; LLVM IR from kulho/STM32PendulumMPC :: STM32F407/qpOASES/src/QProblem.ll (ZN7qpOASES8QProblemC2EiiNS_11HessianTypeE)

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

@_ZTVN7qpOASES8QProblemE = external dso_local unnamed_addr constant { [38 x ptr] }, align 8
@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [91 x i8], align 1

declare void @_ZN7qpOASES11ConstraintsC1Ev(ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #0

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nounwind
declare void @_ZN7qpOASES9QProblemBD2Ev(ptr noundef nonnull align 8 dereferenceable(800)) unnamed_addr #1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7qpOASES8QProblemC2EiiNS_11HessianTypeE(ptr noundef nonnull align 8 dereferenceable(1056) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3) unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  %7 = alloca i32, align 4
  %8 = alloca i32, align 4
  %9 = alloca ptr, align 8
  %10 = alloca i32, align 4
  %11 = alloca i32, align 4
  store ptr %0, ptr %5, align 8, !tbaa !5
  store i32 %1, ptr %6, align 4, !tbaa !9
  store i32 %2, ptr %7, align 4, !tbaa !9
  store i32 %3, ptr %8, align 4, !tbaa !11
  %12 = load ptr, ptr %5, align 8
  %13 = load i32, ptr %6, align 4, !tbaa !9
  %14 = load i32, ptr %8, align 4, !tbaa !11
  call void @_ZN7qpOASES9QProblemBC2EiNS_11HessianTypeE(ptr noundef nonnull align 8 dereferenceable(800) %12, i32 noundef %13, i32 noundef %14)
  store ptr getelementptr inbounds inrange(-16, 288) ({ [38 x ptr] }, ptr @_ZTVN7qpOASES8QProblemE, i32 0, i32 0, i32 2), ptr %12, align 8, !tbaa !13
  %15 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 5
  invoke void @_ZN7qpOASES11ConstraintsC1Ev(ptr noundef nonnull align 8 dereferenceable(120) %15)
          to label %16 unwind label %24

16:                                               ; preds = %4
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #8
  %17 = load i32, ptr %6, align 4, !tbaa !9
  %18 = icmp sle i32 %17, 0
  br i1 %18, label %19, label %32

19:                                               ; preds = %16
  store i32 1, ptr %6, align 4, !tbaa !9
  %20 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %21 unwind label %28

21:                                               ; preds = %19
  %22 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %20, i32 noundef 3, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 88, i32 noundef 1)
          to label %23 unwind label %28

23:                                               ; preds = %21
  br label %32

24:                                               ; preds = %4
  %25 = landingpad { ptr, i32 }
          cleanup
  %26 = extractvalue { ptr, i32 } %25, 0
  store ptr %26, ptr %9, align 8
  %27 = extractvalue { ptr, i32 } %25, 1
  store i32 %27, ptr %10, align 4
  br label %282

28:                                               ; preds = %275, %260, %251, %243, %230, %221, %212, %197, %188, %180, %165, %152, %148, %121, %112, %92, %68, %43, %37, %35, %21, %19
  %29 = landingpad { ptr, i32 }
          cleanup
  %30 = extractvalue { ptr, i32 } %29, 0
  store ptr %30, ptr %9, align 8
  %31 = extractvalue { ptr, i32 } %29, 1
  store i32 %31, ptr %10, align 4
  br label %281

32:                                               ; preds = %23, %16
  %33 = load i32, ptr %7, align 4, !tbaa !9
  %34 = icmp slt i32 %33, 0
  br i1 %34, label %35, label %40

35:                                               ; preds = %32
  store i32 0, ptr %7, align 4, !tbaa !9
  %36 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %37 unwind label %28

37:                                               ; preds = %35
  %38 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %36, i32 noundef 3, ptr noundef null, ptr noundef @.str, ptr noundef @.str.1, i64 noundef 94, i32 noundef 1)
          to label %39 unwind label %28

39:                                               ; preds = %37
  br label %40

40:                                               ; preds = %39, %32
  %41 = load i32, ptr %7, align 4, !tbaa !9
  %42 = icmp sgt i32 %41, 0
  br i1 %42, label %43, label %92

