; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/MPC_Ctrl/SparseCMPC.ll (ZN10SparseCMPC15addX0ConstraintEv)

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%struct.SparseTriple = type { double, i32, i32 }
%"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.Eigen::CwiseBinaryOp.170" = type <{ %"class.Eigen::Product.176", %"class.Eigen::CwiseBinaryOp.183", [8 x i8] }>
%"class.Eigen::Product.176" = type { ptr, ptr }
%"class.Eigen::CwiseBinaryOp.183" = type <{ ptr, %"class.Eigen::CwiseNullaryOp.189", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.189" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }
%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.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl" }
%"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl" = type { %"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl_data" }
%"struct.std::_Vector_base<ContactState, std::allocator<ContactState>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.33" = type { %"struct.std::_Vector_base.34" }
%"struct.std::_Vector_base.34" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 1>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.43" = type { %"struct.std::_Vector_base.44" }
%"struct.std::_Vector_base.44" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 12>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 12>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.49" = type { %"struct.std::_Vector_base.50" }
%"struct.std::_Vector_base.50" = type { %"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl" }
%"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl" = type { %"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl_data" }
%"struct.std::_Vector_base<BblockID, std::allocator<BblockID>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.54" = type { %"struct.std::_Vector_base.55" }
%"struct.std::_Vector_base.55" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl" = type { %"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<Eigen::Matrix<double, 12, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 12, 3>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.60" = type { %"struct.std::_Vector_base.61" }
%"struct.std::_Vector_base.61" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl" = type { %"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<unsigned int, std::allocator<unsigned int>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.65" = type { %"struct.std::_Vector_base.66" }
%"struct.std::_Vector_base.66" = type { %"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl" }
%"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl" = type { %"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl_data" }
%"struct.std::_Vector_base<SparseTriple<double>, std::allocator<SparseTriple<double>>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::vector.38" = type { %"struct.std::_Vector_base.39" }
%"struct.std::_Vector_base.39" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl" = type { %"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" }
%"struct.std::_Vector_base<double, std::allocator<double>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"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 }

@_ZTISt13runtime_error = external constant ptr
@.str.9 = external hidden unnamed_addr constant [21 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

declare ptr @__cxa_allocate_exception(i64)

declare void @_ZNSt13runtime_errorC1EPKc(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) unnamed_addr #1

declare void @__cxa_free_exception(ptr)

; Function Attrs: nounwind
declare void @_ZNSt13runtime_errorD1Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2

declare void @__cxa_throw(ptr, ptr, ptr)

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN10SparseCMPC15addX0ConstraintEv(ptr noundef nonnull align 16 dereferenceable(964) %0) #4 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca ptr, align 8
  %3 = alloca i32, align 4
  %4 = alloca i32, align 4
  %5 = alloca i32, align 4
  %6 = alloca %struct.SparseTriple, align 8
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca i32, align 4
  %11 = alloca i32, align 4
  %12 = alloca i32, align 4
  %13 = alloca i32, align 4
  %14 = alloca i32, align 4
  %15 = alloca %"class.Eigen::Matrix.3", align 16
  %16 = alloca %"class.Eigen::CwiseBinaryOp.170", align 8
  %17 = alloca %"class.Eigen::Product.176", align 8
  %18 = alloca %"class.Eigen::CwiseBinaryOp.183", align 8
  %19 = alloca i32, align 4
  store ptr %0, ptr %2, align 8, !tbaa !5
  %20 = load ptr, ptr %2, align 8
  call void @llvm.lifetime.start.p0(i64 4, ptr %3) #6
  %21 = call noundef i32 @_ZN10SparseCMPC13getStateIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %20, i32 noundef 0)
  store i32 %21, ptr %3, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %4) #6
  %22 = call noundef i32 @_ZN10SparseCMPC13addConstraintEj(ptr noundef nonnull align 16 dereferenceable(964) %20, i32 noundef 12)
  store i32 %22, ptr %4, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #6
  store i32 0, ptr %5, align 4, !tbaa !9
  br label %23

23:                                               ; preds = %38, %1
  %24 = load i32, ptr %5, align 4, !tbaa !9
  %25 = icmp ult i32 %24, 12
  br i1 %25, label %27, label %26

26:                                               ; preds = %23
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #6
  br label %41

