; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/MPC_Ctrl/SparseCMPC.ll (ZN10SparseCMPC9runSolverEv)

; 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.QpProblem = type <{ %struct.QpProblemSettings, %"class.Eigen::Matrix.196", %"class.Eigen::Matrix.196", %"class.std::vector.65", %"class.std::vector.65", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", i64, i64, i8, [7 x i8], %"class.Eigen::Matrix.196", %"class.std::vector.65", %class.CholeskyDenseSolver, %class.CholeskySparseSolver, %"class.Eigen::SparseMatrix", %"class.Eigen::SparseMatrix", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", ptr, ptr, ptr, ptr, %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.std::vector.215", i8, i8, [6 x i8] }>
%struct.QpProblemSettings = type { i64, double, double, double, double, double, double, double, double }
%"class.Eigen::Matrix.196" = type { %"class.Eigen::PlainObjectBase.197" }
%"class.Eigen::PlainObjectBase.197" = type { %"class.Eigen::DenseStorage.204" }
%"class.Eigen::DenseStorage.204" = type { ptr, i64, i64 }
%"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.CholeskyDenseSolver = type <{ %"class.Eigen::Matrix.196", ptr, ptr, %"class.Eigen::Matrix.205", 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.Eigen::Matrix.205" = type { %"class.Eigen::PlainObjectBase.206" }
%"class.Eigen::PlainObjectBase.206" = type { %"class.Eigen::DenseStorage.213" }
%"class.Eigen::DenseStorage.213" = type { ptr, i64 }
%"class.std::vector.215" = type { %"struct.std::_Vector_base.216" }
%"struct.std::_Vector_base.216" = 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 }
%"class.Eigen::CwiseUnaryOp" = type <{ ptr, [8 x i8] }>
%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.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 }
%"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.5 = external hidden unnamed_addr constant [90 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [31 x i8], align 1
@__PRETTY_FUNCTION__._ZN10SparseCMPC9runSolverEv = external hidden unnamed_addr constant [29 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [31 x i8], align 1

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

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

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN10SparseCMPC9runSolverEv(ptr noundef nonnull align 16 dereferenceable(964) %0) #3 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca ptr, align 8
  %3 = alloca i32, align 4
  %4 = alloca %class.QpProblem, align 8
  %5 = alloca %"class.Eigen::Matrix.205", align 8
  %6 = alloca i64, align 8
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca %"class.Eigen::Matrix.205", align 8
  %10 = alloca i64, align 8
  %11 = alloca i32, align 4
  %12 = alloca %"class.Eigen::Matrix.205", align 8
  %13 = alloca i32, align 4
  %14 = alloca %"class.Eigen::CwiseUnaryOp", align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  %15 = load ptr, ptr %2, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %3) #7
  %16 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 29
  %17 = load i32, ptr %16, align 8, !tbaa !9
  %18 = mul i32 12, %17
  %19 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 30
  %20 = load i32, ptr %19, align 4, !tbaa !65
  %21 = mul i32 3, %20
  %22 = add i32 %18, %21
  store i32 %22, ptr %3, align 4, !tbaa !66
  %23 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 31
  %24 = load i32, ptr %23, align 16, !tbaa !67
  %25 = zext i32 %24 to i64
  %26 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 26
  %27 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %26) #7
  %28 = icmp eq i64 %25, %27
  br i1 %28, label %29, label %30

29:                                               ; preds = %1
  br label %32

30:                                               ; preds = %1
  call void @__assert_fail(ptr noundef @.str.10, ptr noundef @.str.5, i32 noundef 348, ptr noundef @__PRETTY_FUNCTION__._ZN10SparseCMPC9runSolverEv) #8
  unreachable

31:                                               ; No predecessors!
  br label %32

32:                                               ; preds = %31, %29
  %33 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 31
  %34 = load i32, ptr %33, align 16, !tbaa !67
  %35 = zext i32 %34 to i64
  %36 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 25
  %37 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %36) #7
  %38 = icmp eq i64 %35, %37
  br i1 %38, label %39, label %40

39:                                               ; preds = %32
  br label %42

40:                                               ; preds = %32
  call void @__assert_fail(ptr noundef @.str.11, ptr noundef @.str.5, i32 noundef 349, ptr noundef @__PRETTY_FUNCTION__._ZN10SparseCMPC9runSolverEv) #8
  unreachable

41:                                               ; No predecessors!
  br label %42

42:                                               ; preds = %41, %39
  %43 = load i32, ptr %3, align 4, !tbaa !66
  %44 = zext i32 %43 to i64
  %45 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 27
  %46 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %45) #7
  %47 = icmp eq i64 %44, %46
  br i1 %47, label %48, label %49

48:                                               ; preds = %42
  br label %51

49:                                               ; preds = %42
  call void @__assert_fail(ptr noundef @.str.12, ptr noundef @.str.5, i32 noundef 350, ptr noundef @__PRETTY_FUNCTION__._ZN10SparseCMPC9runSolverEv) #8
  unreachable

