; LLVM IR from kulho/STM32PendulumMPC :: STM32F407/qpOASES/src (SQProblemSchur)

; 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.qpOASES::SQProblemSchur" = type { %"class.qpOASES::SQProblem", ptr, ptr, i32, i32, ptr, ptr, double, double, i32, ptr, ptr, i32, ptr, ptr, ptr, %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }
%"class.qpOASES::SQProblem" = type { %"class.qpOASES::QProblem" }
%"class.qpOASES::QProblem" = type { %"class.qpOASES::QProblemB", i32, ptr, ptr, ptr, %"class.qpOASES::Constraints", ptr, ptr, i32, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr, ptr }
%"class.qpOASES::QProblemB" = type { ptr, i32, ptr, ptr, ptr, ptr, %"class.qpOASES::Bounds", ptr, i32, ptr, ptr, double, i32, i32, i32, i32, double, i32, ptr, double, double, i32, [4 x i8], %"class.qpOASES::Options", %"class.qpOASES::Flipper", %"struct.qpOASES::TabularOutput" }
%"class.qpOASES::Bounds" = type { %"class.qpOASES::SubjectTo", %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }
%"class.qpOASES::SubjectTo" = type { ptr, i32, ptr, ptr, i32, i32 }
%"class.qpOASES::Options" = type <{ i32, i32, i32, i32, i32, i32, i32, i32, i32, i32, double, double, double, double, double, double, double, double, double, double, double, i32, [4 x i8], double, i32, [4 x i8], double, i32, [4 x i8], double, double, double, double, i32, i32, i32, i32, i32, [4 x i8] }>
%"class.qpOASES::Flipper" = type { i32, i32, %"class.qpOASES::Bounds", %"class.qpOASES::Constraints", ptr, ptr, ptr }
%"struct.qpOASES::TabularOutput" = type { i32, i32, i32, i32, i32, i32, i32, i32 }
%"class.qpOASES::Constraints" = type { %"class.qpOASES::SubjectTo", %"class.qpOASES::Indexlist", %"class.qpOASES::Indexlist" }
%"class.qpOASES::Indexlist" = type <{ ptr, ptr, i32, i32, i32, i32, i32, [4 x i8] }>

@_ZTVN7qpOASES14SQProblemSchurE = external dso_local unnamed_addr constant { [45 x ptr] }, align 8

declare void @_ZN7qpOASES9IndexlistC1Ev(ptr noundef nonnull align 8 dereferenceable(36)) unnamed_addr #0

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) #1

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN7qpOASES17DummySparseSolverC2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #3 align 2

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #4

; Function Attrs: nounwind
declare void @_ZN7qpOASES9IndexlistD1Ev(ptr noundef nonnull align 8 dereferenceable(36)) unnamed_addr #5

; Function Attrs: nounwind
declare void @_ZN7qpOASES9SQProblemD2Ev(ptr noundef nonnull align 8 dereferenceable(1056)) unnamed_addr #5

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7qpOASES14SQProblemSchurC2EiiNS_11HessianTypeEi(ptr noundef nonnull align 8 dereferenceable(1248) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, i32 noundef %4) unnamed_addr #6 align 2 personality ptr @__gxx_personality_v0 {
  %6 = alloca ptr, align 8
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca i32, align 4
  %10 = alloca i32, align 4
  %11 = alloca ptr, align 8
  %12 = alloca i32, align 4
  store ptr %0, ptr %6, align 8, !tbaa !5
  store i32 %1, ptr %7, align 4, !tbaa !9
  store i32 %2, ptr %8, align 4, !tbaa !9
  store i32 %3, ptr %9, align 4, !tbaa !11
  store i32 %4, ptr %10, align 4, !tbaa !9
  %13 = load ptr, ptr %6, align 8
  %14 = load i32, ptr %7, align 4, !tbaa !9
  %15 = load i32, ptr %8, align 4, !tbaa !9
  %16 = load i32, ptr %9, align 4, !tbaa !11
  call void @_ZN7qpOASES9SQProblemC2EiiNS_11HessianTypeE(ptr noundef nonnull align 8 dereferenceable(1056) %13, i32 noundef %14, i32 noundef %15, i32 noundef %16)
  store ptr getelementptr inbounds inrange(-16, 344) ({ [45 x ptr] }, ptr @_ZTVN7qpOASES14SQProblemSchurE, i32 0, i32 0, i32 2), ptr %13, align 8, !tbaa !13
  %17 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 16
  invoke void @_ZN7qpOASES9IndexlistC1Ev(ptr noundef nonnull align 8 dereferenceable(36) %17)
          to label %18 unwind label %146

