; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/JCQP/qpOASES.ll (Z11testQPOASESR9QpProblemIdE)

; 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.Eigen::Matrix.3" = type { %"class.Eigen::PlainObjectBase.4" }
%"class.Eigen::PlainObjectBase.4" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { ptr, i64 }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64, i64 }
%"class.qpOASES::QProblem" = type { %"class.qpOASES::QProblemB", i32, ptr, ptr, ptr, %"class.qpOASES::Constraints", ptr, ptr, i32, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr }
%"class.qpOASES::QProblemB" = type { ptr, i32, ptr, ptr, ptr, ptr, %"class.qpOASES::Bounds", ptr, i32, ptr, ptr, double, i32, i32, i32, i32, double, i32, ptr, double, double, i32, [4 x i8], %"class.qpOASES::Options", %"class.qpOASES::Flipper", %"struct.qpOASES::TabularOutput" }
%"class.qpOASES::Bounds" = type { %"class.qpOASES::SubjectTo", %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }
%"class.qpOASES::SubjectTo" = type { ptr, i32, ptr, ptr, i32, i32 }
%"class.qpOASES::Indexlist" = type <{ ptr, ptr, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.qpOASES::Options" = type <{ i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, double, double, double, double, double, double, double, double, double, double, double, i32, [4 x i8], double, i32, [4 x i8], double, i32, [4 x i8], double, double, double, double, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.qpOASES::Flipper" = type { i32, i32, %"class.qpOASES::Bounds", %"class.qpOASES::Constraints", ptr, ptr, ptr }
%"struct.qpOASES::TabularOutput" = type { i32, i32, i32, i32, i32, i32, i32, i32 }
%"class.qpOASES::Constraints" = type { %"class.qpOASES::SubjectTo", %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }
%class.Timer = type { %struct.timespec }
%struct.timespec = type { i64, i64 }
%class.QpProblem = type <{ %struct.QpProblemSettings, %"class.Eigen::Matrix", %"class.Eigen::Matrix", %"class.std::vector", %"class.std::vector", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", i64, i64, i8, [7 x i8], %"class.Eigen::Matrix", %"class.std::vector", %class.CholeskyDenseSolver, %class.CholeskySparseSolver, %"class.Eigen::SparseMatrix", %"class.Eigen::SparseMatrix", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", ptr, ptr, ptr, ptr, %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.Eigen::Matrix.3", %"class.std::vector.13", i8, i8, [6 x i8] }>
%struct.QpProblemSettings = type { i64, double, double, double, double, double, double, double, double }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = 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.CholeskyDenseSolver = type <{ %"class.Eigen::Matrix", ptr, ptr, %"class.Eigen::Matrix.3", ptr, i64, i8, [7 x i8] }>
%class.CholeskySparseSolver = type { %struct.SparseTriple, %struct.MatCSC, %struct.MatCSC, i32, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr }
%struct.SparseTriple = type { double, i32, i32 }
%struct.MatCSC = type { i32, i32, i32, ptr, ptr, ptr }
%"class.Eigen::SparseMatrix" = type { %"class.Eigen::SparseCompressedBase", i64, i64, ptr, ptr, %"class.Eigen::internal::CompressedStorage" }
%"class.Eigen::SparseCompressedBase" = type { %"class.Eigen::SparseMatrixBase" }
%"class.Eigen::SparseMatrixBase" = type { i8 }
%"class.Eigen::internal::CompressedStorage" = type { ptr, ptr, i64, i64 }
%"class.std::vector.13" = type { %"struct.std::_Vector_base.14" }
%"struct.std::_Vector_base.14" = type { %"struct.std::_Vector_base<ConstraintInfo<double>, std::allocator<ConstraintInfo<double>>>::_Vector_impl" }
%"struct.std::_Vector_base<ConstraintInfo<double>, std::allocator<ConstraintInfo<double>>>::_Vector_impl" = type { %"struct.std::_Vector_base<ConstraintInfo<double>, std::allocator<ConstraintInfo<double>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<ConstraintInfo<double>, std::allocator<ConstraintInfo<double>>>::_Vector_impl_data" = type { ptr, ptr, ptr }

@.str = external hidden unnamed_addr constant [29 x i8], align 1

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z9eigenToQPRKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEPdmm(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef, i64 noundef, i64 noundef) #0