50:                                               ; No predecessors!
  br label %51

51:                                               ; preds = %50, %48
  call void @llvm.lifetime.start.p0(i64 968, ptr %4) #7
  %52 = load i32, ptr %3, align 4, !tbaa !66
  %53 = zext i32 %52 to i64
  %54 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 31
  %55 = load i32, ptr %54, align 16, !tbaa !67
  %56 = zext i32 %55 to i64
  call void @_ZN9QpProblemIdEC2Ellb(ptr noundef nonnull align 8 dereferenceable(962) %4, i64 noundef %53, i64 noundef %56, i1 noundef zeroext false)
  %57 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 23
  %58 = getelementptr inbounds %class.QpProblem, ptr %4, i32 0, i32 3
  %59 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI12SparseTripleIdESaIS1_EEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %58, ptr noundef nonnull align 8 dereferenceable(24) %57) #7
  %60 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 24
  %61 = getelementptr inbounds %class.QpProblem, ptr %4, i32 0, i32 4
  %62 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI12SparseTripleIdESaIS1_EEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %61, ptr noundef nonnull align 8 dereferenceable(24) %60) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %5) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #7
  %63 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 26
  %64 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %63) #7
  store i64 %64, ptr %6, align 8, !tbaa !68
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2ImEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %5, ptr noundef nonnull align 8 dereferenceable(8) %6)
          to label %65 unwind label %79

65:                                               ; preds = %51
  %66 = getelementptr inbounds %class.QpProblem, ptr %4, i32 0, i32 6
  %67 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %66, ptr noundef nonnull align 8 dereferenceable(16) %5) #7
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %5) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %5) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr %9) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %10) #7
  %68 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 26
  %69 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %68) #7
  store i64 %69, ptr %10, align 8, !tbaa !68
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2ImEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %9, ptr noundef nonnull align 8 dereferenceable(8) %10)
          to label %70 unwind label %83

70:                                               ; preds = %65
  %71 = getelementptr inbounds %class.QpProblem, ptr %4, i32 0, i32 5
  %72 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %71, ptr noundef nonnull align 8 dereferenceable(16) %9) #7
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %9) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %9) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #7
  store i32 0, ptr %11, align 4, !tbaa !66
  br label %73

73:                                               ; preds = %108, %70
  %74 = load i32, ptr %11, align 4, !tbaa !66
  %75 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 31
  %76 = load i32, ptr %75, align 16, !tbaa !67
  %77 = icmp ult i32 %74, %76
  br i1 %77, label %87, label %78

78:                                               ; preds = %73
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #7
  br label %115

79:                                               ; preds = %51
  %80 = landingpad { ptr, i32 }
          cleanup
  %81 = extractvalue { ptr, i32 } %80, 0
  store ptr %81, ptr %7, align 8
  %82 = extractvalue { ptr, i32 } %80, 1
  store i32 %82, ptr %8, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %5) #7
  br label %170

83:                                               ; preds = %65
  %84 = landingpad { ptr, i32 }
          cleanup
  %85 = extractvalue { ptr, i32 } %84, 0
  store ptr %85, ptr %7, align 8
  %86 = extractvalue { ptr, i32 } %84, 1
  store i32 %86, ptr %8, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %10) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %9) #7
  br label %170

87:                                               ; preds = %73
  %88 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 26
  %89 = load i32, ptr %11, align 4, !tbaa !66
  %90 = zext i32 %89 to i64
  %91 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %88, i64 noundef %90) #7
  %92 = load double, ptr %91, align 8, !tbaa !69
  %93 = getelementptr inbounds %class.QpProblem, ptr %4, i32 0, i32 6
  %94 = load i32, ptr %11, align 4, !tbaa !66
  %95 = zext i32 %94 to i64
  %96 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %93, i64 noundef %95)
          to label %97 unwind label %111

97:                                               ; preds = %87
  store double %92, ptr %96, align 8, !tbaa !69
  %98 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 25
  %99 = load i32, ptr %11, align 4, !tbaa !66
  %100 = zext i32 %99 to i64
  %101 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %98, i64 noundef %100) #7
  %102 = load double, ptr %101, align 8, !tbaa !69
  %103 = getelementptr inbounds %class.QpProblem, ptr %4, i32 0, i32 5
  %104 = load i32, ptr %11, align 4, !tbaa !66
  %105 = zext i32 %104 to i64
  %106 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %103, i64 noundef %105)
          to label %107 unwind label %111

107:                                              ; preds = %97
  store double %102, ptr %106, align 8, !tbaa !69
  br label %108

108:                                              ; preds = %107
  %109 = load i32, ptr %11, align 4, !tbaa !66
  %110 = add i32 %109, 1
  store i32 %110, ptr %11, align 4, !tbaa !66
  br label %73, !llvm.loop !70

111:                                              ; preds = %97, %87
  %112 = landingpad { ptr, i32 }
          cleanup
  %113 = extractvalue { ptr, i32 } %112, 0
  store ptr %113, ptr %7, align 8
  %114 = extractvalue { ptr, i32 } %112, 1
  store i32 %114, ptr %8, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #7
  br label %170

