  %46 = load ptr, ptr %45, align 8, !tbaa !73
  %47 = getelementptr inbounds i8, ptr %4, i64 32
  %48 = load ptr, ptr %47, align 8, !tbaa !74
  %49 = getelementptr inbounds i8, ptr %4, i64 24
  %50 = load ptr, ptr %49, align 8, !tbaa !75
  %51 = call ptr @csc_matrix(i64 noundef %29, i64 noundef %29, i64 noundef %44, ptr noundef %46, ptr noundef %48, ptr noundef %50)
  %52 = getelementptr inbounds i8, ptr %39, i64 16
  store ptr %51, ptr %52, align 8, !tbaa !76
  %53 = call noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %30) #8
  %54 = getelementptr inbounds i8, ptr %39, i64 32
  store ptr %53, ptr %54, align 8, !tbaa !77
  %55 = load i32, ptr %14, align 16, !tbaa !66
  %56 = zext i32 %55 to i64
  %57 = load i32, ptr %5, align 8, !tbaa !71
  %58 = zext i32 %57 to i64
  %59 = getelementptr inbounds i8, ptr %5, i64 16
  %60 = load ptr, ptr %59, align 8, !tbaa !73
  %61 = getelementptr inbounds i8, ptr %5, i64 32
  %62 = load ptr, ptr %61, align 8, !tbaa !74
  %63 = getelementptr inbounds i8, ptr %5, i64 24
  %64 = load ptr, ptr %63, align 8, !tbaa !75
  %65 = call ptr @csc_matrix(i64 noundef %56, i64 noundef %29, i64 noundef %58, ptr noundef %60, ptr noundef %62, ptr noundef %64)
  %66 = getelementptr inbounds i8, ptr %39, i64 24
  store ptr %65, ptr %66, align 8, !tbaa !78
  %67 = call noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %24) #8
  %68 = getelementptr inbounds i8, ptr %39, i64 40
  store ptr %67, ptr %68, align 8, !tbaa !79
  %69 = call noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24) %17) #8
  %70 = getelementptr inbounds i8, ptr %39, i64 48
  store ptr %69, ptr %70, align 8, !tbaa !80
  call void @_ZN5Timer5startEv(ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @osqp_set_default_settings(ptr noundef %38)
  %71 = getelementptr inbounds i8, ptr %38, i64 64
  store <2 x double> <double 1.000000e-05, double 1.000000e-05>, ptr %71, align 8, !tbaa !81
  %72 = call ptr @osqp_setup(ptr noundef nonnull %39, ptr noundef %38)
  call void @_ZN5Timer5startEv(ptr noundef nonnull align 8 dereferenceable(16) %2)
  %73 = call i64 @osqp_solve(ptr noundef %72)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #8
  call void @_ZN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEC2IjEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %6, ptr noundef nonnull align 4 dereferenceable(4) %3)
  %74 = getelementptr inbounds i8, ptr %0, i64 936
  %75 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %74, ptr noundef nonnull align 8 dereferenceable(16) %6) #8
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %6) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #8
  %76 = load i32, ptr %3, align 4, !tbaa !65
  %.not = icmp eq i32 %76, 0
  br i1 %.not, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %34
  %77 = getelementptr inbounds i8, ptr %72, i64 200
  br label %78

._crit_edge:                                      ; preds = %78, %34
  call void @_ZN7OsqpCSC7freeAllEv(ptr noundef nonnull align 8 dereferenceable(40) %4)
  call void @_ZN7OsqpCSC7freeAllEv(ptr noundef nonnull align 8 dereferenceable(40) %5)
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %5) #8
  call void @llvm.lifetime.end.p0(i64 40, ptr nonnull %4) #8
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %3) #8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %2) #8
  ret void

78:                                               ; preds = %.lr.ph, %78
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %78 ]
  %79 = load ptr, ptr %77, align 8, !tbaa !82
  %80 = load ptr, ptr %79, align 8, !tbaa !84
  %81 = getelementptr inbounds double, ptr %80, i64 %indvars.iv
  %82 = load double, ptr %81, align 8, !tbaa !81
  %83 = fptrunc double %82 to float
  %84 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIfLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %74, i64 noundef %indvars.iv)
  store float %83, ptr %84, align 4, !tbaa !86
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %85 = load i32, ptr %3, align 4, !tbaa !65
  %86 = zext i32 %85 to i64
  %87 = icmp ult i64 %indvars.iv.next, %86
  br i1 %87, label %78, label %._crit_edge, !llvm.loop !88
}