27:                                               ; preds = %23
  %28 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 23
  call void @llvm.lifetime.start.p0(i64 16, ptr %6) #6
  %29 = getelementptr inbounds %struct.SparseTriple, ptr %6, i32 0, i32 0
  store double 1.000000e+00, ptr %29, align 8, !tbaa !11
  %30 = getelementptr inbounds %struct.SparseTriple, ptr %6, i32 0, i32 1
  %31 = load i32, ptr %4, align 4, !tbaa !9
  %32 = load i32, ptr %5, align 4, !tbaa !9
  %33 = add i32 %31, %32
  store i32 %33, ptr %30, align 8, !tbaa !14
  %34 = getelementptr inbounds %struct.SparseTriple, ptr %6, i32 0, i32 2
  %35 = load i32, ptr %3, align 4, !tbaa !9
  %36 = load i32, ptr %5, align 4, !tbaa !9
  %37 = add i32 %35, %36
  store i32 %37, ptr %34, align 4, !tbaa !15
  call void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %28, ptr noundef nonnull align 8 dereferenceable(16) %6)
  call void @llvm.lifetime.end.p0(i64 16, ptr %6) #6
  br label %38

38:                                               ; preds = %27
  %39 = load i32, ptr %5, align 4, !tbaa !9
  %40 = add i32 %39, 1
  store i32 %40, ptr %5, align 4, !tbaa !9
  br label %23, !llvm.loop !16

41:                                               ; preds = %26
  %42 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 22
  %43 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %42, i64 noundef 0) #6
  %44 = load i32, ptr %43, align 4, !tbaa !9
  %45 = icmp ne i32 %44, 0
  br i1 %45, label %46, label %53

46:                                               ; preds = %41
  %47 = call ptr @__cxa_allocate_exception(i64 16) #6
  invoke void @_ZNSt13runtime_errorC1EPKc(ptr noundef nonnull align 8 dereferenceable(16) %47, ptr noundef @.str.9)
          to label %48 unwind label %49

48:                                               ; preds = %46
  call void @__cxa_throw(ptr %47, ptr @_ZTISt13runtime_error, ptr @_ZNSt13runtime_errorD1Ev) #7
  unreachable

49:                                               ; preds = %46
  %50 = landingpad { ptr, i32 }
          cleanup
  %51 = extractvalue { ptr, i32 } %50, 0
  store ptr %51, ptr %7, align 8
  %52 = extractvalue { ptr, i32 } %50, 1
  store i32 %52, ptr %8, align 4
  call void @__cxa_free_exception(ptr %47) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %4) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #6
  br label %136

53:                                               ; preds = %41
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #6
  %54 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 21
  %55 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %54, i64 noundef 0) #6
  %56 = load i32, ptr %55, align 4, !tbaa !9
  store i32 %56, ptr %9, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #6
  store i32 0, ptr %10, align 4, !tbaa !9
  br label %57

57:                                               ; preds = %104, %53
  %58 = load i32, ptr %10, align 4, !tbaa !9
  %59 = load i32, ptr %9, align 4, !tbaa !9
  %60 = icmp ult i32 %58, %59
  br i1 %60, label %62, label %61

61:                                               ; preds = %57
  store i32 5, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #6
  br label %107

62:                                               ; preds = %57
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #6
  %63 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 22
  %64 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %63, i64 noundef 0) #6
  %65 = load i32, ptr %64, align 4, !tbaa !9
  %66 = load i32, ptr %10, align 4, !tbaa !9
  %67 = add i32 %65, %66
  store i32 %67, ptr %12, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %13) #6
  store i32 0, ptr %13, align 4, !tbaa !9
  br label %68

68:                                               ; preds = %100, %62
  %69 = load i32, ptr %13, align 4, !tbaa !9
  %70 = icmp ult i32 %69, 3
  br i1 %70, label %72, label %71

71:                                               ; preds = %68
  store i32 8, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %13) #6
  br label %103

72:                                               ; preds = %68
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #6
  store i32 0, ptr %14, align 4, !tbaa !9
  br label %73

73:                                               ; preds = %96, %72
  %74 = load i32, ptr %14, align 4, !tbaa !9
  %75 = icmp ult i32 %74, 12
  br i1 %75, label %77, label %76

76:                                               ; preds = %73
  store i32 11, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #6
  br label %99

77:                                               ; preds = %73
  %78 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 20
  %79 = load i32, ptr %12, align 4, !tbaa !9
  %80 = zext i32 %79 to i64
  %81 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %78, i64 noundef %80) #6
  %82 = load i32, ptr %14, align 4, !tbaa !9
  %83 = zext i32 %82 to i64
  %84 = load i32, ptr %13, align 4, !tbaa !9
  %85 = zext i32 %84 to i64
  %86 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %81, i64 noundef %83, i64 noundef %85)
  %87 = load double, ptr %86, align 8, !tbaa !18
  %88 = fneg double %87
  %89 = load i32, ptr %4, align 4, !tbaa !9
  %90 = load i32, ptr %14, align 4, !tbaa !9
  %91 = add i32 %89, %90
  %92 = load i32, ptr %12, align 4, !tbaa !9
  %93 = call noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %20, i32 noundef %92)
  %94 = load i32, ptr %13, align 4, !tbaa !9
  %95 = add i32 %93, %94
  call void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964) %20, double noundef %88, i32 noundef %91, i32 noundef %95)
  br label %96