115:                                              ; preds = %78
  call void @llvm.lifetime.start.p0(i64 16, ptr %12) #7
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2IjEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %12, ptr noundef nonnull align 4 dereferenceable(4) %3)
          to label %116 unwind label %124

116:                                              ; preds = %115
  %117 = getelementptr inbounds %class.QpProblem, ptr %4, i32 0, i32 7
  %118 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %117, ptr noundef nonnull align 8 dereferenceable(16) %12) #7
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %12) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #7
  store i32 0, ptr %13, align 4, !tbaa !66
  br label %119

119:                                              ; preds = %139, %116
  %120 = load i32, ptr %13, align 4, !tbaa !66
  %121 = load i32, ptr %3, align 4, !tbaa !66
  %122 = icmp ult i32 %120, %121
  br i1 %122, label %128, label %123

123:                                              ; preds = %119
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #7
  br label %146

124:                                              ; preds = %115
  %125 = landingpad { ptr, i32 }
          cleanup
  %126 = extractvalue { ptr, i32 } %125, 0
  store ptr %126, ptr %7, align 8
  %127 = extractvalue { ptr, i32 } %125, 1
  store i32 %127, ptr %8, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %12) #7
  br label %170

128:                                              ; preds = %119
  %129 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 27
  %130 = load i32, ptr %13, align 4, !tbaa !66
  %131 = zext i32 %130 to i64
  %132 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %129, i64 noundef %131) #7
  %133 = load double, ptr %132, align 8, !tbaa !69
  %134 = getelementptr inbounds %class.QpProblem, ptr %4, i32 0, i32 7
  %135 = load i32, ptr %13, align 4, !tbaa !66
  %136 = zext i32 %135 to i64
  %137 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %134, i64 noundef %136)
          to label %138 unwind label %142

138:                                              ; preds = %128
  store double %133, ptr %137, align 8, !tbaa !69
  br label %139

139:                                              ; preds = %138
  %140 = load i32, ptr %13, align 4, !tbaa !66
  %141 = add i32 %140, 1
  store i32 %141, ptr %13, align 4, !tbaa !66
  br label %119, !llvm.loop !72

142:                                              ; preds = %128
  %143 = landingpad { ptr, i32 }
          cleanup
  %144 = extractvalue { ptr, i32 } %143, 0
  store ptr %144, ptr %7, align 8
  %145 = extractvalue { ptr, i32 } %143, 1
  store i32 %145, ptr %8, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #7
  br label %170

146:                                              ; preds = %123
  %147 = getelementptr inbounds %class.QpProblem, ptr %4, i32 0, i32 0
  %148 = getelementptr inbounds %struct.QpProblemSettings, ptr %147, i32 0, i32 3
  store double 1.500000e+00, ptr %148, align 8, !tbaa !73
  %149 = getelementptr inbounds %class.QpProblem, ptr %4, i32 0, i32 0
  %150 = getelementptr inbounds %struct.QpProblemSettings, ptr %149, i32 0, i32 1
  store double 1.000000e-03, ptr %150, align 8, !tbaa !95
  %151 = getelementptr inbounds %class.QpProblem, ptr %4, i32 0, i32 0
  %152 = getelementptr inbounds %struct.QpProblemSettings, ptr %151, i32 0, i32 8
  store double 0x3EB0C6F7A0B5ED8D, ptr %152, align 8, !tbaa !96
  %153 = getelementptr inbounds %class.QpProblem, ptr %4, i32 0, i32 0
  %154 = getelementptr inbounds %struct.QpProblemSettings, ptr %153, i32 0, i32 2
  store double 0x3EB0C6F7A0B5ED8D, ptr %154, align 8, !tbaa !97
  invoke void @_ZN9QpProblemIdE14runFromTriplesElb(ptr noundef nonnull align 8 dereferenceable(962) %4, i64 noundef -1, i1 noundef zeroext true)
          to label %155 unwind label %162

155:                                              ; preds = %146
  call void @llvm.lifetime.start.p0(i64 16, ptr %14) #7
  %156 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN9QpProblemIdE11getSolutionEv(ptr noundef nonnull align 8 dereferenceable(962) %4)
          to label %157 unwind label %166

157:                                              ; preds = %155
  invoke void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4castIfEENS3_7CastXprIT_E4TypeEv(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseUnaryOp") align 8 %14, ptr noundef nonnull align 1 dereferenceable(1) %156)
          to label %158 unwind label %166

158:                                              ; preds = %157
  %159 = getelementptr inbounds %class.SparseCMPC, ptr %15, i32 0, i32 28
  %160 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEaSINS_12CwiseUnaryOpINS_8internal14scalar_cast_opIdfEEKNS0_IdLin1ELi1ELi0ELin1ELi1EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %159, ptr noundef nonnull align 1 dereferenceable(1) %14)
          to label %161 unwind label %166

