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

; 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"

%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 }

; Function Attrs: nounwind uwtable
define dso_local void @osqp_set_default_settings(ptr noundef %0) #0 {
  %2 = alloca ptr, align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  %3 = load ptr, ptr %2, align 8, !tbaa !5
  %4 = getelementptr inbounds %struct.OSQPSettings, ptr %3, i32 0, i32 2
  store i64 10, ptr %4, align 8, !tbaa !9
  %5 = load ptr, ptr %2, align 8, !tbaa !5
  %6 = getelementptr inbounds %struct.OSQPSettings, ptr %5, i32 0, i32 3
  store i64 1, ptr %6, align 8, !tbaa !14
  %7 = load ptr, ptr %2, align 8, !tbaa !5
  %8 = getelementptr inbounds %struct.OSQPSettings, ptr %7, i32 0, i32 4
  store i64 0, ptr %8, align 8, !tbaa !15
  %9 = load ptr, ptr %2, align 8, !tbaa !5
  %10 = getelementptr inbounds %struct.OSQPSettings, ptr %9, i32 0, i32 5
  store double 5.000000e+00, ptr %10, align 8, !tbaa !16
  %11 = load ptr, ptr %2, align 8, !tbaa !5
  %12 = getelementptr inbounds %struct.OSQPSettings, ptr %11, i32 0, i32 6
  store double 4.000000e-01, ptr %12, align 8, !tbaa !17
  %13 = load ptr, ptr %2, align 8, !tbaa !5
  %14 = getelementptr inbounds %struct.OSQPSettings, ptr %13, i32 0, i32 0
  store double 1.000000e-01, ptr %14, align 8, !tbaa !18
  %15 = load ptr, ptr %2, align 8, !tbaa !5
  %16 = getelementptr inbounds %struct.OSQPSettings, ptr %15, i32 0, i32 1
  store double 0x3EB0C6F7A0B5ED8D, ptr %16, align 8, !tbaa !19
  %17 = load ptr, ptr %2, align 8, !tbaa !5
  %18 = getelementptr inbounds %struct.OSQPSettings, ptr %17, i32 0, i32 7
  store i64 4000, ptr %18, align 8, !tbaa !20
  %19 = load ptr, ptr %2, align 8, !tbaa !5
  %20 = getelementptr inbounds %struct.OSQPSettings, ptr %19, i32 0, i32 8
  store double 1.000000e-03, ptr %20, align 8, !tbaa !21
  %21 = load ptr, ptr %2, align 8, !tbaa !5
  %22 = getelementptr inbounds %struct.OSQPSettings, ptr %21, i32 0, i32 9
  store double 1.000000e-03, ptr %22, align 8, !tbaa !22
  %23 = load ptr, ptr %2, align 8, !tbaa !5
  %24 = getelementptr inbounds %struct.OSQPSettings, ptr %23, i32 0, i32 10
  store double 1.000000e-04, ptr %24, align 8, !tbaa !23
  %25 = load ptr, ptr %2, align 8, !tbaa !5
  %26 = getelementptr inbounds %struct.OSQPSettings, ptr %25, i32 0, i32 11
  store double 1.000000e-04, ptr %26, align 8, !tbaa !24
  %27 = load ptr, ptr %2, align 8, !tbaa !5
  %28 = getelementptr inbounds %struct.OSQPSettings, ptr %27, i32 0, i32 12
  store double 1.600000e+00, ptr %28, align 8, !tbaa !25
  %29 = load ptr, ptr %2, align 8, !tbaa !5
  %30 = getelementptr inbounds %struct.OSQPSettings, ptr %29, i32 0, i32 13
  store i32 0, ptr %30, align 8, !tbaa !26
  %31 = load ptr, ptr %2, align 8, !tbaa !5
  %32 = getelementptr inbounds %struct.OSQPSettings, ptr %31, i32 0, i32 14
  store double 0x3EB0C6F7A0B5ED8D, ptr %32, align 8, !tbaa !27
  %33 = load ptr, ptr %2, align 8, !tbaa !5
  %34 = getelementptr inbounds %struct.OSQPSettings, ptr %33, i32 0, i32 15
  store i64 0, ptr %34, align 8, !tbaa !28
  %35 = load ptr, ptr %2, align 8, !tbaa !5
  %36 = getelementptr inbounds %struct.OSQPSettings, ptr %35, i32 0, i32 16
  store i64 3, ptr %36, align 8, !tbaa !29
  %37 = load ptr, ptr %2, align 8, !tbaa !5
  %38 = getelementptr inbounds %struct.OSQPSettings, ptr %37, i32 0, i32 17
  store i64 1, ptr %38, align 8, !tbaa !30
  %39 = load ptr, ptr %2, align 8, !tbaa !5
  %40 = getelementptr inbounds %struct.OSQPSettings, ptr %39, i32 0, i32 18
  store i64 0, ptr %40, align 8, !tbaa !31
  %41 = load ptr, ptr %2, align 8, !tbaa !5
  %42 = getelementptr inbounds %struct.OSQPSettings, ptr %41, i32 0, i32 19
  store i64 25, ptr %42, align 8, !tbaa !32
  %43 = load ptr, ptr %2, align 8, !tbaa !5
  %44 = getelementptr inbounds %struct.OSQPSettings, ptr %43, i32 0, i32 20
  store i64 1, ptr %44, align 8, !tbaa !33
  %45 = load ptr, ptr %2, align 8, !tbaa !5
  %46 = getelementptr inbounds %struct.OSQPSettings, ptr %45, i32 0, i32 21
  store double 0.000000e+00, ptr %46, align 8, !tbaa !34
  ret void
}