96:                                               ; preds = %77
  %97 = load i32, ptr %14, align 4, !tbaa !9
  %98 = add i32 %97, 1
  store i32 %98, ptr %14, align 4, !tbaa !9
  br label %73, !llvm.loop !19

99:                                               ; preds = %76
  br label %100

100:                                              ; preds = %99
  %101 = load i32, ptr %13, align 4, !tbaa !9
  %102 = add i32 %101, 1
  store i32 %102, ptr %13, align 4, !tbaa !9
  br label %68, !llvm.loop !20

103:                                              ; preds = %71
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #6
  br label %104

104:                                              ; preds = %103
  %105 = load i32, ptr %10, align 4, !tbaa !9
  %106 = add i32 %105, 1
  store i32 %106, ptr %10, align 4, !tbaa !9
  br label %57, !llvm.loop !21

107:                                              ; preds = %61
  call void @llvm.lifetime.start.p0(i64 96, ptr %15) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr %16) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr %17) #6
  %108 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 18
  %109 = call noundef nonnull align 16 dereferenceable(1152) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %108, i64 noundef 0) #6
  %110 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 12
  %111 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEEEmlINS1_IdLi12ELi1ELi0ELi12ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %109, ptr noundef nonnull align 1 dereferenceable(1) %110)
  %112 = getelementptr inbounds { ptr, ptr }, ptr %17, i32 0, i32 0
  %113 = extractvalue { ptr, ptr } %111, 0
  store ptr %113, ptr %112, align 8
  %114 = getelementptr inbounds { ptr, ptr }, ptr %17, i32 0, i32 1
  %115 = extractvalue { ptr, ptr } %111, 1
  store ptr %115, ptr %114, align 8
  call void @llvm.lifetime.start.p0(i64 32, ptr %18) #6
  %116 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 14
  %117 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 17
  %118 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %117, i64 noundef 0) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.183") align 8 %18, ptr noundef nonnull align 1 dereferenceable(1) %116, ptr noundef nonnull align 8 dereferenceable(8) %118)
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS2_IdLi12ELi1ELi0ELi12ELi1EEELi0EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS4_KNS_14CwiseNullaryOpINS9_18scalar_constant_opIdEESC_EEEEEEKNS8_INS9_13scalar_sum_opIdNS9_6traitsIT_E6ScalarEEEKS5_KSL_EERKNS0_ISL_EE(ptr dead_on_unwind writable sret(%"class.Eigen::CwiseBinaryOp.170") align 8 %16, ptr noundef nonnull align 1 dereferenceable(1) %17, ptr noundef nonnull align 1 dereferenceable(1) %18)
  call void @_ZN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_7ProductINS0_IdLi12ELi12ELi0ELi12ELi12EEES1_Li0EEEKNS3_INS4_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS4_18scalar_constant_opIdEESD_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(96) %15, ptr noundef nonnull align 1 dereferenceable(1) %16)
  call void @llvm.lifetime.end.p0(i64 32, ptr %18) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr %17) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr %16) #6
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #6
  store i32 0, ptr %19, align 4, !tbaa !9
  br label %119

119:                                              ; preds = %132, %107
  %120 = load i32, ptr %19, align 4, !tbaa !9
  %121 = icmp ult i32 %120, 12
  br i1 %121, label %123, label %122

122:                                              ; preds = %119
  store i32 14, ptr %11, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #6
  br label %135

123:                                              ; preds = %119
  %124 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 26
  %125 = load i32, ptr %19, align 4, !tbaa !9
  %126 = zext i32 %125 to i64
  %127 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef %126)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %124, ptr noundef nonnull align 8 dereferenceable(8) %127)
  %128 = getelementptr inbounds %class.SparseCMPC, ptr %20, i32 0, i32 25
  %129 = load i32, ptr %19, align 4, !tbaa !9
  %130 = zext i32 %129 to i64
  %131 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %15, i64 noundef %130)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %128, ptr noundef nonnull align 8 dereferenceable(8) %131)
  br label %132

132:                                              ; preds = %123
  %133 = load i32, ptr %19, align 4, !tbaa !9
  %134 = add i32 %133, 1
  store i32 %134, ptr %19, align 4, !tbaa !9
  br label %119, !llvm.loop !22

135:                                              ; preds = %122
  call void @llvm.lifetime.end.p0(i64 96, ptr %15) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %4) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %3) #6
  ret void