18:                                               ; preds = %5
  %19 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 17
  invoke void @_ZN7qpOASES9IndexlistC1Ev(ptr noundef nonnull align 8 dereferenceable(36) %19)
          to label %20 unwind label %150

20:                                               ; preds = %18
  %21 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 7
  %22 = load ptr, ptr %21, align 8, !tbaa !15
  %23 = icmp eq ptr %22, null
  br i1 %23, label %25, label %24

24:                                               ; preds = %20
  call void @_ZdaPv(ptr noundef %22) #8
  br label %25

25:                                               ; preds = %24, %20
  %26 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %13, i32 0, i32 7
  store ptr null, ptr %26, align 8, !tbaa !15
  %27 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %13, i32 0, i32 7
  %28 = load ptr, ptr %27, align 8, !tbaa !29
  %29 = icmp eq ptr %28, null
  br i1 %29, label %31, label %30

30:                                               ; preds = %25
  call void @_ZdaPv(ptr noundef %28) #8
  br label %31

31:                                               ; preds = %30, %25
  %32 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %13, i32 0, i32 7
  store ptr null, ptr %32, align 8, !tbaa !29
  %33 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %13, i32 0, i32 6
  %34 = load ptr, ptr %33, align 8, !tbaa !31
  %35 = icmp eq ptr %34, null
  br i1 %35, label %37, label %36

36:                                               ; preds = %31
  call void @_ZdaPv(ptr noundef %34) #8
  br label %37

37:                                               ; preds = %36, %31
  %38 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %13, i32 0, i32 6
  store ptr null, ptr %38, align 8, !tbaa !31
  %39 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 8) #9
          to label %40 unwind label %154

40:                                               ; preds = %37
  call void @llvm.memset.p0.i64(ptr align 8 %39, i8 0, i64 8, i1 false)
  invoke void @_ZN7qpOASES17DummySparseSolverC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %39)
          to label %41 unwind label %158

41:                                               ; preds = %40
  %42 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 1
  store ptr %39, ptr %42, align 8, !tbaa !32
  %43 = load i32, ptr %10, align 4, !tbaa !9
  %44 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 4
  store i32 %43, ptr %44, align 4, !tbaa !35
  %45 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 3
  store i32 -1, ptr %45, align 8, !tbaa !36
  %46 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 4
  %47 = load i32, ptr %46, align 4, !tbaa !35
  %48 = icmp sgt i32 %47, 0
  br i1 %48, label %49, label %162

49:                                               ; preds = %41
  %50 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 4
  %51 = load i32, ptr %50, align 4, !tbaa !35
  %52 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 4
  %53 = load i32, ptr %52, align 4, !tbaa !35
  %54 = mul nsw i32 %51, %53
  %55 = sext i32 %54 to i64
  %56 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %55, i64 8)
  %57 = extractvalue { i64, i1 } %56, 1
  %58 = extractvalue { i64, i1 } %56, 0
  %59 = select i1 %57, i64 -1, i64 %58
  %60 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %59) #9
          to label %61 unwind label %154

61:                                               ; preds = %49
  %62 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 2
  store ptr %60, ptr %62, align 8, !tbaa !37
  %63 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 4
  %64 = load i32, ptr %63, align 4, !tbaa !35
  %65 = sext i32 %64 to i64
  %66 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %65, i64 4)
  %67 = extractvalue { i64, i1 } %66, 1
  %68 = extractvalue { i64, i1 } %66, 0
  %69 = select i1 %67, i64 -1, i64 %68
  %70 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %69) #9
          to label %71 unwind label %154

71:                                               ; preds = %61
  %72 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 10
  store ptr %70, ptr %72, align 8, !tbaa !38
  %73 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 4
  %74 = load i32, ptr %73, align 4, !tbaa !35
  %75 = sext i32 %74 to i64
  %76 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %75, i64 4)
  %77 = extractvalue { i64, i1 } %76, 1
  %78 = extractvalue { i64, i1 } %76, 0
  %79 = select i1 %77, i64 -1, i64 %78
  %80 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %79) #9
          to label %81 unwind label %154