43:                                               ; preds = %40
  %44 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 1
  store i32 0, ptr %44, align 8, !tbaa !15
  %45 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 2
  store ptr null, ptr %45, align 8, !tbaa !30
  %46 = load i32, ptr %7, align 4, !tbaa !9
  %47 = sext i32 %46 to i64
  %48 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %47, i64 8)
  %49 = extractvalue { i64, i1 } %48, 1
  %50 = extractvalue { i64, i1 } %48, 0
  %51 = select i1 %49, i64 -1, i64 %50
  %52 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %51) #9
          to label %53 unwind label %28

53:                                               ; preds = %43
  %54 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 3
  store ptr %52, ptr %54, align 8, !tbaa !31
  store i32 0, ptr %11, align 4, !tbaa !9
  br label %55

55:                                               ; preds = %65, %53
  %56 = load i32, ptr %11, align 4, !tbaa !9
  %57 = load i32, ptr %7, align 4, !tbaa !9
  %58 = icmp slt i32 %56, %57
  br i1 %58, label %59, label %68

59:                                               ; preds = %55
  %60 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 3
  %61 = load ptr, ptr %60, align 8, !tbaa !31
  %62 = load i32, ptr %11, align 4, !tbaa !9
  %63 = sext i32 %62 to i64
  %64 = getelementptr inbounds double, ptr %61, i64 %63
  store double 0.000000e+00, ptr %64, align 8, !tbaa !32
  br label %65

65:                                               ; preds = %59
  %66 = load i32, ptr %11, align 4, !tbaa !9
  %67 = add nsw i32 %66, 1
  store i32 %67, ptr %11, align 4, !tbaa !9
  br label %55, !llvm.loop !33

68:                                               ; preds = %55
  %69 = load i32, ptr %7, align 4, !tbaa !9
  %70 = sext i32 %69 to i64
  %71 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %70, i64 8)
  %72 = extractvalue { i64, i1 } %71, 1
  %73 = extractvalue { i64, i1 } %71, 0
  %74 = select i1 %72, i64 -1, i64 %73
  %75 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %74) #9
          to label %76 unwind label %28

76:                                               ; preds = %68
  %77 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 4
  store ptr %75, ptr %77, align 8, !tbaa !35
  store i32 0, ptr %11, align 4, !tbaa !9
  br label %78

78:                                               ; preds = %88, %76
  %79 = load i32, ptr %11, align 4, !tbaa !9
  %80 = load i32, ptr %7, align 4, !tbaa !9
  %81 = icmp slt i32 %79, %80
  br i1 %81, label %82, label %91

82:                                               ; preds = %78
  %83 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 4
  %84 = load ptr, ptr %83, align 8, !tbaa !35
  %85 = load i32, ptr %11, align 4, !tbaa !9
  %86 = sext i32 %85 to i64
  %87 = getelementptr inbounds double, ptr %84, i64 %86
  store double 0.000000e+00, ptr %87, align 8, !tbaa !32
  br label %88

88:                                               ; preds = %82
  %89 = load i32, ptr %11, align 4, !tbaa !9
  %90 = add nsw i32 %89, 1
  store i32 %90, ptr %11, align 4, !tbaa !9
  br label %78, !llvm.loop !36

91:                                               ; preds = %78
  br label %112

92:                                               ; preds = %40
  %93 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 1
  store i32 1, ptr %93, align 8, !tbaa !15
  %94 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 48) #9
          to label %95 unwind label %28

95:                                               ; preds = %92
  invoke void @_ZN7qpOASES11DenseMatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(32) %94)
          to label %96 unwind label %108

96:                                               ; preds = %95
  %97 = icmp eq ptr %94, null
  br i1 %97, label %103, label %98

98:                                               ; preds = %96
  %99 = load ptr, ptr %94, align 8, !tbaa !13
  %100 = getelementptr i8, ptr %99, i64 -24
  %101 = load i64, ptr %100, align 8
  %102 = getelementptr inbounds i8, ptr %94, i64 %101
  br label %103