161:                                              ; preds = %158
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #7
  call void @_ZN9QpProblemIdED2Ev(ptr noundef nonnull align 8 dereferenceable(962) %4) #7
  call void @llvm.lifetime.end.p0(i64 968, ptr %4) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #7
  ret void

162:                                              ; preds = %146
  %163 = landingpad { ptr, i32 }
          cleanup
  %164 = extractvalue { ptr, i32 } %163, 0
  store ptr %164, ptr %7, align 8
  %165 = extractvalue { ptr, i32 } %163, 1
  store i32 %165, ptr %8, align 4
  br label %170

166:                                              ; preds = %158, %157, %155
  %167 = landingpad { ptr, i32 }
          cleanup
  %168 = extractvalue { ptr, i32 } %167, 0
  store ptr %168, ptr %7, align 8
  %169 = extractvalue { ptr, i32 } %167, 1
  store i32 %169, ptr %8, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %14) #7
  br label %170

170:                                              ; preds = %166, %162, %142, %124, %111, %83, %79
  call void @_ZN9QpProblemIdED2Ev(ptr noundef nonnull align 8 dereferenceable(962) %4) #7
  call void @llvm.lifetime.end.p0(i64 968, ptr %4) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #7
  br label %171

171:                                              ; preds = %170
  %172 = load ptr, ptr %7, align 8
  %173 = load i32, ptr %8, align 4
  %174 = insertvalue { ptr, i32 } poison, ptr %172, 0
  %175 = insertvalue { ptr, i32 } %174, i32 %173, 1
  resume { ptr, i32 } %175
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9QpProblemIdEC2Ellb(ptr noundef nonnull align 8 dereferenceable(962), i64 noundef, i64 noundef, i1 noundef zeroext) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI12SparseTripleIdESaIS1_EEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2ImEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) #5 align 2

; 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: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2IjEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #4 align 2

declare void @_ZN9QpProblemIdE14runFromTriplesElb(ptr noundef nonnull align 8 dereferenceable(962), i64 noundef, i1 noundef zeroext) #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN9QpProblemIdE11getSolutionEv(ptr noundef nonnull align 8 dereferenceable(962)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4castIfEENS3_7CastXprIT_E4TypeEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEaSINS_12CwiseUnaryOpINS_8internal14scalar_cast_opIdfEEKNS0_IdLin1ELi1ELi0ELin1ELi1EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN9QpProblemIdED2Ev(ptr noundef nonnull align 8 dereferenceable(962)) unnamed_addr #1 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { 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 #3 = { 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 uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nounwind }
attributes #8 = { noreturn 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, !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 = !{!63, !63, i64 0}
!69 = !{!19, !19, i64 0}
!70 = distinct !{!70, !71}
!71 = !{!"llvm.loop.mustprogress"}
!72 = distinct !{!72, !71}
!73 = !{!74, !19, i64 24}
!74 = !{!"_ZTS9QpProblemIdE", !75, i64 0, !76, i64 72, !76, i64 96, !56, i64 120, !56, i64 144, !79, i64 168, !79, i64 184, !79, i64 200, !63, i64 216, !63, i64 224, !82, i64 232, !76, i64 240, !56, i64 264, !83, i64 288, !84, i64 368, !87, i64 536, !87, i64 608, !79, i64 680, !79, i64 696, !79, i64 712, !79, i64 728, !79, i64 744, !79, i64 760, !6, i64 776, !6, i64 784, !6, i64 792, !6, i64 800, !79, i64 808, !79, i64 824, !79, i64 840, !79, i64 856, !79, i64 872, !79, i64 888, !79, i64 904, !79, i64 920, !91, i64 936, !82, i64 960, !82, i64 961}
!75 = !{!"_ZTS17QpProblemSettingsIdE", !63, i64 0, !19, i64 8, !19, i64 16, !19, i64 24, !19, i64 32, !19, i64 40, !19, i64 48, !19, i64 56, !19, i64 64}
!76 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !77, i64 0}
!77 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !78, i64 0}
!78 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !6, i64 0, !63, i64 8, !63, i64 16}
!79 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !80, i64 0}
!80 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !81, i64 0}
!81 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !6, i64 0, !63, i64 8}
!82 = !{!"bool", !7, i64 0}
!83 = !{!"_ZTS19CholeskyDenseSolverIdE", !76, i64 0, !6, i64 24, !6, i64 32, !79, i64 40, !6, i64 56, !63, i64 64, !82, i64 72}
!84 = !{!"_ZTS20CholeskySparseSolverIdE", !85, i64 0, !86, i64 16, !86, i64 56, !64, 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}
!85 = !{!"_ZTS12SparseTripleIdE", !19, i64 0, !64, i64 8, !64, i64 12}
!86 = !{!"_ZTS6MatCSCIdE", !64, i64 0, !64, i64 4, !64, i64 8, !6, i64 16, !6, i64 24, !6, i64 32}
!87 = !{!"_ZTSN5Eigen12SparseMatrixIdLi0EiEE", !88, i64 0, !63, i64 8, !63, i64 16, !6, i64 24, !6, i64 32, !90, i64 40}
!88 = !{!"_ZTSN5Eigen20SparseCompressedBaseINS_12SparseMatrixIdLi0EiEEEE", !89, i64 0}
!89 = !{!"_ZTSN5Eigen16SparseMatrixBaseINS_12SparseMatrixIdLi0EiEEEE", !82, i64 0}
!90 = !{!"_ZTSN5Eigen8internal17CompressedStorageIdiEE", !6, i64 0, !6, i64 8, !63, i64 16, !63, i64 24}
!91 = !{!"_ZTSSt6vectorI14ConstraintInfoIdESaIS1_EE", !92, i64 0}
!92 = !{!"_ZTSSt12_Vector_baseI14ConstraintInfoIdESaIS1_EE", !93, i64 0}
!93 = !{!"_ZTSNSt12_Vector_baseI14ConstraintInfoIdESaIS1_EE12_Vector_implE", !94, i64 0}
!94 = !{!"_ZTSNSt12_Vector_baseI14ConstraintInfoIdESaIS1_EE17_Vector_impl_dataE", !6, i64 0, !6, i64 8, !6, i64 16}
!95 = !{!74, !19, i64 8}
!96 = !{!74, !19, i64 64}
!97 = !{!74, !19, i64 16}