81:                                               ; preds = %71
  %82 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 11
  store ptr %80, ptr %82, align 8, !tbaa !39
  %83 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 4
  %84 = load i32, ptr %83, align 4, !tbaa !35
  %85 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 4
  %86 = load i32, ptr %85, align 4, !tbaa !35
  %87 = mul nsw i32 %84, %86
  %88 = sext i32 %87 to i64
  %89 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %88, i64 8)
  %90 = extractvalue { i64, i1 } %89, 1
  %91 = extractvalue { i64, i1 } %89, 0
  %92 = select i1 %90, i64 -1, i64 %91
  %93 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %92) #9
          to label %94 unwind label %154

94:                                               ; preds = %81
  %95 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 5
  store ptr %93, ptr %95, align 8, !tbaa !40
  %96 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 4
  %97 = load i32, ptr %96, align 4, !tbaa !35
  %98 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 4
  %99 = load i32, ptr %98, align 4, !tbaa !35
  %100 = mul nsw i32 %97, %99
  %101 = sext i32 %100 to i64
  %102 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %101, i64 8)
  %103 = extractvalue { i64, i1 } %102, 1
  %104 = extractvalue { i64, i1 } %102, 0
  %105 = select i1 %103, i64 -1, i64 %104
  %106 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %105) #9
          to label %107 unwind label %154

107:                                              ; preds = %94
  %108 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 6
  store ptr %106, ptr %108, align 8, !tbaa !41
  %109 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 4
  %110 = load i32, ptr %109, align 4, !tbaa !35
  %111 = mul nsw i32 10, %110
  %112 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 12
  store i32 %111, ptr %112, align 8, !tbaa !42
  %113 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 12
  %114 = load i32, ptr %113, align 8, !tbaa !42
  %115 = sext i32 %114 to i64
  %116 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %115, i64 8)
  %117 = extractvalue { i64, i1 } %116, 1
  %118 = extractvalue { i64, i1 } %116, 0
  %119 = select i1 %117, i64 -1, i64 %118
  %120 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %119) #9
          to label %121 unwind label %154

121:                                              ; preds = %107
  %122 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 13
  store ptr %120, ptr %122, align 8, !tbaa !43
  %123 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 12
  %124 = load i32, ptr %123, align 8, !tbaa !42
  %125 = sext i32 %124 to i64
  %126 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %125, i64 4)
  %127 = extractvalue { i64, i1 } %126, 1
  %128 = extractvalue { i64, i1 } %126, 0
  %129 = select i1 %127, i64 -1, i64 %128
  %130 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %129) #9
          to label %131 unwind label %154

131:                                              ; preds = %121
  %132 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 14
  store ptr %130, ptr %132, align 8, !tbaa !44
  %133 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 4
  %134 = load i32, ptr %133, align 4, !tbaa !35
  %135 = add nsw i32 %134, 1
  %136 = sext i32 %135 to i64
  %137 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %136, i64 4)
  %138 = extractvalue { i64, i1 } %137, 1
  %139 = extractvalue { i64, i1 } %137, 0
  %140 = select i1 %138, i64 -1, i64 %139
  %141 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %140) #9
          to label %142 unwind label %154

142:                                              ; preds = %131
  %143 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 15
  store ptr %141, ptr %143, align 8, !tbaa !45
  %144 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 7
  store double 1.000000e+00, ptr %144, align 8, !tbaa !46
  %145 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 8
  store double 1.000000e+00, ptr %145, align 8, !tbaa !47
  br label %174

146:                                              ; preds = %5
  %147 = landingpad { ptr, i32 }
          cleanup
  %148 = extractvalue { ptr, i32 } %147, 0
  store ptr %148, ptr %11, align 8
  %149 = extractvalue { ptr, i32 } %147, 1
  store i32 %149, ptr %12, align 4
  br label %178

150:                                              ; preds = %18
  %151 = landingpad { ptr, i32 }
          cleanup
  %152 = extractvalue { ptr, i32 } %151, 0
  store ptr %152, ptr %11, align 8
  %153 = extractvalue { ptr, i32 } %151, 1
  store i32 %153, ptr %12, align 4
  br label %177