103:                                              ; preds = %98, %96
  %104 = phi ptr [ %102, %98 ], [ null, %96 ]
  %105 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 2
  store ptr %104, ptr %105, align 8, !tbaa !30
  %106 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 3
  store ptr null, ptr %106, align 8, !tbaa !31
  %107 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 4
  store ptr null, ptr %107, align 8, !tbaa !35
  br label %112

108:                                              ; preds = %95
  %109 = landingpad { ptr, i32 }
          cleanup
  %110 = extractvalue { ptr, i32 } %109, 0
  store ptr %110, ptr %9, align 8
  %111 = extractvalue { ptr, i32 } %109, 1
  store i32 %111, ptr %10, align 4
  call void @_ZdlPvm(ptr noundef %94, i64 noundef 48) #10
  br label %281

112:                                              ; preds = %103, %91
  %113 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 5
  %114 = load i32, ptr %7, align 4, !tbaa !9
  %115 = invoke noundef i32 @_ZN7qpOASES11Constraints4initEi(ptr noundef nonnull align 8 dereferenceable(120) %113, i32 noundef %114)
          to label %116 unwind label %28

116:                                              ; preds = %112
  %117 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %12, i32 0, i32 10
  %118 = load ptr, ptr %117, align 8, !tbaa !37
  %119 = icmp eq ptr %118, null
  br i1 %119, label %121, label %120

120:                                              ; preds = %116
  call void @_ZdaPv(ptr noundef %118) #10
  br label %121

121:                                              ; preds = %120, %116
  %122 = load i32, ptr %6, align 4, !tbaa !9
  %123 = load i32, ptr %7, align 4, !tbaa !9
  %124 = add nsw i32 %122, %123
  %125 = sext i32 %124 to i64
  %126 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %125, i64 8)
  %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 %28

131:                                              ; preds = %121
  %132 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %12, i32 0, i32 10
  store ptr %130, ptr %132, align 8, !tbaa !37
  store i32 0, ptr %11, align 4, !tbaa !9
  br label %133

133:                                              ; preds = %145, %131
  %134 = load i32, ptr %11, align 4, !tbaa !9
  %135 = load i32, ptr %6, align 4, !tbaa !9
  %136 = load i32, ptr %7, align 4, !tbaa !9
  %137 = add nsw i32 %135, %136
  %138 = icmp slt i32 %134, %137
  br i1 %138, label %139, label %148

139:                                              ; preds = %133
  %140 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %12, i32 0, i32 10
  %141 = load ptr, ptr %140, align 8, !tbaa !37
  %142 = load i32, ptr %11, align 4, !tbaa !9
  %143 = sext i32 %142 to i64
  %144 = getelementptr inbounds double, ptr %141, i64 %143
  store double 0.000000e+00, ptr %144, align 8, !tbaa !32
  br label %145

145:                                              ; preds = %139
  %146 = load i32, ptr %11, align 4, !tbaa !9
  %147 = add nsw i32 %146, 1
  store i32 %147, ptr %11, align 4, !tbaa !9
  br label %133, !llvm.loop !38

148:                                              ; preds = %133
  %149 = load i32, ptr %6, align 4, !tbaa !9
  %150 = load i32, ptr %7, align 4, !tbaa !9
  %151 = invoke noundef i32 @_ZN7qpOASES6getMinEii(i32 noundef %149, i32 noundef %150)
          to label %152 unwind label %28

152:                                              ; preds = %148
  %153 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 8
  store i32 %151, ptr %153, align 8, !tbaa !39
  %154 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 8
  %155 = load i32, ptr %154, align 8, !tbaa !39
  %156 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 8
  %157 = load i32, ptr %156, align 8, !tbaa !39
  %158 = mul nsw i32 %155, %157
  %159 = sext i32 %158 to i64
  %160 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %159, i64 8)
  %161 = extractvalue { i64, i1 } %160, 1
  %162 = extractvalue { i64, i1 } %160, 0
  %163 = select i1 %161, i64 -1, i64 %162
  %164 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %163) #9
          to label %165 unwind label %28