; 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.QpProblem = type <{ %struct.QpProblemSettings, %"class.Eigen::Matrix.196", %"class.Eigen::Matrix.196", %"class.std::vector.65", %"class.std::vector.65", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", i64, i64, i8, [7 x i8], %"class.Eigen::Matrix.196", %"class.std::vector.65", %class.CholeskyDenseSolver, %class.CholeskySparseSolver, %"class.Eigen::SparseMatrix", %"class.Eigen::SparseMatrix", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", ptr, ptr, ptr, ptr, %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.Eigen::Matrix.205", %"class.std::vector.215", i8, i8, [6 x i8] }>
%struct.QpProblemSettings = type { i64, double, double, double, double, double, double, double, double }
%"class.Eigen::Matrix.196" = type { %"class.Eigen::PlainObjectBase.197" }
%"class.Eigen::PlainObjectBase.197" = type { %"class.Eigen::DenseStorage.204" }
%"class.Eigen::DenseStorage.204" = type { ptr, i64, i64 }
%"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.CholeskyDenseSolver = type <{ %"class.Eigen::Matrix.196", ptr, ptr, %"class.Eigen::Matrix.205", 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.Eigen::Matrix.205" = type { %"class.Eigen::PlainObjectBase.206" }
%"class.Eigen::PlainObjectBase.206" = type { %"class.Eigen::DenseStorage.213" }
%"class.Eigen::DenseStorage.213" = type { ptr, i64 }
%"class.std::vector.215" = type { %"struct.std::_Vector_base.216" }
%"struct.std::_Vector_base.216" = 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 }
%"class.Eigen::CwiseUnaryOp" = type <{ ptr, [8 x i8] }>

@.str.5 = external hidden unnamed_addr constant [90 x i8], align 1
@.str.10 = external hidden unnamed_addr constant [31 x i8], align 1
@__PRETTY_FUNCTION__._ZN10SparseCMPC9runSolverEv = external hidden unnamed_addr constant [29 x i8], align 1
@.str.11 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.12 = external hidden unnamed_addr constant [31 x i8], align 1

declare i32 @__gxx_personality_v0(...)

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

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

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN10SparseCMPC9runSolverEv(ptr noundef nonnull align 16 dereferenceable(964) %0) local_unnamed_addr #3 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca i32, align 4
  %3 = alloca %class.QpProblem, align 8
  %4 = alloca %"class.Eigen::Matrix.205", align 8
  %5 = alloca i64, align 8
  %6 = alloca %"class.Eigen::Matrix.205", align 8
  %7 = alloca i64, align 8
  %8 = alloca %"class.Eigen::Matrix.205", align 8
  %9 = alloca %"class.Eigen::CwiseUnaryOp", align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %2) #7
  %10 = getelementptr inbounds i8, ptr %0, i64 952
  %11 = load i32, ptr %10, align 8, !tbaa !5
  %12 = mul i32 %11, 12
  %13 = getelementptr inbounds i8, ptr %0, i64 956
  %14 = load i32, ptr %13, align 4, !tbaa !64
  %15 = mul i32 %14, 3
  %16 = add i32 %15, %12
  store i32 %16, ptr %2, align 4, !tbaa !65
  %17 = getelementptr inbounds i8, ptr %0, i64 960
  %18 = load i32, ptr %17, align 16, !tbaa !66
  %19 = zext i32 %18 to i64
  %20 = getelementptr inbounds i8, ptr %0, i64 888
  %21 = tail call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %20) #7
  %22 = icmp eq i64 %21, %19
  br i1 %22, label %24, label %23