; 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 uwtable
declare dso_local void @_ZN5TimerC2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #0 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z17sortAndSumTriplesIdEvRSt6vectorI12SparseTripleIT_ESaIS3_EE(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #0

; Function Attrs: mustprogress uwtable
declare hidden void @_ZL8compressRSt6vectorI12SparseTripleIdESaIS1_EEjj(ptr dead_on_unwind noalias writable sret(%struct.OsqpCSC) align 8, ptr noundef nonnull align 8 dereferenceable(24), i32 noundef, i32 noundef) local_unnamed_addr #0

; Function Attrs: mustprogress nofree nounwind willreturn allockind("alloc,uninitialized") allocsize(0) memory(inaccessiblemem: readwrite)
declare noalias noundef ptr @malloc(i64 noundef) local_unnamed_addr #4

declare ptr @csc_matrix(i64 noundef, i64 noundef, i64 noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNSt6vectorIdSaIdEE4dataEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN5Timer5startEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #2 align 2

declare void @osqp_set_default_settings(ptr noundef) local_unnamed_addr #5

declare ptr @osqp_setup(ptr noundef, ptr noundef) local_unnamed_addr #5

declare i64 @osqp_solve(ptr noundef) local_unnamed_addr #5

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEC2IjEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIfLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #7 align 2

; 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_6MatrixIfLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN7OsqpCSC7freeAllEv(ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #2 align 2

attributes #0 = { 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 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress nofree nounwind willreturn allockind("alloc,uninitialized") allocsize(0) memory(inaccessiblemem: readwrite) "alloc-family"="malloc" "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 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { nounwind }
attributes #9 = { noreturn nounwind }
attributes #10 = { nounwind allocsize(0) }