attributes #0 = { 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" }

!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/C++ TBAA"}
!9 = !{!10, !12, i64 16}
!10 = !{!"", !11, i64 0, !11, i64 8, !12, i64 16, !12, i64 24, !12, i64 32, !11, i64 40, !11, i64 48, !12, i64 56, !11, i64 64, !11, i64 72, !11, i64 80, !11, i64 88, !11, i64 96, !13, i64 104, !11, i64 112, !12, i64 120, !12, i64 128, !12, i64 136, !12, i64 144, !12, i64 152, !12, i64 160, !11, i64 168}
!11 = !{!"double", !7, i64 0}
!12 = !{!"long long", !7, i64 0}
!13 = !{!"int", !7, i64 0}
!14 = !{!10, !12, i64 24}
!15 = !{!10, !12, i64 32}
!16 = !{!10, !11, i64 40}
!17 = !{!10, !11, i64 48}
!18 = !{!10, !11, i64 0}
!19 = !{!10, !11, i64 8}
!20 = !{!10, !12, i64 56}
!21 = !{!10, !11, i64 64}
!22 = !{!10, !11, i64 72}
!23 = !{!10, !11, i64 80}
!24 = !{!10, !11, i64 88}
!25 = !{!10, !11, i64 96}
!26 = !{!10, !13, i64 104}
!27 = !{!10, !11, i64 112}
!28 = !{!10, !12, i64 120}
!29 = !{!10, !12, i64 128}
!30 = !{!10, !12, i64 136}
!31 = !{!10, !12, i64 144}
!32 = !{!10, !12, i64 152}
!33 = !{!10, !12, i64 160}
!34 = !{!10, !11, i64 168}


; 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"