23:                                               ; preds = %1
  tail call void @__assert_fail(ptr noundef nonnull @.str.10, ptr noundef nonnull @.str.5, i32 noundef 348, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN10SparseCMPC9runSolverEv) #8
  unreachable

24:                                               ; preds = %1
  %25 = load i32, ptr %17, align 16, !tbaa !66
  %26 = zext i32 %25 to i64
  %27 = getelementptr inbounds i8, ptr %0, i64 864
  %28 = tail call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %27) #7
  %29 = icmp eq i64 %28, %26
  br i1 %29, label %31, label %30

30:                                               ; preds = %24
  tail call void @__assert_fail(ptr noundef nonnull @.str.11, ptr noundef nonnull @.str.5, i32 noundef 349, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN10SparseCMPC9runSolverEv) #8
  unreachable

31:                                               ; preds = %24
  %32 = zext i32 %16 to i64
  %33 = getelementptr inbounds i8, ptr %0, i64 912
  %34 = tail call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %33) #7
  %35 = icmp eq i64 %34, %32
  br i1 %35, label %37, label %36

36:                                               ; preds = %31
  tail call void @__assert_fail(ptr noundef nonnull @.str.12, ptr noundef nonnull @.str.5, i32 noundef 350, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN10SparseCMPC9runSolverEv) #8
  unreachable

37:                                               ; preds = %31
  call void @llvm.lifetime.start.p0(i64 968, ptr nonnull %3) #7
  %38 = load i32, ptr %17, align 16, !tbaa !66
  %39 = zext i32 %38 to i64
  call void @_ZN9QpProblemIdEC2Ellb(ptr noundef nonnull align 8 dereferenceable(962) %3, i64 noundef %32, i64 noundef %39, i1 noundef zeroext false)
  %40 = getelementptr inbounds i8, ptr %0, i64 816
  %41 = getelementptr inbounds i8, ptr %3, i64 120
  %42 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI12SparseTripleIdESaIS1_EEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %41, ptr noundef nonnull align 8 dereferenceable(24) %40) #7
  %43 = getelementptr inbounds i8, ptr %0, i64 840
  %44 = getelementptr inbounds i8, ptr %3, i64 144
  %45 = call noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI12SparseTripleIdESaIS1_EEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(24) %44, ptr noundef nonnull align 8 dereferenceable(24) %43) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %4) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %5) #7
  %46 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %20) #7
  store i64 %46, ptr %5, align 8, !tbaa !67
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2ImEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %4, ptr noundef nonnull align 8 dereferenceable(8) %5)
          to label %47 unwind label %55

47:                                               ; preds = %37
  %48 = getelementptr inbounds i8, ptr %3, i64 184
  %49 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %48, ptr noundef nonnull align 8 dereferenceable(16) %4) #7
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %4) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %4) #7
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %6) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #7
  %50 = call noundef i64 @_ZNKSt6vectorIdSaIdEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %20) #7
  store i64 %50, ptr %7, align 8, !tbaa !67
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2ImEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %6, ptr noundef nonnull align 8 dereferenceable(8) %7)
          to label %51 unwind label %57

51:                                               ; preds = %47
  %52 = getelementptr inbounds i8, ptr %3, i64 168
  %53 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %52, ptr noundef nonnull align 8 dereferenceable(16) %6) #7
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %6) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #7
  %54 = load i32, ptr %17, align 16, !tbaa !66
  %.not = icmp eq i32 %54, 0
  br i1 %.not, label %._crit_edge, label %.lr.ph

._crit_edge:                                      ; preds = %66, %51
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #7
  invoke void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2IjEERKT_(ptr noundef nonnull align 8 dereferenceable(16) %8, ptr noundef nonnull align 4 dereferenceable(4) %2)
          to label %72 unwind label %79

55:                                               ; preds = %37
  %56 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %5) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %4) #7
  br label %100

57:                                               ; preds = %47
  %58 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %6) #7
  br label %100

.lr.ph:                                           ; preds = %51, %66
  %indvars.iv = phi i64 [ %indvars.iv.next, %66 ], [ 0, %51 ]
  %59 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %20, i64 noundef %indvars.iv) #7
  %60 = load double, ptr %59, align 8, !tbaa !68
  %61 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %48, i64 noundef %indvars.iv)
          to label %62 unwind label %70

62:                                               ; preds = %.lr.ph
  store double %60, ptr %61, align 8, !tbaa !68
  %63 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %27, i64 noundef %indvars.iv) #7
  %64 = load double, ptr %63, align 8, !tbaa !68
  %65 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %52, i64 noundef %indvars.iv)
          to label %66 unwind label %70

66:                                               ; preds = %62
  store double %64, ptr %65, align 8, !tbaa !68
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %67 = load i32, ptr %17, align 16, !tbaa !66
  %68 = zext i32 %67 to i64
  %69 = icmp ult i64 %indvars.iv.next, %68
  br i1 %69, label %.lr.ph, label %._crit_edge, !llvm.loop !69