154:                                              ; preds = %131, %121, %107, %94, %81, %71, %61, %49, %37
  %155 = landingpad { ptr, i32 }
          cleanup
  %156 = extractvalue { ptr, i32 } %155, 0
  store ptr %156, ptr %11, align 8
  %157 = extractvalue { ptr, i32 } %155, 1
  store i32 %157, ptr %12, align 4
  br label %176

158:                                              ; preds = %40
  %159 = landingpad { ptr, i32 }
          cleanup
  %160 = extractvalue { ptr, i32 } %159, 0
  store ptr %160, ptr %11, align 8
  %161 = extractvalue { ptr, i32 } %159, 1
  store i32 %161, ptr %12, align 4
  call void @_ZdlPvm(ptr noundef %39, i64 noundef 8) #8
  br label %176

162:                                              ; preds = %41
  %163 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 2
  store ptr null, ptr %163, align 8, !tbaa !37
  %164 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 5
  store ptr null, ptr %164, align 8, !tbaa !40
  %165 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 6
  store ptr null, ptr %165, align 8, !tbaa !41
  %166 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 7
  store double 0.000000e+00, ptr %166, align 8, !tbaa !46
  %167 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 8
  store double 0.000000e+00, ptr %167, align 8, !tbaa !47
  %168 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 10
  store ptr null, ptr %168, align 8, !tbaa !38
  %169 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 11
  store ptr null, ptr %169, align 8, !tbaa !39
  %170 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 12
  store i32 0, ptr %170, align 8, !tbaa !42
  %171 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 13
  store ptr null, ptr %171, align 8, !tbaa !43
  %172 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 14
  store ptr null, ptr %172, align 8, !tbaa !44
  %173 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 15
  store ptr null, ptr %173, align 8, !tbaa !45
  br label %174

174:                                              ; preds = %162, %142
  %175 = getelementptr inbounds %"class.qpOASES::SQProblemSchur", ptr %13, i32 0, i32 9
  store i32 0, ptr %175, align 8, !tbaa !48
  ret void

176:                                              ; preds = %158, %154
  call void @_ZN7qpOASES9IndexlistD1Ev(ptr noundef nonnull align 8 dereferenceable(36) %19) #10
  br label %177

177:                                              ; preds = %176, %150
  call void @_ZN7qpOASES9IndexlistD1Ev(ptr noundef nonnull align 8 dereferenceable(36) %17) #10
  br label %178

178:                                              ; preds = %177, %146
  call void @_ZN7qpOASES9SQProblemD2Ev(ptr noundef nonnull align 8 dereferenceable(1056) %13) #10
  br label %179

179:                                              ; preds = %178
  %180 = load ptr, ptr %11, align 8
  %181 = load i32, ptr %12, align 4
  %182 = insertvalue { ptr, i32 } poison, ptr %180, 0
  %183 = insertvalue { ptr, i32 } %182, i32 %181, 1
  resume { ptr, i32 } %183
}

declare void @_ZN7qpOASES9SQProblemC2EiiNS_11HessianTypeE(ptr noundef nonnull align 8 dereferenceable(1056), i32 noundef, i32 noundef, i32 noundef) unnamed_addr #0

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) #4

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare { i64, i1 } @llvm.umul.with.overflow.i64(i64, i64) #7