165:                                              ; preds = %152
  %166 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 6
  store ptr %164, ptr %166, align 8, !tbaa !40
  %167 = load i32, ptr %6, align 4, !tbaa !9
  %168 = load i32, ptr %6, align 4, !tbaa !9
  %169 = mul nsw i32 %167, %168
  %170 = sext i32 %169 to i64
  %171 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %170, i64 8)
  %172 = extractvalue { i64, i1 } %171, 1
  %173 = extractvalue { i64, i1 } %171, 0
  %174 = select i1 %172, i64 -1, i64 %173
  %175 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %174) #9
          to label %176 unwind label %28

176:                                              ; preds = %165
  %177 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 7
  store ptr %175, ptr %177, align 8, !tbaa !41
  %178 = load i32, ptr %7, align 4, !tbaa !9
  %179 = icmp sgt i32 %178, 0
  br i1 %179, label %180, label %208

180:                                              ; preds = %176
  %181 = load i32, ptr %7, align 4, !tbaa !9
  %182 = sext i32 %181 to i64
  %183 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %182, i64 8)
  %184 = extractvalue { i64, i1 } %183, 1
  %185 = extractvalue { i64, i1 } %183, 0
  %186 = select i1 %184, i64 -1, i64 %185
  %187 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %186) #9
          to label %188 unwind label %28

188:                                              ; preds = %180
  %189 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 9
  store ptr %187, ptr %189, align 8, !tbaa !42
  %190 = load i32, ptr %7, align 4, !tbaa !9
  %191 = sext i32 %190 to i64
  %192 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %191, i64 8)
  %193 = extractvalue { i64, i1 } %192, 1
  %194 = extractvalue { i64, i1 } %192, 0
  %195 = select i1 %193, i64 -1, i64 %194
  %196 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %195) #9
          to label %197 unwind label %28

197:                                              ; preds = %188
  %198 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 10
  store ptr %196, ptr %198, align 8, !tbaa !43
  %199 = load i32, ptr %7, align 4, !tbaa !9
  %200 = sext i32 %199 to i64
  %201 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %200, i64 8)
  %202 = extractvalue { i64, i1 } %201, 1
  %203 = extractvalue { i64, i1 } %201, 0
  %204 = select i1 %202, i64 -1, i64 %203
  %205 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %204) #9
          to label %206 unwind label %28

206:                                              ; preds = %197
  %207 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 11
  store ptr %205, ptr %207, align 8, !tbaa !44
  br label %212

208:                                              ; preds = %176
  %209 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 9
  store ptr null, ptr %209, align 8, !tbaa !42
  %210 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 10
  store ptr null, ptr %210, align 8, !tbaa !43
  %211 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 11
  store ptr null, ptr %211, align 8, !tbaa !44
  br label %212

212:                                              ; preds = %208, %206
  %213 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 12
  store ptr null, ptr %213, align 8, !tbaa !45
  %214 = load i32, ptr %6, align 4, !tbaa !9
  %215 = sext i32 %214 to i64
  %216 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %215, i64 8)
  %217 = extractvalue { i64, i1 } %216, 1
  %218 = extractvalue { i64, i1 } %216, 0
  %219 = select i1 %217, i64 -1, i64 %218
  %220 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %219) #9
          to label %221 unwind label %28

221:                                              ; preds = %212
  %222 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 13
  store ptr %220, ptr %222, align 8, !tbaa !46
  %223 = load i32, ptr %6, align 4, !tbaa !9
  %224 = sext i32 %223 to i64
  %225 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %224, i64 8)
  %226 = extractvalue { i64, i1 } %225, 1
  %227 = extractvalue { i64, i1 } %225, 0
  %228 = select i1 %226, i64 -1, i64 %227
  %229 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %228) #9
          to label %230 unwind label %28

230:                                              ; preds = %221
  %231 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 15
  store ptr %229, ptr %231, align 8, !tbaa !47
  %232 = load i32, ptr %6, align 4, !tbaa !9
  %233 = sext i32 %232 to i64
  %234 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %233, i64 8)
  %235 = extractvalue { i64, i1 } %234, 1
  %236 = extractvalue { i64, i1 } %234, 0
  %237 = select i1 %235, i64 -1, i64 %236
  %238 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %237) #9
          to label %239 unwind label %28