70:                                               ; preds = %62, %.lr.ph
  %71 = landingpad { ptr, i32 }
          cleanup
  br label %100

72:                                               ; preds = %._crit_edge
  %73 = getelementptr inbounds i8, ptr %3, i64 200
  %74 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16) %73, ptr noundef nonnull align 8 dereferenceable(16) %8) #7
  call void @_ZN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEED2Ev(ptr noundef nonnull align 8 dereferenceable(16) %8) #7
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #7
  %75 = load i32, ptr %2, align 4, !tbaa !65
  %.not21 = icmp eq i32 %75, 0
  br i1 %.not21, label %._crit_edge20, label %.lr.ph19

._crit_edge20:                                    ; preds = %84, %72
  %76 = getelementptr inbounds i8, ptr %3, i64 24
  store double 1.500000e+00, ptr %76, align 8, !tbaa !71
  %77 = getelementptr inbounds i8, ptr %3, i64 8
  %78 = getelementptr inbounds i8, ptr %3, i64 64
  store double 0x3EB0C6F7A0B5ED8D, ptr %78, align 8, !tbaa !93
  store <2 x double> <double 1.000000e-03, double 0x3EB0C6F7A0B5ED8D>, ptr %77, align 8, !tbaa !68
  invoke void @_ZN9QpProblemIdE14runFromTriplesElb(ptr noundef nonnull align 8 dereferenceable(962) %3, i64 noundef -1, i1 noundef zeroext true)
          to label %90 unwind label %96

79:                                               ; preds = %._crit_edge
  %80 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #7
  br label %100

.lr.ph19:                                         ; preds = %72, %84
  %indvars.iv23 = phi i64 [ %indvars.iv.next24, %84 ], [ 0, %72 ]
  %81 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %33, i64 noundef %indvars.iv23) #7
  %82 = load double, ptr %81, align 8, !tbaa !68
  %83 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %73, i64 noundef %indvars.iv23)
          to label %84 unwind label %88

84:                                               ; preds = %.lr.ph19
  store double %82, ptr %83, align 8, !tbaa !68
  %indvars.iv.next24 = add nuw nsw i64 %indvars.iv23, 1
  %85 = load i32, ptr %2, align 4, !tbaa !65
  %86 = zext i32 %85 to i64
  %87 = icmp ult i64 %indvars.iv.next24, %86
  br i1 %87, label %.lr.ph19, label %._crit_edge20, !llvm.loop !94

88:                                               ; preds = %.lr.ph19
  %89 = landingpad { ptr, i32 }
          cleanup
  br label %100

90:                                               ; preds = %._crit_edge20
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #7
  %91 = call noundef nonnull align 8 dereferenceable(16) ptr @_ZN9QpProblemIdE11getSolutionEv(ptr noundef nonnull align 8 dereferenceable(962) %3)
  invoke void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4castIfEENS3_7CastXprIT_E4TypeEv(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseUnaryOp") align 8 %9, ptr noundef nonnull align 1 dereferenceable(1) %91)
          to label %92 unwind label %98

92:                                               ; preds = %90
  %93 = getelementptr inbounds i8, ptr %0, i64 936
  %94 = invoke noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEaSINS_12CwiseUnaryOpINS_8internal14scalar_cast_opIdfEEKNS0_IdLin1ELi1ELi0ELin1ELi1EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16) %93, ptr noundef nonnull align 1 dereferenceable(1) %9)
          to label %95 unwind label %98

95:                                               ; preds = %92
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #7
  call void @_ZN9QpProblemIdED2Ev(ptr noundef nonnull align 8 dereferenceable(962) %3) #7
  call void @llvm.lifetime.end.p0(i64 968, ptr nonnull %3) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %2) #7
  ret void

96:                                               ; preds = %._crit_edge20
  %97 = landingpad { ptr, i32 }
          cleanup
  br label %100

98:                                               ; preds = %92, %90
  %99 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #7
  br label %100

100:                                              ; preds = %98, %96, %88, %79, %70, %57, %55
  %.pn = phi { ptr, i32 } [ %71, %70 ], [ %89, %88 ], [ %99, %98 ], [ %97, %96 ], [ %80, %79 ], [ %58, %57 ], [ %56, %55 ]
  call void @_ZN9QpProblemIdED2Ev(ptr noundef nonnull align 8 dereferenceable(962) %3) #7
  call void @llvm.lifetime.end.p0(i64 968, ptr nonnull %3) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %2) #7
  resume { ptr, i32 } %.pn
}

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN9QpProblemIdEC2Ellb(ptr noundef nonnull align 8 dereferenceable(962), i64 noundef, i64 noundef, i1 noundef zeroext) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNSt6vectorI12SparseTripleIdESaIS1_EEaSEOS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2ImEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEaSEOS1_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #5 align 2

; 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: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEC2IjEERKT_(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 4 dereferenceable(4)) unnamed_addr #4 align 2

declare void @_ZN9QpProblemIdE14runFromTriplesElb(ptr noundef nonnull align 8 dereferenceable(962), i64 noundef, i1 noundef zeroext) local_unnamed_addr #6