136:                                              ; preds = %49
  %137 = load ptr, ptr %7, align 8
  %138 = load i32, ptr %8, align 4
  %139 = insertvalue { ptr, i32 } poison, ptr %137, 0
  %140 = insertvalue { ptr, i32 } %139, i32 %138, 1
  resume { ptr, i32 } %140
}

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(1152) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN10SparseCMPC13getStateIndexEj(ptr noundef nonnull align 16 dereferenceable(964), i32 noundef) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964), i32 noundef) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN10SparseCMPC13addConstraintEj(ptr noundef nonnull align 16 dereferenceable(964), i32 noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964), double noundef, i32 noundef, i32 noundef) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEEEmlINS1_IdLi12ELi1ELi0ELi12ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS2_IdLi12ELi1ELi0ELi12ELi1EEELi0EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS4_KNS_14CwiseNullaryOpINS9_18scalar_constant_opIdEESC_EEEEEEKNS8_INS9_13scalar_sum_opIdNS9_6traitsIT_E6ScalarEEEKS5_KSL_EERKNS0_ISL_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.170") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.183") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) #3 align 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) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_7ProductINS0_IdLi12ELi12ELi0ELi12ELi12EEES1_Li0EEEKNS3_INS4_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS4_18scalar_constant_opIdEESD_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(96), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) #4 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "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 = { 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 = { 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 = { 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 = { 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 = { nounwind }
attributes #7 = { noreturn }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !13, i64 0}
!12 = !{!"_ZTS12SparseTripleIdE", !13, i64 0, !10, i64 8, !10, i64 12}
!13 = !{!"double", !7, i64 0}
!14 = !{!12, !10, i64 8}
!15 = !{!12, !10, i64 12}
!16 = distinct !{!16, !17}
!17 = !{!"llvm.loop.mustprogress"}
!18 = !{!13, !13, i64 0}
!19 = distinct !{!19, !17}
!20 = distinct !{!20, !17}
!21 = distinct !{!21, !17}
!22 = distinct !{!22, !17}


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

%struct.SparseTriple = type { double, i32, i32 }
%"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.Eigen::CwiseBinaryOp.170" = type <{ %"class.Eigen::Product.176", %"class.Eigen::CwiseBinaryOp.183", [8 x i8] }>
%"class.Eigen::Product.176" = type { ptr, ptr }
%"class.Eigen::CwiseBinaryOp.183" = type <{ ptr, %"class.Eigen::CwiseNullaryOp.189", [8 x i8] }>
%"class.Eigen::CwiseNullaryOp.189" = type { [8 x i8], %"struct.Eigen::internal::scalar_constant_op" }
%"struct.Eigen::internal::scalar_constant_op" = type { double }

@_ZTISt13runtime_error = external constant ptr
@.str.9 = external hidden unnamed_addr constant [21 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

declare ptr @__cxa_allocate_exception(i64) local_unnamed_addr

declare void @_ZNSt13runtime_errorC1EPKc(ptr noundef nonnull align 8 dereferenceable(16), ptr noundef) unnamed_addr #1

declare void @__cxa_free_exception(ptr) local_unnamed_addr

; Function Attrs: nounwind
declare void @_ZNSt13runtime_errorD1Ev(ptr noundef nonnull align 8 dereferenceable(16)) unnamed_addr #2