239:                                              ; preds = %230
  %240 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 17
  store ptr %238, ptr %240, align 8, !tbaa !48
  %241 = load i32, ptr %7, align 4, !tbaa !9
  %242 = icmp sgt i32 %241, 0
  br i1 %242, label %243, label %271

243:                                              ; preds = %239
  %244 = load i32, ptr %7, align 4, !tbaa !9
  %245 = sext i32 %244 to i64
  %246 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %245, i64 8)
  %247 = extractvalue { i64, i1 } %246, 1
  %248 = extractvalue { i64, i1 } %246, 0
  %249 = select i1 %247, i64 -1, i64 %248
  %250 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %249) #9
          to label %251 unwind label %28

251:                                              ; preds = %243
  %252 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 14
  store ptr %250, ptr %252, align 8, !tbaa !49
  %253 = load i32, ptr %7, align 4, !tbaa !9
  %254 = sext i32 %253 to i64
  %255 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %254, i64 8)
  %256 = extractvalue { i64, i1 } %255, 1
  %257 = extractvalue { i64, i1 } %255, 0
  %258 = select i1 %256, i64 -1, i64 %257
  %259 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %258) #9
          to label %260 unwind label %28

260:                                              ; preds = %251
  %261 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 16
  store ptr %259, ptr %261, align 8, !tbaa !50
  %262 = load i32, ptr %7, align 4, !tbaa !9
  %263 = sext i32 %262 to i64
  %264 = call { i64, i1 } @llvm.umul.with.overflow.i64(i64 %263, i64 8)
  %265 = extractvalue { i64, i1 } %264, 1
  %266 = extractvalue { i64, i1 } %264, 0
  %267 = select i1 %265, i64 -1, i64 %266
  %268 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %267) #9
          to label %269 unwind label %28

269:                                              ; preds = %260
  %270 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 18
  store ptr %268, ptr %270, align 8, !tbaa !51
  br label %275

271:                                              ; preds = %239
  %272 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 14
  store ptr null, ptr %272, align 8, !tbaa !49
  %273 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 16
  store ptr null, ptr %273, align 8, !tbaa !50
  %274 = getelementptr inbounds %"class.qpOASES::QProblem", ptr %12, i32 0, i32 18
  store ptr null, ptr %274, align 8, !tbaa !51
  br label %275

275:                                              ; preds = %271, %269
  %276 = getelementptr inbounds %"class.qpOASES::QProblemB", ptr %12, i32 0, i32 24
  %277 = load i32, ptr %6, align 4, !tbaa !9
  %278 = load i32, ptr %7, align 4, !tbaa !9
  %279 = invoke noundef i32 @_ZN7qpOASES7Flipper4initEjj(ptr noundef nonnull align 8 dereferenceable(272) %276, i32 noundef %277, i32 noundef %278)
          to label %280 unwind label %28

280:                                              ; preds = %275
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #8
  ret void

281:                                              ; preds = %108, %28
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #8
  call void @_ZN7qpOASES11ConstraintsD1Ev(ptr noundef nonnull align 8 dereferenceable(120) %15) #8
  br label %282

282:                                              ; preds = %281, %24
  call void @_ZN7qpOASES9QProblemBD2Ev(ptr noundef nonnull align 8 dereferenceable(800) %12) #8
  br label %283

283:                                              ; preds = %282
  %284 = load ptr, ptr %9, align 8
  %285 = load i32, ptr %10, align 4
  %286 = insertvalue { ptr, i32 } poison, ptr %284, 0
  %287 = insertvalue { ptr, i32 } %286, i32 %285, 1
  resume { ptr, i32 } %287
}

declare void @_ZN7qpOASES9QProblemBC2EiNS_11HessianTypeE(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, i32 noundef) unnamed_addr #0

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #3

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() #0

declare noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) #0

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare { i64, i1 } @llvm.umul.with.overflow.i64(i64, i64) #4

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znam(i64 noundef) #5

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7qpOASES11DenseMatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #6

declare noundef i32 @_ZN7qpOASES11Constraints4initEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) #0

; Function Attrs: nobuiltin nounwind
declare void @_ZdaPv(ptr noundef) #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN7qpOASES6getMinEii(i32 noundef, i32 noundef) #7

declare noundef i32 @_ZN7qpOASES7Flipper4initEjj(ptr noundef nonnull align 8 dereferenceable(272), i32 noundef, i32 noundef) #0