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_Z11testQPOASESR9QpProblemIdE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.3") align 8 %0, ptr noundef nonnull align 8 dereferenceable(962) %1) #0 personality ptr @__gxx_personality_v0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca %"class.Eigen::Matrix", align 8
  %12 = alloca ptr, align 8
  %13 = alloca i32, align 4
  %14 = alloca %"class.Eigen::Matrix", align 8
  %15 = alloca %"class.Eigen::Matrix", align 8
  %16 = alloca %"class.qpOASES::QProblem", align 8
  %17 = alloca %"class.qpOASES::Options", align 8
  %18 = alloca i32, align 4
  %19 = alloca %class.Timer, align 8
  %20 = alloca i1, align 1
  store ptr %0, ptr %3, align 8
  store ptr %1, ptr %4, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %5) #11
  %21 = load ptr, ptr %4, align 8, !tbaa !5
  %22 = getelementptr inbounds %class.QpProblem, ptr %21, i32 0, i32 8
  %23 = load i64, ptr %22, align 8, !tbaa !9
  %24 = load ptr, ptr %4, align 8, !tbaa !5
  %25 = getelementptr inbounds %class.QpProblem, ptr %24, i32 0, i32 8
  %26 = load i64, ptr %25, align 8, !tbaa !9
  %27 = mul nsw i64 %23, %26
  %28 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %27, i64 8)
  %29 = extractvalue { i64, i1 } %28, 1
  %30 = extractvalue { i64, i1 } %28, 0
  %31 = select i1 %29, i64 -1, i64 %30
  %32 = call noalias noundef nonnull ptr @_Znam(i64 noundef %31) #12
  store ptr %32, ptr %5, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #11
  %33 = load ptr, ptr %4, align 8, !tbaa !5
  %34 = getelementptr inbounds %class.QpProblem, ptr %33, i32 0, i32 8
  %35 = load i64, ptr %34, align 8, !tbaa !9
  %36 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %35, i64 8)
  %37 = extractvalue { i64, i1 } %36, 1
  %38 = extractvalue { i64, i1 } %36, 0
  %39 = select i1 %37, i64 -1, i64 %38
  %40 = call noalias noundef nonnull ptr @_Znam(i64 noundef %39) #12
  store ptr %40, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #11
  %41 = load ptr, ptr %4, align 8, !tbaa !5
  %42 = getelementptr inbounds %class.QpProblem, ptr %41, i32 0, i32 9
  %43 = load i64, ptr %42, align 8, !tbaa !38
  %44 = load ptr, ptr %4, align 8, !tbaa !5
  %45 = getelementptr inbounds %class.QpProblem, ptr %44, i32 0, i32 8
  %46 = load i64, ptr %45, align 8, !tbaa !9
  %47 = mul nsw i64 %43, %46
  %48 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %47, i64 8)
  %49 = extractvalue { i64, i1 } %48, 1
  %50 = extractvalue { i64, i1 } %48, 0
  %51 = select i1 %49, i64 -1, i64 %50
  %52 = call noalias noundef nonnull ptr @_Znam(i64 noundef %51) #12
  store ptr %52, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %8) #11
  %53 = load ptr, ptr %4, align 8, !tbaa !5
  %54 = getelementptr inbounds %class.QpProblem, ptr %53, i32 0, i32 9
  %55 = load i64, ptr %54, align 8, !tbaa !38
  %56 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %55, i64 8)
  %57 = extractvalue { i64, i1 } %56, 1
  %58 = extractvalue { i64, i1 } %56, 0
  %59 = select i1 %57, i64 -1, i64 %58
  %60 = call noalias noundef nonnull ptr @_Znam(i64 noundef %59) #12
  store ptr %60, ptr %8, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %9) #11
  %61 = load ptr, ptr %4, align 8, !tbaa !5
  %62 = getelementptr inbounds %class.QpProblem, ptr %61, i32 0, i32 9
  %63 = load i64, ptr %62, align 8, !tbaa !38
  %64 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %63, i64 8)
  %65 = extractvalue { i64, i1 } %64, 1
  %66 = extractvalue { i64, i1 } %64, 0
  %67 = select i1 %65, i64 -1, i64 %66
  %68 = call noalias noundef nonnull ptr @_Znam(i64 noundef %67) #12
  store ptr %68, ptr %9, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #11
  %69 = load ptr, ptr %4, align 8, !tbaa !5
  %70 = getelementptr inbounds %class.QpProblem, ptr %69, i32 0, i32 8
  %71 = load i64, ptr %70, align 8, !tbaa !9
  %72 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %71, i64 8)
  %73 = extractvalue { i64, i1 } %72, 1
  %74 = extractvalue { i64, i1 } %72, 0
  %75 = select i1 %73, i64 -1, i64 %74
  %76 = call noalias noundef nonnull ptr @_Znam(i64 noundef %75) #12
  store ptr %76, ptr %10, align 8, !tbaa !5
  %77 = load ptr, ptr %4, align 8, !tbaa !5
  %78 = getelementptr inbounds %class.QpProblem, ptr %77, i32 0, i32 2
  %79 = load ptr, ptr %5, align 8, !tbaa !5
  %80 = load ptr, ptr %4, align 8, !tbaa !5
  %81 = getelementptr inbounds %class.QpProblem, ptr %80, i32 0, i32 8
  %82 = load i64, ptr %81, align 8, !tbaa !9
  %83 = load ptr, ptr %4, align 8, !tbaa !5
  %84 = getelementptr inbounds %class.QpProblem, ptr %83, i32 0, i32 8
  %85 = load i64, ptr %84, align 8, !tbaa !9
  call void @_Z9eigenToQPRKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEPdmm(ptr noundef nonnull align 8 dereferenceable(24) %78, ptr noundef %79, i64 noundef %82, i64 noundef %85)
  call void @llvm.lifetime.start.p0(i64 24, ptr %11) #11
  %86 = load ptr, ptr %4, align 8, !tbaa !5
  %87 = getelementptr inbounds %class.QpProblem, ptr %86, i32 0, i32 7
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS0_IdLin1ELi1ELi0ELin1ELi1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 1 dereferenceable(1) %87)
  %88 = load ptr, ptr %6, align 8, !tbaa !5
  %89 = load ptr, ptr %4, align 8, !tbaa !5
  %90 = getelementptr inbounds %class.QpProblem, ptr %89, i32 0, i32 8
  %91 = load i64, ptr %90, align 8, !tbaa !9
  invoke void @_Z9eigenToQPRKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEPdmm(ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef %88, i64 noundef %91, i64 noundef 1)
          to label %92 unwind label %183

92:                                               ; preds = %2
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %11) #11
  %93 = load ptr, ptr %4, align 8, !tbaa !5
  %94 = getelementptr inbounds %class.QpProblem, ptr %93, i32 0, i32 1
  %95 = load ptr, ptr %7, align 8, !tbaa !5
  %96 = load ptr, ptr %4, align 8, !tbaa !5
  %97 = getelementptr inbounds %class.QpProblem, ptr %96, i32 0, i32 9
  %98 = load i64, ptr %97, align 8, !tbaa !38
  %99 = load ptr, ptr %4, align 8, !tbaa !5
  %100 = getelementptr inbounds %class.QpProblem, ptr %99, i32 0, i32 8
  %101 = load i64, ptr %100, align 8, !tbaa !9
  call void @_Z9eigenToQPRKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEPdmm(ptr noundef nonnull align 8 dereferenceable(24) %94, ptr noundef %95, i64 noundef %98, i64 noundef %101)
  call void @llvm.lifetime.start.p0(i64 24, ptr %14) #11
  %102 = load ptr, ptr %4, align 8, !tbaa !5
  %103 = getelementptr inbounds %class.QpProblem, ptr %102, i32 0, i32 5
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS0_IdLin1ELi1ELi0ELin1ELi1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %14, ptr noundef nonnull align 1 dereferenceable(1) %103)
  %104 = load ptr, ptr %8, align 8, !tbaa !5
  %105 = load ptr, ptr %4, align 8, !tbaa !5
  %106 = getelementptr inbounds %class.QpProblem, ptr %105, i32 0, i32 9
  %107 = load i64, ptr %106, align 8, !tbaa !38
  invoke void @_Z9eigenToQPRKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEPdmm(ptr noundef nonnull align 8 dereferenceable(24) %14, ptr noundef %104, i64 noundef %107, i64 noundef 1)
          to label %108 unwind label %187