declare void @__cxa_throw(ptr, ptr, ptr) local_unnamed_addr

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN10SparseCMPC15addX0ConstraintEv(ptr noundef nonnull align 16 dereferenceable(964) %0) local_unnamed_addr #4 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca %struct.SparseTriple, align 8
  %3 = alloca %"class.Eigen::Matrix.3", align 16
  %4 = alloca %"class.Eigen::CwiseBinaryOp.170", align 8
  %5 = alloca %"class.Eigen::Product.176", align 8
  %6 = alloca %"class.Eigen::CwiseBinaryOp.183", align 8
  %7 = tail call noundef i32 @_ZN10SparseCMPC13getStateIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef 0)
  %8 = tail call noundef i32 @_ZN10SparseCMPC13addConstraintEj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef 12)
  %9 = getelementptr inbounds i8, ptr %0, i64 816
  %10 = getelementptr inbounds i8, ptr %2, i64 8
  %11 = getelementptr inbounds i8, ptr %2, i64 12
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %2) #6
  store double 1.000000e+00, ptr %2, align 8, !tbaa !5
  store i32 %8, ptr %10, align 8, !tbaa !11
  store i32 %7, ptr %11, align 4, !tbaa !12
  call void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %2) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %2) #6
  store double 1.000000e+00, ptr %2, align 8, !tbaa !5
  %12 = add i32 %8, 1
  store i32 %12, ptr %10, align 8, !tbaa !11
  %13 = add i32 %7, 1
  store i32 %13, ptr %11, align 4, !tbaa !12
  call void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %2) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %2) #6
  store double 1.000000e+00, ptr %2, align 8, !tbaa !5
  %14 = add i32 %8, 2
  store i32 %14, ptr %10, align 8, !tbaa !11
  %15 = add i32 %7, 2
  store i32 %15, ptr %11, align 4, !tbaa !12
  call void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %2) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %2) #6
  store double 1.000000e+00, ptr %2, align 8, !tbaa !5
  %16 = add i32 %8, 3
  store i32 %16, ptr %10, align 8, !tbaa !11
  %17 = add i32 %7, 3
  store i32 %17, ptr %11, align 4, !tbaa !12
  call void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %2) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %2) #6
  store double 1.000000e+00, ptr %2, align 8, !tbaa !5
  %18 = add i32 %8, 4
  store i32 %18, ptr %10, align 8, !tbaa !11
  %19 = add i32 %7, 4
  store i32 %19, ptr %11, align 4, !tbaa !12
  call void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %2) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %2) #6
  store double 1.000000e+00, ptr %2, align 8, !tbaa !5
  %20 = add i32 %8, 5
  store i32 %20, ptr %10, align 8, !tbaa !11
  %21 = add i32 %7, 5
  store i32 %21, ptr %11, align 4, !tbaa !12
  call void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %2) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %2) #6
  store double 1.000000e+00, ptr %2, align 8, !tbaa !5
  %22 = add i32 %8, 6
  store i32 %22, ptr %10, align 8, !tbaa !11
  %23 = add i32 %7, 6
  store i32 %23, ptr %11, align 4, !tbaa !12
  call void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %2) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %2) #6
  store double 1.000000e+00, ptr %2, align 8, !tbaa !5
  %24 = add i32 %8, 7
  store i32 %24, ptr %10, align 8, !tbaa !11
  %25 = add i32 %7, 7
  store i32 %25, ptr %11, align 4, !tbaa !12
  call void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %2) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %2) #6
  store double 1.000000e+00, ptr %2, align 8, !tbaa !5
  %26 = add i32 %8, 8
  store i32 %26, ptr %10, align 8, !tbaa !11
  %27 = add i32 %7, 8
  store i32 %27, ptr %11, align 4, !tbaa !12
  call void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %2) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %2) #6
  store double 1.000000e+00, ptr %2, align 8, !tbaa !5
  %28 = add i32 %8, 9
  store i32 %28, ptr %10, align 8, !tbaa !11
  %29 = add i32 %7, 9
  store i32 %29, ptr %11, align 4, !tbaa !12
  call void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %2) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %2) #6
  store double 1.000000e+00, ptr %2, align 8, !tbaa !5
  %30 = add i32 %8, 10
  store i32 %30, ptr %10, align 8, !tbaa !11
  %31 = add i32 %7, 10
  store i32 %31, ptr %11, align 4, !tbaa !12
  call void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %2) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %2) #6
  store double 1.000000e+00, ptr %2, align 8, !tbaa !5
  %32 = add i32 %8, 11
  store i32 %32, ptr %10, align 8, !tbaa !11
  %33 = add i32 %7, 11
  store i32 %33, ptr %11, align 4, !tbaa !12
  call void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(16) %2)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %2) #6
  %34 = getelementptr inbounds i8, ptr %0, i64 792
  %35 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 0) #6
  %36 = load i32, ptr %35, align 4, !tbaa !13
  %.not = icmp eq i32 %36, 0
  br i1 %.not, label %42, label %37

37:                                               ; preds = %1
  %38 = call ptr @__cxa_allocate_exception(i64 16) #6
  invoke void @_ZNSt13runtime_errorC1EPKc(ptr noundef nonnull align 8 dereferenceable(16) %38, ptr noundef nonnull @.str.9)
          to label %39 unwind label %40

39:                                               ; preds = %37
  call void @__cxa_throw(ptr nonnull %38, ptr nonnull @_ZTISt13runtime_error, ptr nonnull @_ZNSt13runtime_errorD1Ev) #7
  unreachable

40:                                               ; preds = %37
  %41 = landingpad { ptr, i32 }
          cleanup
  call void @__cxa_free_exception(ptr %38) #6
  resume { ptr, i32 } %41

42:                                               ; preds = %1
  %43 = getelementptr inbounds i8, ptr %0, i64 768
  %44 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %43, i64 noundef 0) #6
  %45 = load i32, ptr %44, align 4, !tbaa !13
  %.not36 = icmp eq i32 %45, 0
  br i1 %.not36, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %42
  %46 = getelementptr inbounds i8, ptr %0, i64 744
  br label %83