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #3

; Function Attrs: nounwind
declare void @_ZN7qpOASES11ConstraintsD1Ev(ptr noundef nonnull align 8 dereferenceable(120)) 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 = { 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 #2 = { 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 #3 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #4 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #5 = { 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 #6 = { 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 #7 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #8 = { nounwind }
attributes #9 = { builtin allocsize(0) }
attributes #10 = { builtin nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !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, !18, i64 800}
!16 = !{!"_ZTSN7qpOASES8QProblemE", !17, i64 0, !18, i64 800, !6, i64 808, !6, i64 816, !6, i64 824, !28, 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}
!17 = !{!"_ZTSN7qpOASES9QProblemBE", !18, i64 8, !6, i64 16, !6, i64 24, !6, i64 32, !6, i64 40, !19, i64 48, !6, i64 168, !18, i64 176, !6, i64 184, !6, i64 192, !22, i64 200, !23, i64 208, !18, i64 212, !18, i64 216, !12, i64 220, !22, i64 224, !10, i64 232, !6, i64 240, !22, i64 248, !22, i64 256, !10, i64 264, !24, i64 272, !27, i64 496, !29, i64 768}
!18 = !{!"_ZTSN7qpOASES11BooleanTypeE", !7, i64 0}
!19 = !{!"_ZTSN7qpOASES6BoundsE", !20, i64 0, !21, i64 40, !21, i64 80}
!20 = !{!"_ZTSN7qpOASES9SubjectToE", !10, i64 8, !6, i64 16, !6, i64 24, !18, i64 32, !18, i64 36}
!21 = !{!"_ZTSN7qpOASES9IndexlistE", !6, i64 0, !6, i64 8, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !10, i64 32}
!22 = !{!"double", !7, i64 0}
!23 = !{!"_ZTSN7qpOASES14QProblemStatusE", !7, i64 0}
!24 = !{!"_ZTSN7qpOASES7OptionsE", !25, i64 0, !18, i64 4, !18, i64 8, !18, i64 12, !18, i64 16, !18, i64 20, !18, i64 24, !10, i64 28, !10, i64 32, !18, i64 36, !22, i64 40, !22, i64 48, !22, i64 56, !22, i64 64, !22, i64 72, !22, i64 80, !22, i64 88, !22, i64 96, !22, i64 104, !22, i64 112, !22, i64 120, !26, i64 128, !22, i64 136, !10, i64 144, !22, i64 152, !10, i64 160, !22, i64 168, !22, i64 176, !22, i64 184, !22, i64 192, !18, i64 200, !18, i64 204, !10, i64 208, !10, i64 212, !10, i64 216}
!25 = !{!"_ZTSN7qpOASES10PrintLevelE", !7, i64 0}
!26 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !7, i64 0}
!27 = !{!"_ZTSN7qpOASES7FlipperE", !10, i64 0, !10, i64 4, !19, i64 8, !28, i64 128, !6, i64 248, !6, i64 256, !6, i64 264}
!28 = !{!"_ZTSN7qpOASES11ConstraintsE", !20, i64 0, !21, i64 40, !21, i64 80}
!29 = !{!"_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}
!30 = !{!16, !6, i64 808}
!31 = !{!16, !6, i64 816}
!32 = !{!22, !22, i64 0}
!33 = distinct !{!33, !34}
!34 = !{!"llvm.loop.mustprogress"}
!35 = !{!16, !6, i64 824}
!36 = distinct !{!36, !34}
!37 = !{!17, !6, i64 192}
!38 = distinct !{!38, !34}
!39 = !{!16, !10, i64 968}
!40 = !{!16, !6, i64 952}
!41 = !{!16, !6, i64 960}
!42 = !{!16, !6, i64 976}
!43 = !{!16, !6, i64 984}
!44 = !{!16, !6, i64 992}
!45 = !{!16, !6, i64 1000}
!46 = !{!16, !6, i64 1008}
!47 = !{!16, !6, i64 1024}
!48 = !{!16, !6, i64 1040}
!49 = !{!16, !6, i64 1016}
!50 = !{!16, !6, i64 1032}
!51 = !{!16, !6, i64 1048}