; Function Attrs: mustprogress nofree norecurse nosync nounwind willreturn memory(argmem: write) uwtable
define dso_local void @osqp_set_default_settings(ptr nocapture noundef writeonly %0) local_unnamed_addr #0 {
  %2 = getelementptr inbounds i8, ptr %0, i64 16
  store i64 10, ptr %2, align 8, !tbaa !5
  %3 = getelementptr inbounds i8, ptr %0, i64 24
  store i64 1, ptr %3, align 8, !tbaa !12
  %4 = getelementptr inbounds i8, ptr %0, i64 32
  store i64 0, ptr %4, align 8, !tbaa !13
  %5 = getelementptr inbounds i8, ptr %0, i64 40
  store <2 x double> <double 5.000000e+00, double 4.000000e-01>, ptr %5, align 8, !tbaa !14
  store <2 x double> <double 1.000000e-01, double 0x3EB0C6F7A0B5ED8D>, ptr %0, align 8, !tbaa !14
  %6 = getelementptr inbounds i8, ptr %0, i64 56
  store i64 4000, ptr %6, align 8, !tbaa !15
  %7 = getelementptr inbounds i8, ptr %0, i64 64
  store <2 x double> <double 1.000000e-03, double 1.000000e-03>, ptr %7, align 8, !tbaa !14
  %8 = getelementptr inbounds i8, ptr %0, i64 80
  store <2 x double> <double 1.000000e-04, double 1.000000e-04>, ptr %8, align 8, !tbaa !14
  %9 = getelementptr inbounds i8, ptr %0, i64 96
  store double 1.600000e+00, ptr %9, align 8, !tbaa !16
  %10 = getelementptr inbounds i8, ptr %0, i64 104
  store i32 0, ptr %10, align 8, !tbaa !17
  %11 = getelementptr inbounds i8, ptr %0, i64 112
  store double 0x3EB0C6F7A0B5ED8D, ptr %11, align 8, !tbaa !18
  %12 = getelementptr inbounds i8, ptr %0, i64 120
  store i64 0, ptr %12, align 8, !tbaa !19
  %13 = getelementptr inbounds i8, ptr %0, i64 128
  store i64 3, ptr %13, align 8, !tbaa !20
  %14 = getelementptr inbounds i8, ptr %0, i64 136
  store i64 1, ptr %14, align 8, !tbaa !21
  %15 = getelementptr inbounds i8, ptr %0, i64 144
  store i64 0, ptr %15, align 8, !tbaa !22
  %16 = getelementptr inbounds i8, ptr %0, i64 152
  store i64 25, ptr %16, align 8, !tbaa !23
  %17 = getelementptr inbounds i8, ptr %0, i64 160
  store i64 1, ptr %17, align 8, !tbaa !24
  %18 = getelementptr inbounds i8, ptr %0, i64 168
  store double 0.000000e+00, ptr %18, align 8, !tbaa !25
  ret void
}

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

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !10, i64 16}
!6 = !{!"", !7, i64 0, !7, i64 8, !10, i64 16, !10, i64 24, !10, i64 32, !7, i64 40, !7, i64 48, !10, i64 56, !7, i64 64, !7, i64 72, !7, i64 80, !7, i64 88, !7, i64 96, !11, i64 104, !7, i64 112, !10, i64 120, !10, i64 128, !10, i64 136, !10, i64 144, !10, i64 152, !10, i64 160, !7, i64 168}
!7 = !{!"double", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C/C++ TBAA"}
!10 = !{!"long long", !8, i64 0}
!11 = !{!"int", !8, i64 0}
!12 = !{!6, !10, i64 24}
!13 = !{!6, !10, i64 32}
!14 = !{!7, !7, i64 0}
!15 = !{!6, !10, i64 56}
!16 = !{!6, !7, i64 96}
!17 = !{!6, !11, i64 104}
!18 = !{!6, !7, i64 112}
!19 = !{!6, !10, i64 120}
!20 = !{!6, !10, i64 128}
!21 = !{!6, !10, i64 136}
!22 = !{!6, !10, i64 144}
!23 = !{!6, !10, i64 152}
!24 = !{!6, !10, i64 160}
!25 = !{!6, !7, i64 168}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,InstCombinePass,PostOrderFunctionAttrsPass,SLPVectorizerPass,SROAPass