._crit_edge:                                      ; preds = %161, %42
  call void @llvm.lifetime.start.p0(i64 96, ptr nonnull %3) #6
  call void @llvm.lifetime.start.p0(i64 56, ptr nonnull %4) #6
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %5) #6
  %47 = getelementptr inbounds i8, ptr %0, i64 696
  %48 = call noundef nonnull align 16 dereferenceable(1152) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %47, i64 noundef 0) #6
  %49 = getelementptr inbounds i8, ptr %0, i64 336
  %50 = call { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEEEmlINS1_IdLi12ELi1ELi0ELi12ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1) %48, ptr noundef nonnull align 1 dereferenceable(1) %49)
  %51 = extractvalue { ptr, ptr } %50, 0
  store ptr %51, ptr %5, align 8
  %52 = getelementptr inbounds i8, ptr %5, i64 8
  %53 = extractvalue { ptr, ptr } %50, 1
  store ptr %53, ptr %52, align 8
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %6) #6
  %54 = getelementptr inbounds i8, ptr %0, i64 528
  %55 = getelementptr inbounds i8, ptr %0, i64 672
  %56 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIdSaIdEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %55, i64 noundef 0) #6
  call void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.183") align 8 %6, ptr noundef nonnull align 1 dereferenceable(1) %54, ptr noundef nonnull align 8 dereferenceable(8) %56)
  call void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS2_IdLi12ELi1ELi0ELi12ELi1EEELi0EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS4_KNS_14CwiseNullaryOpINS9_18scalar_constant_opIdEESC_EEEEEEKNS8_INS9_13scalar_sum_opIdNS9_6traitsIT_E6ScalarEEEKS5_KSL_EERKNS0_ISL_EE(ptr dead_on_unwind nonnull writable sret(%"class.Eigen::CwiseBinaryOp.170") align 8 %4, ptr noundef nonnull align 1 dereferenceable(1) %5, ptr noundef nonnull align 1 dereferenceable(1) %6)
  call void @_ZN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_7ProductINS0_IdLi12ELi12ELi0ELi12ELi12EEES1_Li0EEEKNS3_INS4_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS4_18scalar_constant_opIdEESD_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(96) %3, ptr noundef nonnull align 1 dereferenceable(1) %4)
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %6) #6
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %5) #6
  call void @llvm.lifetime.end.p0(i64 56, ptr nonnull %4) #6
  %57 = getelementptr inbounds i8, ptr %0, i64 888
  %58 = getelementptr inbounds i8, ptr %0, i64 864
  %59 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %57, ptr noundef nonnull align 8 dereferenceable(8) %59)
  %60 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 0)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %58, ptr noundef nonnull align 8 dereferenceable(8) %60)
  %61 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 1)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %57, ptr noundef nonnull align 8 dereferenceable(8) %61)
  %62 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 1)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %58, ptr noundef nonnull align 8 dereferenceable(8) %62)
  %63 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %57, ptr noundef nonnull align 8 dereferenceable(8) %63)
  %64 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 2)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %58, ptr noundef nonnull align 8 dereferenceable(8) %64)
  %65 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 3)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %57, ptr noundef nonnull align 8 dereferenceable(8) %65)
  %66 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 3)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %58, ptr noundef nonnull align 8 dereferenceable(8) %66)
  %67 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 4)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %57, ptr noundef nonnull align 8 dereferenceable(8) %67)
  %68 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 4)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %58, ptr noundef nonnull align 8 dereferenceable(8) %68)
  %69 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 5)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %57, ptr noundef nonnull align 8 dereferenceable(8) %69)
  %70 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 5)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %58, ptr noundef nonnull align 8 dereferenceable(8) %70)
  %71 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 6)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %57, ptr noundef nonnull align 8 dereferenceable(8) %71)
  %72 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 6)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %58, ptr noundef nonnull align 8 dereferenceable(8) %72)
  %73 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 7)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %57, ptr noundef nonnull align 8 dereferenceable(8) %73)
  %74 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 7)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %58, ptr noundef nonnull align 8 dereferenceable(8) %74)
  %75 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 8)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %57, ptr noundef nonnull align 8 dereferenceable(8) %75)
  %76 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 8)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %58, ptr noundef nonnull align 8 dereferenceable(8) %76)
  %77 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 9)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %57, ptr noundef nonnull align 8 dereferenceable(8) %77)
  %78 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 9)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %58, ptr noundef nonnull align 8 dereferenceable(8) %78)
  %79 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 10)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %57, ptr noundef nonnull align 8 dereferenceable(8) %79)
  %80 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 10)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %58, ptr noundef nonnull align 8 dereferenceable(8) %80)
  %81 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 11)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %57, ptr noundef nonnull align 8 dereferenceable(8) %81)
  %82 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEELi1EEixEl(ptr noundef nonnull align 1 dereferenceable(1) %3, i64 noundef 11)
  call void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24) %58, ptr noundef nonnull align 8 dereferenceable(8) %82)
  call void @llvm.lifetime.end.p0(i64 96, ptr nonnull %3) #6
  ret void