; 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"

@_ZTVN7qpOASES8QProblemE = external dso_local unnamed_addr constant { [38 x ptr] }, align 8
@.str = external hidden unnamed_addr constant [28 x i8], align 1
@.str.1 = external hidden unnamed_addr constant [91 x i8], align 1

declare void @_ZN7qpOASES11ConstraintsC1Ev(ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #0

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nounwind
declare void @_ZN7qpOASES9QProblemBD2Ev(ptr noundef nonnull align 8 dereferenceable(800)) unnamed_addr #1

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN7qpOASES8QProblemC2EiiNS_11HessianTypeE(ptr noundef nonnull align 8 dereferenceable(1056) %0, i32 noundef %1, i32 noundef %2, i32 noundef %3) unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  tail call void @_ZN7qpOASES9QProblemBC2EiNS_11HessianTypeE(ptr noundef nonnull align 8 dereferenceable(800) %0, i32 noundef %1, i32 noundef %3)
  store ptr getelementptr inbounds inrange(-16, 288) (i8, ptr @_ZTVN7qpOASES8QProblemE, i64 16), ptr %0, align 8, !tbaa !5
  %5 = getelementptr inbounds i8, ptr %0, i64 832
  invoke void @_ZN7qpOASES11ConstraintsC1Ev(ptr noundef nonnull align 8 dereferenceable(120) %5)
          to label %6 unwind label %12

6:                                                ; preds = %4
  %7 = icmp slt i32 %1, 1
  br i1 %7, label %8, label %16

8:                                                ; preds = %6
  %9 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %10 unwind label %14

10:                                               ; preds = %8
  %11 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %9, i32 noundef 3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 88, i32 noundef 1)
          to label %16 unwind label %14

12:                                               ; preds = %4
  %13 = landingpad { ptr, i32 }
          cleanup
  br label %118

14:                                               ; preds = %112, %106, %103, %99, %94, %91, %86, %79, %76, %72, %64, %56, %51, %.loopexit, %.thread, %29, %23, %20, %18, %10, %8
  %15 = landingpad { ptr, i32 }
          cleanup
  br label %117

16:                                               ; preds = %10, %6
  %.046 = phi i32 [ 1, %10 ], [ %1, %6 ]
  %17 = icmp slt i32 %2, 0
  br i1 %17, label %18, label %22

18:                                               ; preds = %16
  %19 = invoke noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv()
          to label %20 unwind label %14

20:                                               ; preds = %18
  %21 = invoke noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28) %19, i32 noundef 3, ptr noundef null, ptr noundef nonnull @.str, ptr noundef nonnull @.str.1, i64 noundef 94, i32 noundef 1)
          to label %.thread unwind label %14

22:                                               ; preds = %16
  %.not = icmp eq i32 %2, 0
  br i1 %.not, label %.thread, label %23

23:                                               ; preds = %22
  %24 = getelementptr inbounds i8, ptr %0, i64 800
  store i32 0, ptr %24, align 8, !tbaa !8
  %25 = getelementptr inbounds i8, ptr %0, i64 808
  store ptr null, ptr %25, align 8, !tbaa !27
  %26 = zext nneg i32 %2 to i64
  %27 = shl nuw nsw i64 %26, 3
  %28 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %27) #7
          to label %29 unwind label %14

29:                                               ; preds = %23
  %30 = getelementptr inbounds i8, ptr %0, i64 816
  store ptr %28, ptr %30, align 8, !tbaa !28
  tail call void @llvm.memset.p0.i64(ptr nonnull align 8 %28, i8 0, i64 %27, i1 false), !tbaa !29
  %31 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %27) #7
          to label %.loopexit.loopexit unwind label %14

.loopexit.loopexit:                               ; preds = %29
  %32 = getelementptr inbounds i8, ptr %0, i64 824
  store ptr %31, ptr %32, align 8, !tbaa !30
  tail call void @llvm.memset.p0.i64(ptr nonnull align 8 %31, i8 0, i64 %27, i1 false), !tbaa !29
  br label %.loopexit