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) #1

attributes #0 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nocallback nofree nounwind willreturn memory(argmem: write) }
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 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #6 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #8 = { builtin nounwind }
attributes #9 = { builtin allocsize(0) }
attributes #10 = { 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, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"_ZTSN7qpOASES11HessianTypeE", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"vtable pointer", !8, i64 0}
!15 = !{!16, !6, i64 168}
!16 = !{!"_ZTSN7qpOASES9QProblemBE", !17, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !18, i64 48, !6, i64 168, !17, i64 176, !6, i64 184, !6, i64 192, !21, i64 200, !22, i64 208, !17, i64 212, !17, i64 216, !12, i64 220, !21, i64 224, !10, i64 232, !6, i64 240, !21, i64 248, !21, i64 256, !10, i64 264, !23, i64 272, !26, i64 496, !28, i64 768}
!17 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!18 = !{!"_ZTSN7qpOASES6BoundsE", !19, i64 0, !20, i64 40, !20, i64 80}
!19 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !17, i64 32, !17, i64 36}
!20 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!21 = !{!"double", !7, i64 0}
!22 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES7OptionsE", !24, i64 0, !17, i64 4, !17, i64 8, !17, i64 12, !17, i64 16, !17, i64 20, !17, i64 24, !10, i64 28, !10, i64 32, !17, i64 36, !21, i64 40, !21, i64 48, !21, i64 56, !21, i64 64, !21, i64 72, !21, i64 80, !21, i64 88, !21, i64 96, !21, i64 104, !21, i64 112, !21, i64 120, !25, i64 128, !21, i64 136, !10, i64 144, !21, i64 152, !10, i64 160, !21, i64 168, !21, i64 176, !21, i64 184, !21, i64 192, !17, i64 200, !17, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!24 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!25 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !18, i64 8, !27, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!27 = !{!"_ZTSN7qpOASES11ConstraintsE", !19, i64 0, !20, i64 40, !20, i64 80}
!28 = !{!"_ZTSN7qpOASES13TabularOutputE", !10, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28}
!29 = !{!30, !6, i64 960}
!30 = !{!"_ZTSN7qpOASES8QProblemE", !16, i64 0, !17, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !27, i64 832, !6, i64 952, !6, i64 960, !10, i64 968, !6, i64 976, !6, i64 984, !6, i64 992, !6, i64 1000, !6, i64 1008, !6, i64 1016, !6, i64 1024, !6, i64 1032, !6, i64 1040, !6, i64 1048}
!31 = !{!30, !6, i64 952}
!32 = !{!33, !6, i64 1056}
!33 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !34, i64 0, !6, i64 1056, !6, i64 1064, !10, i64 1072, !10, i64 1076, !6, i64 1080, !6, i64 1088, !21, i64 1096, !21, i64 1104, !10, i64 1112, !6, i64 1120, !6, i64 1128, !10, i64 1136, !6, i64 1144, !6, i64 1152, !6, i64 1160, !20, i64 1168, !20, i64 1208}
!34 = !{!"_ZTSN7qpOASES9SQProblemE", !30, i64 0}
!35 = !{!33, !10, i64 1076}
!36 = !{!33, !10, i64 1072}
!37 = !{!33, !6, i64 1064}
!38 = !{!33, !6, i64 1120}
!39 = !{!33, !6, i64 1128}
!40 = !{!33, !6, i64 1080}
!41 = !{!33, !6, i64 1088}
!42 = !{!33, !10, i64 1136}
!43 = !{!33, !6, i64 1144}
!44 = !{!33, !6, i64 1152}
!45 = !{!33, !6, i64 1160}
!46 = !{!33, !21, i64 1096}
!47 = !{!33, !21, i64 1104}
!48 = !{!33, !10, i64 1112}


; 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"

@_ZTVN7qpOASES14SQProblemSchurE = external dso_local unnamed_addr constant { [45 x ptr] }, align 8

declare void @_ZN7qpOASES9IndexlistC1Ev(ptr noundef nonnull align 8 dereferenceable(36)) unnamed_addr #0

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) local_unnamed_addr #1

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN7qpOASES17DummySparseSolverC2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #3 align 2

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) local_unnamed_addr #4

; Function Attrs: nounwind
declare void @_ZN7qpOASES9IndexlistD1Ev(ptr noundef nonnull align 8 dereferenceable(36)) unnamed_addr #5

; Function Attrs: nounwind
declare void @_ZN7qpOASES9SQProblemD2Ev(ptr noundef nonnull align 8 dereferenceable(1056)) unnamed_addr #5

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7qpOASES14SQProblemSchurC2EiiNS_11HessianTypeEi(ptr noundef nonnull align 8 dereferenceable(1248) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3, i32 noundef %4) unnamed_addr #6 align 2 personality ptr @__gxx_personality_v0 {
  tail call void @_ZN7qpOASES9SQProblemC2EiiNS_11HessianTypeE(ptr noundef nonnull align 8 dereferenceable(1056) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3)
  store ptr getelementptr inbounds inrange(-16, 344) (i8, ptr @_ZTVN7qpOASES14SQProblemSchurE, i64 16), ptr %0, align 8, !tbaa !5
  %6 = getelementptr inbounds i8, ptr %0, i64 1168
  invoke void @_ZN7qpOASES9IndexlistC1Ev(ptr noundef nonnull align 8 dereferenceable(36) %6)
          to label %7 unwind label %71