83:                                               ; preds = %.lr.ph, %161
  %.03034 = phi i32 [ 0, %.lr.ph ], [ %162, %161 ]
  %84 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 0) #6
  %85 = load i32, ptr %84, align 4, !tbaa !13
  %86 = add i32 %85, %.03034
  %87 = zext i32 %86 to i64
  br label %.preheader

.preheader:                                       ; preds = %83, %.preheader
  %indvars.iv = phi i64 [ 0, %83 ], [ %indvars.iv.next, %.preheader ]
  %88 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %87) #6
  %89 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %88, i64 noundef 0, i64 noundef %indvars.iv)
  %90 = load double, ptr %89, align 8, !tbaa !14
  %91 = fneg double %90
  %92 = call noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef %86)
  %93 = trunc nuw nsw i64 %indvars.iv to i32
  %94 = add i32 %92, %93
  call void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964) %0, double noundef %91, i32 noundef %8, i32 noundef %94)
  %95 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %87) #6
  %96 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %95, i64 noundef 1, i64 noundef %indvars.iv)
  %97 = load double, ptr %96, align 8, !tbaa !14
  %98 = fneg double %97
  %99 = call noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef %86)
  %100 = add i32 %99, %93
  call void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964) %0, double noundef %98, i32 noundef %12, i32 noundef %100)
  %101 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %87) #6
  %102 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %101, i64 noundef 2, i64 noundef %indvars.iv)
  %103 = load double, ptr %102, align 8, !tbaa !14
  %104 = fneg double %103
  %105 = call noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef %86)
  %106 = add i32 %105, %93
  call void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964) %0, double noundef %104, i32 noundef %14, i32 noundef %106)
  %107 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %87) #6
  %108 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %107, i64 noundef 3, i64 noundef %indvars.iv)
  %109 = load double, ptr %108, align 8, !tbaa !14
  %110 = fneg double %109
  %111 = call noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef %86)
  %112 = add i32 %111, %93
  call void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964) %0, double noundef %110, i32 noundef %16, i32 noundef %112)
  %113 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %87) #6
  %114 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %113, i64 noundef 4, i64 noundef %indvars.iv)
  %115 = load double, ptr %114, align 8, !tbaa !14
  %116 = fneg double %115
  %117 = call noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef %86)
  %118 = add i32 %117, %93
  call void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964) %0, double noundef %116, i32 noundef %18, i32 noundef %118)
  %119 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %87) #6
  %120 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %119, i64 noundef 5, i64 noundef %indvars.iv)
  %121 = load double, ptr %120, align 8, !tbaa !14
  %122 = fneg double %121
  %123 = call noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef %86)
  %124 = add i32 %123, %93
  call void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964) %0, double noundef %122, i32 noundef %20, i32 noundef %124)
  %125 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %87) #6
  %126 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %125, i64 noundef 6, i64 noundef %indvars.iv)
  %127 = load double, ptr %126, align 8, !tbaa !14
  %128 = fneg double %127
  %129 = call noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef %86)
  %130 = add i32 %129, %93
  call void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964) %0, double noundef %128, i32 noundef %22, i32 noundef %130)
  %131 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %87) #6
  %132 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %131, i64 noundef 7, i64 noundef %indvars.iv)
  %133 = load double, ptr %132, align 8, !tbaa !14
  %134 = fneg double %133
  %135 = call noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef %86)
  %136 = add i32 %135, %93
  call void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964) %0, double noundef %134, i32 noundef %24, i32 noundef %136)
  %137 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %87) #6
  %138 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %137, i64 noundef 8, i64 noundef %indvars.iv)
  %139 = load double, ptr %138, align 8, !tbaa !14
  %140 = fneg double %139
  %141 = call noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef %86)
  %142 = add i32 %141, %93
  call void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964) %0, double noundef %140, i32 noundef %26, i32 noundef %142)
  %143 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %87) #6
  %144 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %143, i64 noundef 9, i64 noundef %indvars.iv)
  %145 = load double, ptr %144, align 8, !tbaa !14
  %146 = fneg double %145
  %147 = call noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef %86)
  %148 = add i32 %147, %93
  call void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964) %0, double noundef %146, i32 noundef %28, i32 noundef %148)
  %149 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %87) #6
  %150 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %149, i64 noundef 10, i64 noundef %indvars.iv)
  %151 = load double, ptr %150, align 8, !tbaa !14
  %152 = fneg double %151
  %153 = call noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef %86)
  %154 = add i32 %153, %93
  call void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964) %0, double noundef %152, i32 noundef %30, i32 noundef %154)
  %155 = call noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %46, i64 noundef %87) #6
  %156 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1) %155, i64 noundef 11, i64 noundef %indvars.iv)
  %157 = load double, ptr %156, align 8, !tbaa !14
  %158 = fneg double %157
  %159 = call noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964) %0, i32 noundef %86)
  %160 = add i32 %159, %93
  call void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964) %0, double noundef %158, i32 noundef %32, i32 noundef %160)
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %exitcond.not = icmp eq i64 %indvars.iv.next, 3
  br i1 %exitcond.not, label %161, label %.preheader, !llvm.loop !15