108:                                              ; preds = %92
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %14) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %14) #11
  call void @llvm.lifetime.start.p0(i64 24, ptr %15) #11
  %109 = load ptr, ptr %4, align 8, !tbaa !5
  %110 = getelementptr inbounds %class.QpProblem, ptr %109, i32 0, i32 6
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS0_IdLin1ELi1ELi0ELin1ELi1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %15, ptr noundef nonnull align 1 dereferenceable(1) %110)
  %111 = load ptr, ptr %9, align 8, !tbaa !5
  %112 = load ptr, ptr %4, align 8, !tbaa !5
  %113 = getelementptr inbounds %class.QpProblem, ptr %112, i32 0, i32 9
  %114 = load i64, ptr %113, align 8, !tbaa !38
  invoke void @_Z9eigenToQPRKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEPdmm(ptr noundef nonnull align 8 dereferenceable(24) %15, ptr noundef %111, i64 noundef %114, i64 noundef 1)
          to label %115 unwind label %191

115:                                              ; preds = %108
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %15) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %15) #11
  %116 = load ptr, ptr %10, align 8, !tbaa !5
  %117 = load ptr, ptr %4, align 8, !tbaa !5
  %118 = getelementptr inbounds %class.QpProblem, ptr %117, i32 0, i32 8
  %119 = load i64, ptr %118, align 8, !tbaa !9
  %120 = mul i64 %119, 8
  call void @llvm.memset.p0.i64(ptr align 8 %116, i8 0, i64 %120, i1 false)
  call void @llvm.lifetime.start.p0(i64 1064, ptr %16) #11
  %121 = load ptr, ptr %4, align 8, !tbaa !5
  %122 = getelementptr inbounds %class.QpProblem, ptr %121, i32 0, i32 8
  %123 = load i64, ptr %122, align 8, !tbaa !9
  %124 = trunc i64 %123 to i32
  %125 = load ptr, ptr %4, align 8, !tbaa !5
  %126 = getelementptr inbounds %class.QpProblem, ptr %125, i32 0, i32 9
  %127 = load i64, ptr %126, align 8, !tbaa !38
  %128 = trunc i64 %127 to i32
  call void @_ZN7qpOASES8QProblemC1EiiNS_11HessianTypeENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064) %16, i32 noundef %124, i32 noundef %128, i32 noundef 6, i32 noundef 1)
  call void @llvm.lifetime.start.p0(i64 224, ptr %17) #11
  invoke void @_ZN7qpOASES7OptionsC1Ev(ptr noundef nonnull align 8 dereferenceable(220) %17)
          to label %129 unwind label %195

129:                                              ; preds = %115
  %130 = getelementptr inbounds %"class.qpOASES::Options", ptr %17, i32 0, i32 0
  store i32 0, ptr %130, align 8, !tbaa !39
  %131 = invoke noundef i32 @_ZN7qpOASES9QProblemB10setOptionsERKNS_7OptionsE(ptr noundef nonnull align 8 dereferenceable(800) %16, ptr noundef nonnull align 8 dereferenceable(220) %17)
          to label %132 unwind label %199

132:                                              ; preds = %129
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #11
  store i32 10000, ptr %18, align 4, !tbaa !44
  call void @llvm.lifetime.start.p0(i64 16, ptr %19) #11
  invoke void @_ZN5TimerC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %19)
          to label %133 unwind label %203

133:                                              ; preds = %132
  %134 = load ptr, ptr %5, align 8, !tbaa !5
  %135 = load ptr, ptr %6, align 8, !tbaa !5
  %136 = load ptr, ptr %7, align 8, !tbaa !5
  %137 = load ptr, ptr %8, align 8, !tbaa !5
  %138 = load ptr, ptr %9, align 8, !tbaa !5
  %139 = invoke noundef i32 @_ZN7qpOASES8QProblem4initEPKdS2_S2_S2_S2_S2_S2_RiPdS2_S2_PKNS_6BoundsEPKNS_11ConstraintsES2_(ptr noundef nonnull align 8 dereferenceable(1064) %16, ptr noundef %134, ptr noundef %135, ptr noundef %136, ptr noundef null, ptr noundef null, ptr noundef %137, ptr noundef %138, ptr noundef nonnull align 4 dereferenceable(4) %18, ptr noundef null, ptr noundef null, ptr noundef null, ptr noundef null, ptr noundef null, ptr noundef null)
          to label %140 unwind label %203

140:                                              ; preds = %133
  %141 = load ptr, ptr %10, align 8, !tbaa !5
  %142 = invoke noundef i32 @_ZNK7qpOASES9QProblemB17getPrimalSolutionEPd(ptr noundef nonnull align 8 dereferenceable(800) %16, ptr noundef %141)
          to label %143 unwind label %203

143:                                              ; preds = %140
  %144 = invoke noundef double @_ZN5Timer5getMsEv(ptr noundef nonnull align 8 dereferenceable(16) %19)
          to label %145 unwind label %203

145:                                              ; preds = %143
  %146 = invoke i32 (ptr, ...) @printf(ptr noundef @.str, double noundef %144)
          to label %147 unwind label %203

147:                                              ; preds = %145
  store i1 false, ptr %20, align 1
  %148 = load ptr, ptr %4, align 8, !tbaa !5
  %149 = getelementptr inbounds %class.QpProblem, ptr %148, i32 0, i32 8
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2IlEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(8) %149)
          to label %150 unwind label %203

150:                                              ; preds = %147
  %151 = invoke noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4dataEv(ptr noundef nonnull align 8 dereferenceable(16) %0)
          to label %152 unwind label %207

152:                                              ; preds = %150
  %153 = load ptr, ptr %10, align 8, !tbaa !5
  %154 = load ptr, ptr %4, align 8, !tbaa !5
  %155 = getelementptr inbounds %class.QpProblem, ptr %154, i32 0, i32 8
  %156 = load i64, ptr %155, align 8, !tbaa !9
  %157 = mul i64 %156, 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %151, ptr align 8 %153, i64 %157, i1 false)
  %158 = load ptr, ptr %5, align 8, !tbaa !5
  %159 = icmp eq ptr %158, null
  br i1 %159, label %161, label %160

160:                                              ; preds = %152
  call void @_ZdaPv(ptr noundef %158) #13
  br label %161

161:                                              ; preds = %160, %152
  %162 = load ptr, ptr %6, align 8, !tbaa !5
  %163 = icmp eq ptr %162, null
  br i1 %163, label %165, label %164

164:                                              ; preds = %161
  call void @_ZdaPv(ptr noundef %162) #13
  br label %165