7:                                                ; preds = %5
  %8 = getelementptr inbounds i8, ptr %0, i64 1208
  invoke void @_ZN7qpOASES9IndexlistC1Ev(ptr noundef nonnull align 8 dereferenceable(36) %8)
          to label %9 unwind label %73

9:                                                ; preds = %7
  %10 = getelementptr inbounds i8, ptr %0, i64 168
  %11 = load ptr, ptr %10, align 8, !tbaa !8
  %12 = icmp eq ptr %11, null
  br i1 %12, label %14, label %13

13:                                               ; preds = %9
  tail call void @_ZdaPv(ptr noundef nonnull %11) #7
  br label %14

14:                                               ; preds = %13, %9
  store ptr null, ptr %10, align 8, !tbaa !8
  %15 = getelementptr inbounds i8, ptr %0, i64 960
  %16 = load ptr, ptr %15, align 8, !tbaa !26
  %17 = icmp eq ptr %16, null
  br i1 %17, label %19, label %18

18:                                               ; preds = %14
  tail call void @_ZdaPv(ptr noundef nonnull %16) #7
  br label %19

19:                                               ; preds = %18, %14
  store ptr null, ptr %15, align 8, !tbaa !26
  %20 = getelementptr inbounds i8, ptr %0, i64 952
  %21 = load ptr, ptr %20, align 8, !tbaa !28
  %22 = icmp eq ptr %21, null
  br i1 %22, label %24, label %23

23:                                               ; preds = %19
  tail call void @_ZdaPv(ptr noundef nonnull %21) #7
  br label %24

24:                                               ; preds = %23, %19
  store ptr null, ptr %20, align 8, !tbaa !28
  %25 = invoke noalias noundef nonnull dereferenceable(8) ptr @_Znwm(i64 noundef 8) #8
          to label %26 unwind label %75

26:                                               ; preds = %24
  store i64 0, ptr %25, align 8
  invoke void @_ZN7qpOASES17DummySparseSolverC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %25)
          to label %27 unwind label %77

27:                                               ; preds = %26
  %28 = getelementptr inbounds i8, ptr %0, i64 1056
  store ptr %25, ptr %28, align 8, !tbaa !29
  %29 = getelementptr inbounds i8, ptr %0, i64 1076
  store i32 %4, ptr %29, align 4, !tbaa !32
  %30 = getelementptr inbounds i8, ptr %0, i64 1072
  store i32 -1, ptr %30, align 8, !tbaa !33
  %31 = icmp sgt i32 %4, 0
  br i1 %31, label %32, label %79

32:                                               ; preds = %27
  %33 = mul nuw nsw i32 %4, %4
  %34 = zext nneg i32 %33 to i64
  %35 = shl nuw nsw i64 %34, 3
  %36 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %35) #8
          to label %37 unwind label %75

37:                                               ; preds = %32
  %38 = getelementptr inbounds i8, ptr %0, i64 1064
  store ptr %36, ptr %38, align 8, !tbaa !34
  %39 = zext nneg i32 %4 to i64
  %40 = shl nuw nsw i64 %39, 2
  %41 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %40) #8
          to label %42 unwind label %75

42:                                               ; preds = %37
  %43 = getelementptr inbounds i8, ptr %0, i64 1120
  store ptr %41, ptr %43, align 8, !tbaa !35
  %44 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %40) #8
          to label %45 unwind label %75

45:                                               ; preds = %42
  %46 = getelementptr inbounds i8, ptr %0, i64 1128
  store ptr %44, ptr %46, align 8, !tbaa !36
  %47 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %35) #8
          to label %48 unwind label %75

48:                                               ; preds = %45
  %49 = getelementptr inbounds i8, ptr %0, i64 1080
  store ptr %47, ptr %49, align 8, !tbaa !37
  %50 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %35) #8
          to label %51 unwind label %75

51:                                               ; preds = %48
  %52 = getelementptr inbounds i8, ptr %0, i64 1088
  store ptr %50, ptr %52, align 8, !tbaa !38
  %53 = mul nuw nsw i32 %4, 10
  %54 = getelementptr inbounds i8, ptr %0, i64 1136
  store i32 %53, ptr %54, align 8, !tbaa !39
  %55 = zext nneg i32 %53 to i64
  %56 = shl nuw nsw i64 %55, 3
  %57 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %56) #8
          to label %58 unwind label %75