161:                                              ; preds = %.preheader
  %162 = add nuw i32 %.03034, 1
  %exitcond39.not = icmp eq i32 %162, %45
  br i1 %exitcond39.not, label %._crit_edge, label %83, !llvm.loop !17
}

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(1152) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN10SparseCMPC13getStateIndexEj(ptr noundef nonnull align 16 dereferenceable(964), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN10SparseCMPC15getControlIndexEj(ptr noundef nonnull align 16 dereferenceable(964), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN10SparseCMPC13addConstraintEj(ptr noundef nonnull align 16 dereferenceable(964), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SparseCMPC19addConstraintTripleEdjj(ptr noundef nonnull align 16 dereferenceable(964), double noundef, i32 noundef, i32 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorI12SparseTripleIdESaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(16)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIjSaIjEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 16 dereferenceable(288) ptr @_ZNSt6vectorIN5Eigen6MatrixIdLi12ELi3ELi0ELi12ELi3EEENS0_17aligned_allocatorIS2_EEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN5Eigen15DenseCoeffsBaseINS_6MatrixIdLi12ELi3ELi0ELi12ELi3EEELi1EEclEll(ptr noundef nonnull align 1 dereferenceable(1), i64 noundef, i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { ptr, ptr } @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEEEmlINS1_IdLi12ELi1ELi0ELi12ELi1EEEEEKNS_7ProductIS2_T_Li0EEERKNS0_IS7_EE(ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_7ProductINS_6MatrixIdLi12ELi12ELi0ELi12ELi12EEENS2_IdLi12ELi1ELi0ELi12ELi1EEELi0EEEEplINS_13CwiseBinaryOpINS_8internal17scalar_product_opIddEEKS4_KNS_14CwiseNullaryOpINS9_18scalar_constant_opIdEESC_EEEEEEKNS8_INS9_13scalar_sum_opIdNS9_6traitsIT_E6ScalarEEEKS5_KSL_EERKNS0_ISL_EE(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.170") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 1 dereferenceable(1)) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK5Eigen10MatrixBaseINS_6MatrixIdLi12ELi1ELi0ELi12ELi1EEEEmlIdEEKNS_13CwiseBinaryOpINS_8internal17scalar_product_opIdNS6_18promote_scalar_argIdT_Xsr5Eigen8internal14has_ReturnTypeINS_20ScalarBinaryOpTraitsIdS9_NS7_IdS9_EEEEEE5valueEE4typeEEEKS2_KNS6_19plain_constant_typeIS2_SE_E4typeEEERKS9_(ptr dead_on_unwind noalias writable sret(%"class.Eigen::CwiseBinaryOp.183") align 8, ptr noundef nonnull align 1 dereferenceable(1), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3 align 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 #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN5Eigen6MatrixIdLi12ELi1ELi0ELi12ELi1EEC2INS_13CwiseBinaryOpINS_8internal13scalar_sum_opIddEEKNS_7ProductINS0_IdLi12ELi12ELi0ELi12ELi12EEES1_Li0EEEKNS3_INS4_17scalar_product_opIddEEKS1_KNS_14CwiseNullaryOpINS4_18scalar_constant_opIdEESD_EEEEEEEERKNS_9EigenBaseIT_EE(ptr noundef nonnull align 16 dereferenceable(96), ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIdSaIdEE9push_backERKd(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #4 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "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 = { 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 = { 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 = { 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 = { 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 = { nounwind }
attributes #7 = { noreturn }

!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, !7, i64 0}
!6 = !{!"_ZTS12SparseTripleIdE", !7, i64 0, !10, i64 8, !10, i64 12}
!7 = !{!"double", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C++ TBAA"}
!10 = !{!"int", !8, i64 0}
!11 = !{!6, !10, i64 8}
!12 = !{!6, !10, i64 12}
!13 = !{!10, !10, i64 0}
!14 = !{!7, !7, i64 0}
!15 = distinct !{!15, !16}
!16 = !{!"llvm.loop.mustprogress"}
!17 = distinct !{!17, !16}


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