!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, !63, i64 952}
!6 = !{!"_ZTS10SparseCMPC", !7, i64 0, !13, i64 80, !17, i64 176, !17, i64 184, !17, i64 192, !17, i64 200, !18, i64 208, !18, i64 232, !18, i64 256, !18, i64 280, !22, i64 304, !13, i64 336, !13, i64 432, !13, i64 528, !26, i64 624, !31, i64 648, !35, i64 672, !39, i64 696, !43, i64 720, !47, i64 744, !51, i64 768, !51, i64 792, !55, i64 816, !55, i64 840, !35, i64 864, !35, i64 888, !35, i64 912, !59, i64 936, !63, i64 952, !63, i64 956, !63, i64 960}
!7 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi3ELi0ELi3ELi3EEE", !8, i64 0}
!8 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi3ELi0ELi3ELi3EEEEE", !9, i64 0}
!9 = !{!"_ZTSN5Eigen12DenseStorageIdLi9ELi3ELi3ELi0EEE", !10, i64 0}
!10 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi9ELi0ELi0EEE", !11, i64 0}
!11 = !{!"omnipotent char", !12, i64 0}
!12 = !{!"Simple C++ TBAA"}
!13 = !{!"_ZTSN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEE", !14, i64 0}
!14 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEEE", !15, i64 0}
!15 = !{!"_ZTSN5Eigen12DenseStorageIdLi12ELi12ELi1ELi0EEE", !16, i64 0}
!16 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi12ELi0ELi16EEE", !11, i64 0}
!17 = !{!"double", !11, i64 0}
!18 = !{!"_ZTSN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEE", !19, i64 0}
!19 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi3ELi1ELi0ELi3ELi1EEEEE", !20, i64 0}
!20 = !{!"_ZTSN5Eigen12DenseStorageIdLi3ELi3ELi1ELi0EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi3ELi0ELi0EEE", !11, i64 0}
!22 = !{!"_ZTSN5Eigen6MatrixIdLi4ELi1ELi0ELi4ELi1EEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEE", !24, i64 0}
!24 = !{!"_ZTSN5Eigen12DenseStorageIdLi4ELi4ELi1ELi0EEE", !25, i64 0}
!25 = !{!"_ZTSN5Eigen8internal11plain_arrayIdLi4ELi0ELi16EEE", !11, i64 0}
!26 = !{!"_ZTSSt6vectorI12ContactStateSaIS0_EE", !27, i64 0}
!27 = !{!"_ZTSSt12_Vector_baseI12ContactStateSaIS0_EE", !28, i64 0}
!28 = !{!"_ZTSNSt12_Vector_baseI12ContactStateSaIS0_EE12_Vector_implE", !29, i64 0}
!29 = !{!"_ZTSNSt12_Vector_baseI12ContactStateSaIS0_EE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!30 = !{!"any pointer", !11, i64 0}
!31 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE", !32, i64 0}
!32 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE", !33, i64 0}
!33 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !34, i64 0}
!34 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!35 = !{!"_ZTSSt6vectorIdSaIdEE", !36, i64 0}
!36 = !{!"_ZTSSt12_Vector_baseIdSaIdEE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE12_Vector_implE", !38, i64 0}
!38 = !{!"_ZTSNSt12_Vector_baseIdSaIdEE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!39 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE", !40, i64 0}
!40 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE", !41, i64 0}
!41 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !42, i64 0}
!42 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!43 = !{!"_ZTSSt6vectorI8BblockIDSaIS0_EE", !44, i64 0}
!44 = !{!"_ZTSSt12_Vector_baseI8BblockIDSaIS0_EE", !45, i64 0}
!45 = !{!"_ZTSNSt12_Vector_baseI8BblockIDSaIS0_EE12_Vector_implE", !46, i64 0}
!46 = !{!"_ZTSNSt12_Vector_baseI8BblockIDSaIS0_EE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!47 = !{!"_ZTSSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE", !48, i64 0}
!48 = !{!"_ZTSSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE", !49, i64 0}
!49 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE12_Vector_implE", !50, i64 0}
!50 = !{!"_ZTSNSt12_Vector_baseIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!51 = !{!"_ZTSSt6vectorIjSaIjEE", !52, i64 0}
!52 = !{!"_ZTSSt12_Vector_baseIjSaIjEE", !53, i64 0}
!53 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE12_Vector_implE", !54, i64 0}
!54 = !{!"_ZTSNSt12_Vector_baseIjSaIjEE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!55 = !{!"_ZTSSt6vectorI12SparseTripleIdESaIS1_EE", !56, i64 0}
!56 = !{!"_ZTSSt12_Vector_baseI12SparseTripleIdESaIS1_EE", !57, i64 0}
!57 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE12_Vector_implE", !58, i64 0}
!58 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!59 = !{!"_ZTSN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEE", !60, i64 0}
!60 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIfLin1ELi1ELi0ELin1ELi1EEEEE", !61, i64 0}
!61 = !{!"_ZTSN5Eigen12DenseStorageIfLin1ELin1ELi1ELi0EEE", !30, i64 0, !62, i64 8}
!62 = !{!"long", !11, i64 0}
!63 = !{!"int", !11, i64 0}
!64 = !{!6, !63, i64 956}
!65 = !{!63, !63, i64 0}
!66 = !{!6, !63, i64 960}
!67 = !{!68, !69, i64 0}
!68 = !{!"_ZTS8OSQPData", !69, i64 0, !69, i64 8, !30, i64 16, !30, i64 24, !30, i64 32, !30, i64 40, !30, i64 48}
!69 = !{!"long long", !11, i64 0}
!70 = !{!68, !69, i64 8}
!71 = !{!72, !63, i64 0}
!72 = !{!"_ZTS7OsqpCSC", !63, i64 0, !63, i64 4, !63, i64 8, !30, i64 16, !30, i64 24, !30, i64 32}
!73 = !{!72, !30, i64 16}
!74 = !{!72, !30, i64 32}
!75 = !{!72, !30, i64 24}
!76 = !{!68, !30, i64 16}
!77 = !{!68, !30, i64 32}
!78 = !{!68, !30, i64 24}
!79 = !{!68, !30, i64 40}
!80 = !{!68, !30, i64 48}
!81 = !{!17, !17, i64 0}
!82 = !{!83, !30, i64 200}
!83 = !{!"_ZTS13OSQPWorkspace", !30, i64 0, !30, i64 8, !30, i64 16, !30, i64 24, !30, i64 32, !30, i64 40, !30, i64 48, !30, i64 56, !30, i64 64, !30, i64 72, !30, i64 80, !30, i64 88, !30, i64 96, !30, i64 104, !30, i64 112, !30, i64 120, !30, i64 128, !30, i64 136, !30, i64 144, !30, i64 152, !30, i64 160, !30, i64 168, !30, i64 176, !30, i64 184, !30, i64 192, !30, i64 200, !30, i64 208, !30, i64 216, !69, i64 224, !69, i64 232}
!84 = !{!85, !30, i64 0}
!85 = !{!"_ZTS12OSQPSolution", !30, i64 0, !30, i64 8}
!86 = !{!87, !87, i64 0}
!87 = !{!"float", !11, i64 0}
!88 = distinct !{!88, !89}
!89 = !{!"llvm.loop.mustprogress"}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LICMPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,ReassociatePass,SLPVectorizerPass,SROAPass,SimplifyCFGPass