58:                                               ; preds = %51
  %59 = getelementptr inbounds i8, ptr %0, i64 1144
  store ptr %57, ptr %59, align 8, !tbaa !40
  %60 = shl nuw nsw i64 %55, 2
  %61 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %60) #8
          to label %62 unwind label %75

62:                                               ; preds = %58
  %63 = getelementptr inbounds i8, ptr %0, i64 1152
  store ptr %61, ptr %63, align 8, !tbaa !41
  %64 = add nuw nsw i32 %4, 1
  %65 = zext nneg i32 %64 to i64
  %66 = shl nuw nsw i64 %65, 2
  %67 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %66) #8
          to label %68 unwind label %75

68:                                               ; preds = %62
  %69 = getelementptr inbounds i8, ptr %0, i64 1160
  store ptr %67, ptr %69, align 8, !tbaa !42
  %70 = getelementptr inbounds i8, ptr %0, i64 1096
  store <2 x double> <double 1.000000e+00, double 1.000000e+00>, ptr %70, align 8, !tbaa !43
  br label %84

71:                                               ; preds = %5
  %72 = landingpad { ptr, i32 }
          cleanup
  br label %88

73:                                               ; preds = %7
  %74 = landingpad { ptr, i32 }
          cleanup
  br label %87

75:                                               ; preds = %62, %58, %51, %48, %45, %42, %37, %32, %24
  %76 = landingpad { ptr, i32 }
          cleanup
  br label %86

77:                                               ; preds = %26
  %78 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %25, i64 noundef 8) #7
  br label %86

79:                                               ; preds = %27
  %80 = getelementptr inbounds i8, ptr %0, i64 1064
  store ptr null, ptr %80, align 8, !tbaa !34
  %81 = getelementptr inbounds i8, ptr %0, i64 1080
  %82 = getelementptr inbounds i8, ptr %0, i64 1120
  %83 = getelementptr inbounds i8, ptr %0, i64 1144
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(32) %81, i8 0, i64 32, i1 false)
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(20) %82, i8 0, i64 20, i1 false)
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %83, i8 0, i64 24, i1 false)
  br label %84

84:                                               ; preds = %79, %68
  %85 = getelementptr inbounds i8, ptr %0, i64 1112
  store i32 0, ptr %85, align 8, !tbaa !44
  ret void

86:                                               ; preds = %77, %75
  %.pn = phi { ptr, i32 } [ %76, %75 ], [ %78, %77 ]
  tail call void @_ZN7qpOASES9IndexlistD1Ev(ptr noundef nonnull align 8 dereferenceable(36) %8) #9
  br label %87

87:                                               ; preds = %86, %73
  %.pn.pn = phi { ptr, i32 } [ %.pn, %86 ], [ %74, %73 ]
  tail call void @_ZN7qpOASES9IndexlistD1Ev(ptr noundef nonnull align 8 dereferenceable(36) %6) #9
  br label %88

88:                                               ; preds = %87, %71
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %87 ], [ %72, %71 ]
  tail call void @_ZN7qpOASES9SQProblemD2Ev(ptr noundef nonnull align 8 dereferenceable(1056) %0) #9
  resume { ptr, i32 } %.pn.pn.pn
}

declare void @_ZN7qpOASES9SQProblemC2EiiNS_11HessianTypeE(ptr noundef nonnull align 8 dereferenceable(1056), i32 noundef, i32 noundef, i32 noundef) unnamed_addr #0