165:                                              ; preds = %164, %161
  %166 = load ptr, ptr %7, align 8, !tbaa !5
  %167 = icmp eq ptr %166, null
  br i1 %167, label %169, label %168

168:                                              ; preds = %165
  call void @_ZdaPv(ptr noundef %166) #13
  br label %169

169:                                              ; preds = %168, %165
  %170 = load ptr, ptr %8, align 8, !tbaa !5
  %171 = icmp eq ptr %170, null
  br i1 %171, label %173, label %172

172:                                              ; preds = %169
  call void @_ZdaPv(ptr noundef %170) #13
  br label %173

173:                                              ; preds = %172, %169
  %174 = load ptr, ptr %9, align 8, !tbaa !5
  %175 = icmp eq ptr %174, null
  br i1 %175, label %177, label %176

176:                                              ; preds = %173
  call void @_ZdaPv(ptr noundef %174) #13
  br label %177

177:                                              ; preds = %176, %173
  %178 = load ptr, ptr %10, align 8, !tbaa !5
  %179 = icmp eq ptr %178, null
  br i1 %179, label %181, label %180

180:                                              ; preds = %177
  call void @_ZdaPv(ptr noundef %178) #13
  br label %181

181:                                              ; preds = %180, %177
  store i1 true, ptr %20, align 1
  %182 = load i1, ptr %20, align 1
  br i1 %182, label %212, label %211

183:                                              ; preds = %2
  %184 = landingpad { ptr, i32 }
          cleanup
  %185 = extractvalue { ptr, i32 } %184, 0
  store ptr %185, ptr %12, align 8
  %186 = extractvalue { ptr, i32 } %184, 1
  store i32 %186, ptr %13, align 4
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %11) #11
  br label %216

187:                                              ; preds = %92
  %188 = landingpad { ptr, i32 }
          cleanup
  %189 = extractvalue { ptr, i32 } %188, 0
  store ptr %189, ptr %12, align 8
  %190 = extractvalue { ptr, i32 } %188, 1
  store i32 %190, ptr %13, align 4
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %14) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %14) #11
  br label %216

191:                                              ; preds = %108
  %192 = landingpad { ptr, i32 }
          cleanup
  %193 = extractvalue { ptr, i32 } %192, 0
  store ptr %193, ptr %12, align 8
  %194 = extractvalue { ptr, i32 } %192, 1
  store i32 %194, ptr %13, align 4
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %15) #11
  call void @llvm.lifetime.end.p0(i64 24, ptr %15) #11
  br label %216

195:                                              ; preds = %115
  %196 = landingpad { ptr, i32 }
          cleanup
  %197 = extractvalue { ptr, i32 } %196, 0
  store ptr %197, ptr %12, align 8
  %198 = extractvalue { ptr, i32 } %196, 1
  store i32 %198, ptr %13, align 4
  br label %215

199:                                              ; preds = %129
  %200 = landingpad { ptr, i32 }
          cleanup
  %201 = extractvalue { ptr, i32 } %200, 0
  store ptr %201, ptr %12, align 8
  %202 = extractvalue { ptr, i32 } %200, 1
  store i32 %202, ptr %13, align 4
  br label %214

203:                                              ; preds = %147, %145, %143, %140, %133, %132
  %204 = landingpad { ptr, i32 }
          cleanup
  %205 = extractvalue { ptr, i32 } %204, 0
  store ptr %205, ptr %12, align 8
  %206 = extractvalue { ptr, i32 } %204, 1
  store i32 %206, ptr %13, align 4
  br label %213

207:                                              ; preds = %150
  %208 = landingpad { ptr, i32 }
          cleanup
  %209 = extractvalue { ptr, i32 } %208, 0
  store ptr %209, ptr %12, align 8
  %210 = extractvalue { ptr, i32 } %208, 1
  store i32 %210, ptr %13, align 4
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %0) #11
  br label %213

211:                                              ; preds = %181
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %0) #11
  br label %212

212:                                              ; preds = %211, %181
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #11
  call void @_ZN7qpOASES7OptionsD1Ev(ptr noundef nonnull align 8 dereferenceable(220) %17) #11
  call void @llvm.lifetime.end.p0(i64 224, ptr %17) #11
  call void @_ZN7qpOASES8QProblemD1Ev(ptr noundef nonnull align 8 dereferenceable(1064) %16) #11
  call void @llvm.lifetime.end.p0(i64 1064, ptr %16) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #11
  ret void

213:                                              ; preds = %207, %203
  call void @llvm.lifetime.end.p0(i64 16, ptr %19) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #11
  br label %214

214:                                              ; preds = %213, %199
  call void @_ZN7qpOASES7OptionsD1Ev(ptr noundef nonnull align 8 dereferenceable(220) %17) #11
  br label %215

215:                                              ; preds = %214, %195
  call void @llvm.lifetime.end.p0(i64 224, ptr %17) #11
  call void @_ZN7qpOASES8QProblemD1Ev(ptr noundef nonnull align 8 dereferenceable(1064) %16) #11
  call void @llvm.lifetime.end.p0(i64 1064, ptr %16) #11
  br label %216

216:                                              ; preds = %215, %191, %187, %183
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %9) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %8) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %5) #11
  br label %217

217:                                              ; preds = %216
  %218 = load ptr, ptr %12, align 8
  %219 = load i32, ptr %13, align 4
  %220 = insertvalue { ptr, i32 } poison, ptr %218, 0
  %221 = insertvalue { ptr, i32 } %220, i32 %219, 1
  resume { ptr, i32 } %221
}

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare { i64, i1 } @llvm.umul.with.overflow.i64(i64, i64) #2

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) #3

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS0_IdLin1ELi1ELi0ELin1ELi1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #4 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #5 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #6

declare void @_ZN7qpOASES8QProblemC1EiiNS_11HessianTypeENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064), i32 noundef, i32 noundef, i32 noundef, i32 noundef) unnamed_addr #7

declare void @_ZN7qpOASES7OptionsC1Ev(ptr noundef nonnull align 8 dereferenceable(220)) unnamed_addr #7

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES9QProblemB10setOptionsERKNS_7OptionsE(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef nonnull align 8 dereferenceable(220)) #4 align 2