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN9QpProblemIdE11getSolutionEv(ptr noundef nonnull align 8 dereferenceable(962)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK5Eigen9DenseBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEE4castIfEENS3_7CastXprIT_E4TypeEv(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseUnaryOp") align 8, ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(16) ptr @_ZN5Eigen6MatrixIfLin1ELi1ELi0ELin1ELi1EEaSINS_12CwiseUnaryOpINS_8internal14scalar_cast_opIdfEEKNS0_IdLin1ELi1ELi0ELin1ELi1EEEEEEERS1_RKNS_9DenseBaseIT_EE(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN9QpProblemIdED2Ev(ptr noundef nonnull align 8 dereferenceable(962)) unnamed_addr #1 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #2 = { 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 #3 = { 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 uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nounwind }
attributes #8 = { noreturn 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, !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 = !{!62, !62, i64 0}
!68 = !{!17, !17, i64 0}
!69 = distinct !{!69, !70}
!70 = !{!"llvm.loop.mustprogress"}
!71 = !{!72, !17, i64 24}
!72 = !{!"_ZTS9QpProblemIdE", !73, i64 0, !74, i64 72, !74, i64 96, !55, i64 120, !55, i64 144, !77, i64 168, !77, i64 184, !77, i64 200, !62, i64 216, !62, i64 224, !80, i64 232, !74, i64 240, !55, i64 264, !81, i64 288, !82, i64 368, !85, i64 536, !85, i64 608, !77, i64 680, !77, i64 696, !77, i64 712, !77, i64 728, !77, i64 744, !77, i64 760, !30, i64 776, !30, i64 784, !30, i64 792, !30, i64 800, !77, i64 808, !77, i64 824, !77, i64 840, !77, i64 856, !77, i64 872, !77, i64 888, !77, i64 904, !77, i64 920, !89, i64 936, !80, i64 960, !80, i64 961}
!73 = !{!"_ZTS17QpProblemSettingsIdE", !62, i64 0, !17, i64 8, !17, i64 16, !17, i64 24, !17, i64 32, !17, i64 40, !17, i64 48, !17, i64 56, !17, i64 64}
!74 = !{!"_ZTSN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEE", !75, i64 0}
!75 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEE", !76, i64 0}
!76 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELin1ELi0EEE", !30, i64 0, !62, i64 8, !62, i64 16}
!77 = !{!"_ZTSN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE", !78, i64 0}
!78 = !{!"_ZTSN5Eigen15PlainObjectBaseINS_6MatrixIdLin1ELi1ELi0ELin1ELi1EEEEE", !79, i64 0}
!79 = !{!"_ZTSN5Eigen12DenseStorageIdLin1ELin1ELi1ELi0EEE", !30, i64 0, !62, i64 8}
!80 = !{!"bool", !11, i64 0}
!81 = !{!"_ZTS19CholeskyDenseSolverIdE", !74, i64 0, !30, i64 24, !30, i64 32, !77, i64 40, !30, i64 56, !62, i64 64, !80, i64 72}
!82 = !{!"_ZTS20CholeskySparseSolverIdE", !83, i64 0, !84, i64 16, !84, i64 56, !63, 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}
!83 = !{!"_ZTS12SparseTripleIdE", !17, i64 0, !63, i64 8, !63, i64 12}
!84 = !{!"_ZTS6MatCSCIdE", !63, i64 0, !63, i64 4, !63, i64 8, !30, i64 16, !30, i64 24, !30, i64 32}
!85 = !{!"_ZTSN5Eigen12SparseMatrixIdLi0EiEE", !86, i64 0, !62, i64 8, !62, i64 16, !30, i64 24, !30, i64 32, !88, i64 40}
!86 = !{!"_ZTSN5Eigen20SparseCompressedBaseINS_12SparseMatrixIdLi0EiEEEE", !87, i64 0}
!87 = !{!"_ZTSN5Eigen16SparseMatrixBaseINS_12SparseMatrixIdLi0EiEEEE", !80, i64 0}
!88 = !{!"_ZTSN5Eigen8internal17CompressedStorageIdiEE", !30, i64 0, !30, i64 8, !62, i64 16, !62, i64 24}
!89 = !{!"_ZTSSt6vectorI14ConstraintInfoIdESaIS1_EE", !90, i64 0}
!90 = !{!"_ZTSSt12_Vector_baseI14ConstraintInfoIdESaIS1_EE", !91, i64 0}
!91 = !{!"_ZTSNSt12_Vector_baseI14ConstraintInfoIdESaIS1_EE12_Vector_implE", !92, i64 0}
!92 = !{!"_ZTSNSt12_Vector_baseI14ConstraintInfoIdESaIS1_EE17_Vector_impl_dataE", !30, i64 0, !30, i64 8, !30, i64 16}
!93 = !{!72, !17, i64 64}
!94 = distinct !{!94, !70}


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