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) local_unnamed_addr #4

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) local_unnamed_addr #1

attributes #0 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: write) }
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 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #5 = { 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 #6 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { builtin nounwind }
attributes #8 = { builtin allocsize(0) }
attributes #9 = { 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 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = !{!9, !12, i64 168}
!9 = !{!"_ZTSN7qpOASES9QProblemBE", !10, i64 8, !12, i64 16, !12, i64 24, !12, i64 32, !12, i64 40, !13, i64 48, !12, i64 168, !10, i64 176, !12, i64 184, !12, i64 192, !17, i64 200, !18, i64 208, !10, i64 212, !10, i64 216, !19, i64 220, !17, i64 224, !15, i64 232, !12, i64 240, !17, i64 248, !17, i64 256, !15, i64 264, !20, i64 272, !23, i64 496, !25, i64 768}
!10 = !{!"_ZTSN7qpOASES11BooleanTypeE", !11, i64 0}
!11 = !{!"omnipotent char", !7, i64 0}
!12 = !{!"any pointer", !11, i64 0}
!13 = !{!"_ZTSN7qpOASES6BoundsE", !14, i64 0, !16, i64 40, !16, i64 80}
!14 = !{!"_ZTSN7qpOASES9SubjectToE", !15, i64 8, !12, i64 16, !12, i64 24, !10, i64 32, !10, i64 36}
!15 = !{!"int", !11, i64 0}
!16 = !{!"_ZTSN7qpOASES9IndexlistE", !12, i64 0, !12, i64 8, !15, i64 16, !15, i64 20, !15, i64 24, !15, i64 28, !15, i64 32}
!17 = !{!"double", !11, i64 0}
!18 = !{!"_ZTSN7qpOASES14QProblemStatusE", !11, i64 0}
!19 = !{!"_ZTSN7qpOASES11HessianTypeE", !11, i64 0}
!20 = !{!"_ZTSN7qpOASES7OptionsE", !21, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !15, i64 28, !15, i64 32, !10, i64 36, !17, i64 40, !17, i64 48, !17, i64 56, !17, i64 64, !17, i64 72, !17, i64 80, !17, i64 88, !17, i64 96, !17, i64 104, !17, i64 112, !17, i64 120, !22, i64 128, !17, i64 136, !15, i64 144, !17, i64 152, !15, i64 160, !17, i64 168, !17, i64 176, !17, i64 184, !17, i64 192, !10, i64 200, !10, i64 204, !15, i64 208, !15, i64 212, !15, i64 216}
!21 = !{!"_ZTSN7qpOASES10PrintLevelE", !11, i64 0}
!22 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !11, i64 0}
!23 = !{!"_ZTSN7qpOASES7FlipperE", !15, i64 0, !15, i64 4, !13, i64 8, !24, i64 128, !12, i64 248, !12, i64 256, !12, i64 264}
!24 = !{!"_ZTSN7qpOASES11ConstraintsE", !14, i64 0, !16, i64 40, !16, i64 80}
!25 = !{!"_ZTSN7qpOASES13TabularOutputE", !15, i64 0, !15, i64 4, !15, i64 8, !15, i64 12, !15, i64 16, !15, i64 20, !15, i64 24, !15, i64 28}
!26 = !{!27, !12, i64 960}
!27 = !{!"_ZTSN7qpOASES8QProblemE", !9, i64 0, !10, i64 800, !12, i64 808, !12, i64 816, !12, i64 824, !24, i64 832, !12, i64 952, !12, i64 960, !15, i64 968, !12, i64 976, !12, i64 984, !12, i64 992, !12, i64 1000, !12, i64 1008, !12, i64 1016, !12, i64 1024, !12, i64 1032, !12, i64 1040, !12, i64 1048}
!28 = !{!27, !12, i64 952}
!29 = !{!30, !12, i64 1056}
!30 = !{!"_ZTSN7qpOASES14SQProblemSchurE", !31, i64 0, !12, i64 1056, !12, i64 1064, !15, i64 1072, !15, i64 1076, !12, i64 1080, !12, i64 1088, !17, i64 1096, !17, i64 1104, !15, i64 1112, !12, i64 1120, !12, i64 1128, !15, i64 1136, !12, i64 1144, !12, i64 1152, !12, i64 1160, !16, i64 1168, !16, i64 1208}
!31 = !{!"_ZTSN7qpOASES9SQProblemE", !27, i64 0}
!32 = !{!30, !15, i64 1076}
!33 = !{!30, !15, i64 1072}
!34 = !{!30, !12, i64 1064}
!35 = !{!30, !12, i64 1120}
!36 = !{!30, !12, i64 1128}
!37 = !{!30, !12, i64 1080}
!38 = !{!30, !12, i64 1088}
!39 = !{!30, !15, i64 1136}
!40 = !{!30, !12, i64 1144}
!41 = !{!30, !12, i64 1152}
!42 = !{!30, !12, i64 1160}
!43 = !{!17, !17, i64 0}
!44 = !{!30, !15, i64 1112}


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