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

declare noundef i32 @_ZN7qpOASES8QProblem4initEPKdS2_S2_S2_S2_S2_S2_RiPdS2_S2_PKNS_6BoundsEPKNS_11ConstraintsES2_(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) #7

declare noundef i32 @_ZNK7qpOASES9QProblemB17getPrimalSolutionEPd(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef) #7

declare i32 @printf(ptr noundef, ...) #7

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZN5Timer5getMsEv(ptr noundef nonnull align 8 dereferenceable(16)) #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2IlEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4dataEv(ptr noundef nonnull align 8 dereferenceable(16)) #4 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) #8

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) #9

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #5 align 2

; Function Attrs: nounwind
declare void @_ZN7qpOASES7OptionsD1Ev(ptr noundef nonnull align 8 dereferenceable(220)) unnamed_addr #10

; Function Attrs: nounwind
declare void @_ZN7qpOASES8QProblemD1Ev(ptr noundef nonnull align 8 dereferenceable(1064)) unnamed_addr #10

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 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #3 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #7 = { "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 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #9 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #10 = { 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 #11 = { nounwind }
attributes #12 = { builtin allocsize(0) }
attributes #13 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !12, i64 216}
!10 = !{!"_ZTS9QpProblemIdE", !11, i64 0, !14, i64 72, !14, i64 96, !17, i64 120, !17, i64 144, !21, i64 168, !21, i64 184, !21, i64 200, !12, i64 216, !12, i64 224, !24, i64 232, !14, i64 240, !17, i64 264, !25, i64 288, !26, i64 368, !30, i64 536, !30, i64 608, !21, i64 680, !21, i64 696, !21, i64 712, !21, i64 728, !21, i64 744, !21, i64 760, !6, i64 776, !6, i64 784, !6, i64 792, !6, i64 800, !21, i64 808, !21, i64 824, !21, i64 840, !21, i64 856, !21, i64 872, !21, i64 888, !21, i64 904, !21, i64 920, !34, i64 936, !24, i64 960, !24, i64 961}
!11 = !{!"_ZTS17QpProblemSettingsIdE", !12, i64 0, !13, i64 8, !13, i64 16, !13, i64 24, !13, i64 32, !13, i64 40, !13, i64 48, !13, i64 56, !13, i64 64}
!12 = !{!"long", !7, i64 0}
!13 = !{!"double", !7, i64 0}
!14 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !15, i64 0}
!15 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !16, i64 0}
!16 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !6, i64 0, !12, i64 8, !12, i64 16}
!17 = !{!"_ZTSSt6vectorI12SparseTripleIdESaIS1_EE", !18, i64 0}
!18 = !{!"_ZTSSt12_Vector_baseI12SparseTripleIdESaIS1_EE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE12_Vector_implE", !20, i64 0}
!20 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!21 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !23, i64 0}
!23 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !12, i64 8}
!24 = !{!"bool", !7, i64 0}
!25 = !{!"_ZTS19CholeskyDenseSolverIdE", !14, i64 0, !6, i64 24, !6, i64 32, !21, i64 40, !6, i64 56, !12, i64 64, !24, i64 72}
!26 = !{!"_ZTS20CholeskySparseSolverIdE", !27, i64 0, !29, i64 16, !29, i64 56, !28, 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}
!27 = !{!"_ZTS12SparseTripleIdE", !13, i64 0, !28, i64 8, !28, i64 12}
!28 = !{!"int", !7, i64 0}
!29 = !{!"_ZTS6MatCSCIdE", !28, i64 0, !28, i64 4, !28, i64 8, !6, i64 16, !6, i64 24, !6, i64 32}
!30 = !{!"_ZTSN5Eigen12SparseMatrixIdLi0EiEE", !31, i64 0, !12, i64 8, !12, i64 16, !6, i64 24, !6, i64 32, !33, i64 40}
!31 = !{!"_ZTSN5Eigen20SparseCompressedBaseINS_12SparseMatrixIdLi0EiEEEE", !32, i64 0}
!32 = !{!"_ZTSN5Eigen16SparseMatrixBaseINS_12SparseMatrixIdLi0EiEEEE", !24, i64 0}
!33 = !{!"_ZTSN5Eigen8internal17CompressedStorageIdiEE", !6, i64 0, !6, i64 8, !12, i64 16, !12, i64 24}
!34 = !{!"_ZTSSt6vectorI14ConstraintInfoIdESaIS1_EE", !35, i64 0}
!35 = !{!"_ZTSSt12_Vector_baseI14ConstraintInfoIdESaIS1_EE", !36, i64 0}
!36 = !{!"_ZTSNSt12_Vector_baseI14ConstraintInfoIdESaIS1_EE12_Vector_implE", !37, i64 0}
!37 = !{!"_ZTSNSt12_Vector_baseI14ConstraintInfoIdESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!38 = !{!10, !12, i64 224}
!39 = !{!40, !41, i64 0}
!40 = !{!"_ZTSN7qpOASES7OptionsE", !41, i64 0, !42, i64 4, !42, i64 8, !42, i64 12, !42, i64 16, !42, i64 20, !42, i64 24, !28, i64 28, !28, i64 32, !42, i64 36, !13, i64 40, !13, i64 48, !13, i64 56, !13, i64 64, !13, i64 72, !13, i64 80, !13, i64 88, !13, i64 96, !13, i64 104, !13, i64 112, !13, i64 120, !43, i64 128, !13, i64 136, !28, i64 144, !13, i64 152, !28, i64 160, !13, i64 168, !13, i64 176, !13, i64 184, !13, i64 192, !42, i64 200, !42, i64 204, !28, i64 208, !28, i64 212, !28, i64 216}
!41 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!42 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!43 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!44 = !{!28, !28, i64 0}


; 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.Eigen::Matrix.3" = type { %"class.Eigen::PlainObjectBase.4" }
%"class.Eigen::PlainObjectBase.4" = type { %"class.Eigen::DenseStorage.11" }
%"class.Eigen::DenseStorage.11" = type { ptr, i64 }
%"class.Eigen::Matrix" = type { %"class.Eigen::PlainObjectBase" }
%"class.Eigen::PlainObjectBase" = type { %"class.Eigen::DenseStorage" }
%"class.Eigen::DenseStorage" = type { ptr, i64, i64 }
%"class.qpOASES::QProblem" = type { %"class.qpOASES::QProblemB", i32, ptr, ptr, ptr, %"class.qpOASES::Constraints", ptr, ptr, i32, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr }
%"class.qpOASES::QProblemB" = type { ptr, i32, ptr, ptr, ptr, ptr, %"class.qpOASES::Bounds", ptr, i32, ptr, ptr, double, i32, i32, i32, i32, double, i32, ptr, double, double, i32, [4 x i8], %"class.qpOASES::Options", %"class.qpOASES::Flipper", %"struct.qpOASES::TabularOutput" }
%"class.qpOASES::Bounds" = type { %"class.qpOASES::SubjectTo", %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }
%"class.qpOASES::SubjectTo" = type { ptr, i32, ptr, ptr, i32, i32 }
%"class.qpOASES::Indexlist" = type <{ ptr, ptr, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.qpOASES::Options" = type <{ i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, double, double, double, double, double, double, double, double, double, double, double, i32, [4 x i8], double, i32, [4 x i8], double, i32, [4 x i8], double, double, double, double, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.qpOASES::Flipper" = type { i32, i32, %"class.qpOASES::Bounds", %"class.qpOASES::Constraints", ptr, ptr, ptr }
%"struct.qpOASES::TabularOutput" = type { i32, i32, i32, i32, i32, i32, i32, i32 }
%"class.qpOASES::Constraints" = type { %"class.qpOASES::SubjectTo", %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }
%class.Timer = type { %struct.timespec }
%struct.timespec = type { i64, i64 }

@.str = external hidden unnamed_addr constant [29 x i8], align 1

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z9eigenToQPRKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEPdmm(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef, i64 noundef, i64 noundef) local_unnamed_addr #0

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

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

; Function Attrs: mustprogress uwtable
define dso_local void @_Z11testQPOASESR9QpProblemIdE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::Matrix.3") align 8 %0, ptr noundef nonnull align 8 dereferenceable(962) %1) local_unnamed_addr #0 personality ptr @__gxx_personality_v0 {
  %3 = alloca %"class.Eigen::Matrix", align 8
  %4 = alloca %"class.Eigen::Matrix", align 8
  %5 = alloca %"class.Eigen::Matrix", align 8
  %6 = alloca %"class.qpOASES::QProblem", align 8
  %7 = alloca %"class.qpOASES::Options", align 8
  %8 = alloca i32, align 4
  %9 = alloca %class.Timer, align 8
  %10 = getelementptr inbounds i8, ptr %1, i64 216
  %11 = load i64, ptr %10, align 8, !tbaa !5
  %12 = mul nsw i64 %11, %11
  %13 = icmp ugt i64 %12, 2305843009213693951
  %14 = shl i64 %12, 3
  %15 = select i1 %13, i64 -1, i64 %14
  %16 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %15) #11
  %17 = icmp ugt i64 %11, 2305843009213693951
  %18 = shl i64 %11, 3
  %19 = select i1 %17, i64 -1, i64 %18
  %20 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %19) #11
  %21 = getelementptr inbounds i8, ptr %1, i64 224
  %22 = load i64, ptr %21, align 8, !tbaa !37
  %23 = mul nsw i64 %22, %11
  %24 = icmp ugt i64 %23, 2305843009213693951
  %25 = shl i64 %23, 3
  %26 = select i1 %24, i64 -1, i64 %25
  %27 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %26) #11
  %28 = icmp ugt i64 %22, 2305843009213693951
  %29 = shl i64 %22, 3
  %30 = select i1 %28, i64 -1, i64 %29
  %31 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %30) #11
  %32 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %30) #11
  %33 = tail call noalias noundef nonnull ptr @_Znam(i64 noundef %19) #11
  %34 = getelementptr inbounds i8, ptr %1, i64 96
  tail call void @_Z9eigenToQPRKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEPdmm(ptr noundef nonnull align 8 dereferenceable(24) %34, ptr noundef nonnull %16, i64 noundef %11, i64 noundef %11)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %3) #12
  %35 = getelementptr inbounds i8, ptr %1, i64 200
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS0_IdLin1ELi1ELi0ELin1ELi1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %3, ptr noundef nonnull align 1 dereferenceable(1) %35)
  %36 = load i64, ptr %10, align 8, !tbaa !5
  invoke void @_Z9eigenToQPRKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEPdmm(ptr noundef nonnull align 8 dereferenceable(24) %3, ptr noundef nonnull %20, i64 noundef %36, i64 noundef 1)
          to label %37 unwind label %68

37:                                               ; preds = %2
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %3) #12
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %3) #12
  %38 = getelementptr inbounds i8, ptr %1, i64 72
  %39 = load i64, ptr %21, align 8, !tbaa !37
  %40 = load i64, ptr %10, align 8, !tbaa !5
  call void @_Z9eigenToQPRKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEPdmm(ptr noundef nonnull align 8 dereferenceable(24) %38, ptr noundef nonnull %27, i64 noundef %39, i64 noundef %40)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %4) #12
  %41 = getelementptr inbounds i8, ptr %1, i64 168
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS0_IdLin1ELi1ELi0ELin1ELi1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %4, ptr noundef nonnull align 1 dereferenceable(1) %41)
  %42 = load i64, ptr %21, align 8, !tbaa !37
  invoke void @_Z9eigenToQPRKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEPdmm(ptr noundef nonnull align 8 dereferenceable(24) %4, ptr noundef nonnull %31, i64 noundef %42, i64 noundef 1)
          to label %43 unwind label %70

43:                                               ; preds = %37
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #12
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #12
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %5) #12
  %44 = getelementptr inbounds i8, ptr %1, i64 184
  call void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS0_IdLin1ELi1ELi0ELin1ELi1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef nonnull align 1 dereferenceable(1) %44)
  %45 = load i64, ptr %21, align 8, !tbaa !37
  invoke void @_Z9eigenToQPRKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEPdmm(ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef nonnull %32, i64 noundef %45, i64 noundef 1)
          to label %46 unwind label %72

46:                                               ; preds = %43
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #12
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #12
  %47 = load i64, ptr %10, align 8, !tbaa !5
  %48 = shl i64 %47, 3
  call void @llvm.memset.p0.i64(ptr nonnull align 8 %33, i8 0, i64 %48, i1 false)
  call void @llvm.lifetime.start.p0(i64 1064, ptr nonnull %6) #12
  %49 = trunc i64 %47 to i32
  %50 = load i64, ptr %21, align 8, !tbaa !37
  %51 = trunc i64 %50 to i32
  call void @_ZN7qpOASES8QProblemC1EiiNS_11HessianTypeENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064) %6, i32 noundef %49, i32 noundef %51, i32 noundef 6, i32 noundef 1)
  call void @llvm.lifetime.start.p0(i64 224, ptr nonnull %7) #12
  invoke void @_ZN7qpOASES7OptionsC1Ev(ptr noundef nonnull align 8 dereferenceable(220) %7)
          to label %52 unwind label %74

52:                                               ; preds = %46
  store i32 0, ptr %7, align 8, !tbaa !38
  %53 = invoke noundef i32 @_ZN7qpOASES9QProblemB10setOptionsERKNS_7OptionsE(ptr noundef nonnull align 8 dereferenceable(800) %6, ptr noundef nonnull align 8 dereferenceable(220) %7)
          to label %54 unwind label %76

54:                                               ; preds = %52
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %8) #12
  store i32 10000, ptr %8, align 4, !tbaa !43
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #12
  invoke void @_ZN5TimerC2Ev(ptr noundef nonnull align 8 dereferenceable(16) %9)
          to label %55 unwind label %78

55:                                               ; preds = %54
  %56 = invoke noundef i32 @_ZN7qpOASES8QProblem4initEPKdS2_S2_S2_S2_S2_S2_RiPdS2_S2_PKNS_6BoundsEPKNS_11ConstraintsES2_(ptr noundef nonnull align 8 dereferenceable(1064) %6, ptr noundef nonnull %16, ptr noundef nonnull %20, ptr noundef nonnull %27, ptr noundef null, ptr noundef null, ptr noundef nonnull %31, ptr noundef nonnull %32, ptr noundef nonnull align 4 dereferenceable(4) %8, ptr noundef null, ptr noundef null, ptr noundef null, ptr noundef null, ptr noundef null, ptr noundef null)
          to label %57 unwind label %78

57:                                               ; preds = %55
  %58 = invoke noundef i32 @_ZNK7qpOASES9QProblemB17getPrimalSolutionEPd(ptr noundef nonnull align 8 dereferenceable(800) %6, ptr noundef nonnull %33)
          to label %59 unwind label %78

59:                                               ; preds = %57
  %60 = invoke noundef double @_ZN5Timer5getMsEv(ptr noundef nonnull align 8 dereferenceable(16) %9)
          to label %61 unwind label %78

61:                                               ; preds = %59
  %62 = call i32 (ptr, ...) @printf(ptr noundef nonnull dereferenceable(1) @.str, double noundef %60)
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2IlEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %0, ptr noundef nonnull align 8 dereferenceable(8) %10)
          to label %63 unwind label %78

63:                                               ; preds = %61
  %64 = invoke noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4dataEv(ptr noundef nonnull align 8 dereferenceable(16) %0)
          to label %65 unwind label %80

65:                                               ; preds = %63
  %66 = load i64, ptr %10, align 8, !tbaa !5
  %67 = shl i64 %66, 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %64, ptr nonnull align 8 %33, i64 %67, i1 false)
  call void @_ZdaPv(ptr noundef nonnull %16) #13
  call void @_ZdaPv(ptr noundef nonnull %20) #13
  call void @_ZdaPv(ptr noundef nonnull %27) #13
  call void @_ZdaPv(ptr noundef nonnull %31) #13
  call void @_ZdaPv(ptr noundef nonnull %32) #13
  call void @_ZdaPv(ptr noundef nonnull %33) #13
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #12
  call void @_ZN7qpOASES7OptionsD1Ev(ptr noundef nonnull align 8 dereferenceable(220) %7) #12
  call void @llvm.lifetime.end.p0(i64 224, ptr nonnull %7) #12
  call void @_ZN7qpOASES8QProblemD1Ev(ptr noundef nonnull align 8 dereferenceable(1064) %6) #12
  call void @llvm.lifetime.end.p0(i64 1064, ptr nonnull %6) #12
  ret void

68:                                               ; preds = %2
  %69 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %3) #12
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %3) #12
  br label %85

70:                                               ; preds = %37
  %71 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #12
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #12
  br label %85

72:                                               ; preds = %43
  %73 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #12
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #12
  br label %85

74:                                               ; preds = %46
  %75 = landingpad { ptr, i32 }
          cleanup
  br label %84

76:                                               ; preds = %52
  %77 = landingpad { ptr, i32 }
          cleanup
  br label %83

78:                                               ; preds = %61, %59, %57, %55, %54
  %79 = landingpad { ptr, i32 }
          cleanup
  br label %82

80:                                               ; preds = %63
  %81 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %0) #12
  br label %82

82:                                               ; preds = %80, %78
  %.pn = phi { ptr, i32 } [ %81, %80 ], [ %79, %78 ]
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #12
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %8) #12
  br label %83

83:                                               ; preds = %82, %76
  %.pn.pn = phi { ptr, i32 } [ %.pn, %82 ], [ %77, %76 ]
  call void @_ZN7qpOASES7OptionsD1Ev(ptr noundef nonnull align 8 dereferenceable(220) %7) #12
  br label %84

84:                                               ; preds = %83, %74
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %83 ], [ %75, %74 ]
  call void @llvm.lifetime.end.p0(i64 224, ptr nonnull %7) #12
  call void @_ZN7qpOASES8QProblemD1Ev(ptr noundef nonnull align 8 dereferenceable(1064) %6) #12
  call void @llvm.lifetime.end.p0(i64 1064, ptr nonnull %6) #12
  br label %85

85:                                               ; preds = %84, %72, %70, %68
  %.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn, %84 ], [ %73, %72 ], [ %71, %70 ], [ %69, %68 ]
  resume { ptr, i32 } %.pn.pn.pn.pn
}

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

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEC2INS0_IdLin1ELi1ELi0ELin1ELi1EEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #4 align 2

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #5

declare void @_ZN7qpOASES8QProblemC1EiiNS_11HessianTypeENS_11BooleanTypeE(ptr noundef nonnull align 8 dereferenceable(1064), i32 noundef, i32 noundef, i32 noundef, i32 noundef) unnamed_addr #6

declare void @_ZN7qpOASES7OptionsC1Ev(ptr noundef nonnull align 8 dereferenceable(220)) unnamed_addr #6

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZN7qpOASES9QProblemB10setOptionsERKNS_7OptionsE(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef nonnull align 8 dereferenceable(220)) local_unnamed_addr #3 align 2

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

declare noundef i32 @_ZN7qpOASES8QProblem4initEPKdS2_S2_S2_S2_S2_S2_RiPdS2_S2_PKNS_6BoundsEPKNS_11ConstraintsES2_(ptr noundef nonnull align 8 dereferenceable(1064), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #6

declare noundef i32 @_ZNK7qpOASES9QProblemB17getPrimalSolutionEPd(ptr noundef nonnull align 8 dereferenceable(800), ptr noundef) local_unnamed_addr #6

; Function Attrs: nofree nounwind
declare noundef i32 @printf(ptr nocapture noundef readonly, ...) local_unnamed_addr #7

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZN5Timer5getMsEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #0 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2IlEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef ptr @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4dataEv(ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #3 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) #8

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) local_unnamed_addr #9

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #4 align 2

; Function Attrs: nounwind
declare void @_ZN7qpOASES7OptionsD1Ev(ptr noundef nonnull align 8 dereferenceable(220)) unnamed_addr #10

; Function Attrs: nounwind
declare void @_ZN7qpOASES8QProblemD1Ev(ptr noundef nonnull align 8 dereferenceable(1064)) unnamed_addr #10

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 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { 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 #4 = { 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 #5 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: write) }
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 = { nofree nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: readwrite) }
attributes #9 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #10 = { 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 #11 = { builtin allocsize(0) }
attributes #12 = { nounwind }
attributes #13 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !8, i64 216}
!6 = !{!"_ZTS9QpProblemIdE", !7, i64 0, !12, i64 72, !12, i64 96, !16, i64 120, !16, i64 144, !20, i64 168, !20, i64 184, !20, i64 200, !8, i64 216, !8, i64 224, !23, i64 232, !12, i64 240, !16, i64 264, !24, i64 288, !25, i64 368, !29, i64 536, !29, i64 608, !20, i64 680, !20, i64 696, !20, i64 712, !20, i64 728, !20, i64 744, !20, i64 760, !15, i64 776, !15, i64 784, !15, i64 792, !15, i64 800, !20, i64 808, !20, i64 824, !20, i64 840, !20, i64 856, !20, i64 872, !20, i64 888, !20, i64 904, !20, i64 920, !33, i64 936, !23, i64 960, !23, i64 961}
!7 = !{!"_ZTS17QpProblemSettingsIdE", !8, i64 0, !11, i64 8, !11, i64 16, !11, i64 24, !11, i64 32, !11, i64 40, !11, i64 48, !11, i64 56, !11, i64 64}
!8 = !{!"long", !9, i64 0}
!9 = !{!"omnipotent char", !10, i64 0}
!10 = !{!"Simple C++ TBAA"}
!11 = !{!"double", !9, i64 0}
!12 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !13, i64 0}
!13 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !14, i64 0}
!14 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !15, i64 0, !8, i64 8, !8, i64 16}
!15 = !{!"any pointer", !9, i64 0}
!16 = !{!"_ZTSSt6vectorI12SparseTripleIdESaIS1_EE", !17, i64 0}
!17 = !{!"_ZTSSt12_Vector_baseI12SparseTripleIdESaIS1_EE", !18, i64 0}
!18 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE12_Vector_implE", !19, i64 0}
!19 = !{!"_ZTSNSt12_Vector_baseI12SparseTripleIdESaIS1_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!20 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !21, i64 0}
!21 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !22, i64 0}
!22 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !15, i64 0, !8, i64 8}
!23 = !{!"bool", !9, i64 0}
!24 = !{!"_ZTS19CholeskyDenseSolverIdE", !12, i64 0, !15, i64 24, !15, i64 32, !20, i64 40, !15, i64 56, !8, i64 64, !23, i64 72}
!25 = !{!"_ZTS20CholeskySparseSolverIdE", !26, i64 0, !28, i64 16, !28, i64 56, !27, i64 96, !15, i64 104, !15, i64 112, !15, i64 120, !15, i64 128, !15, i64 136, !15, i64 144, !15, i64 152, !15, i64 160}
!26 = !{!"_ZTS12SparseTripleIdE", !11, i64 0, !27, i64 8, !27, i64 12}
!27 = !{!"int", !9, i64 0}
!28 = !{!"_ZTS6MatCSCIdE", !27, i64 0, !27, i64 4, !27, i64 8, !15, i64 16, !15, i64 24, !15, i64 32}
!29 = !{!"_ZTSN5Eigen12SparseMatrixIdLi0EiEE", !30, i64 0, !8, i64 8, !8, i64 16, !15, i64 24, !15, i64 32, !32, i64 40}
!30 = !{!"_ZTSN5Eigen20SparseCompressedBaseINS_12SparseMatrixIdLi0EiEEEE", !31, i64 0}
!31 = !{!"_ZTSN5Eigen16SparseMatrixBaseINS_12SparseMatrixIdLi0EiEEEE", !23, i64 0}
!32 = !{!"_ZTSN5Eigen8internal17CompressedStorageIdiEE", !15, i64 0, !15, i64 8, !8, i64 16, !8, i64 24}
!33 = !{!"_ZTSSt6vectorI14ConstraintInfoIdESaIS1_EE", !34, i64 0}
!34 = !{!"_ZTSSt12_Vector_baseI14ConstraintInfoIdESaIS1_EE", !35, i64 0}
!35 = !{!"_ZTSNSt12_Vector_baseI14ConstraintInfoIdESaIS1_EE12_Vector_implE", !36, i64 0}
!36 = !{!"_ZTSNSt12_Vector_baseI14ConstraintInfoIdESaIS1_EE17_Vector_impl_dataE", !15, i64 0, !15, i64 8, !15, i64 16}
!37 = !{!6, !8, i64 224}
!38 = !{!39, !40, i64 0}
!39 = !{!"_ZTSN7qpOASES7OptionsE", !40, i64 0, !41, i64 4, !41, i64 8, !41, i64 12, !41, i64 16, !41, i64 20, !41, i64 24, !27, i64 28, !27, i64 32, !41, i64 36, !11, i64 40, !11, i64 48, !11, i64 56, !11, i64 64, !11, i64 72, !11, i64 80, !11, i64 88, !11, i64 96, !11, i64 104, !11, i64 112, !11, i64 120, !42, i64 128, !11, i64 136, !27, i64 144, !11, i64 152, !27, i64 160, !11, i64 168, !11, i64 176, !11, i64 184, !11, i64 192, !41, i64 200, !41, i64 204, !27, i64 208, !27, i64 212, !27, i64 216}
!40 = !{!"_ZTSN7qpOASES10PrintLevelE", !9, i64 0}
!41 = !{!"_ZTSN7qpOASES11BooleanTypeE", !9, i64 0}
!42 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !9, i64 0}
!43 = !{!27, !27, i64 0}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,SROAPass,SimplifyCFGPass,TailCallElimPass