.thread:                                          ; preds = %20, %22
  %33 = getelementptr inbounds i8, ptr %0, i64 800
  store i32 1, ptr %33, align 8, !tbaa !8
  %34 = invoke noalias noundef nonnull dereferenceable(48) ptr @_Znwm(i64 noundef 48) #7
          to label %35 unwind label %14

35:                                               ; preds = %.thread
  invoke void @_ZN7qpOASES11DenseMatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(32) %34)
          to label %36 unwind label %43

36:                                               ; preds = %35
  %37 = load ptr, ptr %34, align 8, !tbaa !5
  %38 = getelementptr i8, ptr %37, i64 -24
  %39 = load i64, ptr %38, align 8
  %40 = getelementptr inbounds i8, ptr %34, i64 %39
  %41 = getelementptr inbounds i8, ptr %0, i64 808
  store ptr %40, ptr %41, align 8, !tbaa !27
  %42 = getelementptr inbounds i8, ptr %0, i64 816
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(16) %42, i8 0, i64 16, i1 false)
  br label %.loopexit

43:                                               ; preds = %35
  %44 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %34, i64 noundef 48) #8
  br label %117

.loopexit:                                        ; preds = %.loopexit.loopexit, %36
  %.not57 = phi i1 [ true, %36 ], [ false, %.loopexit.loopexit ]
  %.04755 = phi i32 [ 0, %36 ], [ %2, %.loopexit.loopexit ]
  %45 = invoke noundef i32 @_ZN7qpOASES11Constraints4initEi(ptr noundef nonnull align 8 dereferenceable(120) %5, i32 noundef %.04755)
          to label %46 unwind label %14

46:                                               ; preds = %.loopexit
  %47 = getelementptr inbounds i8, ptr %0, i64 192
  %48 = load ptr, ptr %47, align 8, !tbaa !31
  %49 = icmp eq ptr %48, null
  br i1 %49, label %51, label %50

50:                                               ; preds = %46
  tail call void @_ZdaPv(ptr noundef nonnull %48) #8
  br label %51

51:                                               ; preds = %50, %46
  %52 = add nuw nsw i32 %.04755, %.046
  %53 = zext nneg i32 %52 to i64
  %54 = shl nuw nsw i64 %53, 3
  %55 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %54) #7
          to label %56 unwind label %14

56:                                               ; preds = %51
  store ptr %55, ptr %47, align 8, !tbaa !31
  %57 = shl nuw nsw i64 %53, 3
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(1) %55, i8 0, i64 %57, i1 false), !tbaa !29
  %58 = tail call noundef i32 @_ZN7qpOASES6getMinEii(i32 noundef %.046, i32 noundef %.04755)
  %59 = getelementptr inbounds i8, ptr %0, i64 968
  store i32 %58, ptr %59, align 8, !tbaa !32
  %60 = mul nsw i32 %58, %58
  %61 = zext nneg i32 %60 to i64
  %62 = shl nuw nsw i64 %61, 3
  %63 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %62) #7
          to label %64 unwind label %14

64:                                               ; preds = %56
  %65 = getelementptr inbounds i8, ptr %0, i64 952
  store ptr %63, ptr %65, align 8, !tbaa !33
  %66 = mul nuw nsw i32 %.046, %.046
  %67 = zext nneg i32 %66 to i64
  %68 = shl nuw nsw i64 %67, 3
  %69 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %68) #7
          to label %70 unwind label %14

70:                                               ; preds = %64
  %71 = getelementptr inbounds i8, ptr %0, i64 960
  store ptr %69, ptr %71, align 8, !tbaa !34
  br i1 %.not57, label %84, label %72

72:                                               ; preds = %70
  %73 = zext nneg i32 %.04755 to i64
  %74 = shl nuw nsw i64 %73, 3
  %75 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %74) #7
          to label %76 unwind label %14

76:                                               ; preds = %72
  %77 = getelementptr inbounds i8, ptr %0, i64 976
  store ptr %75, ptr %77, align 8, !tbaa !35
  %78 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %74) #7
          to label %79 unwind label %14

79:                                               ; preds = %76
  %80 = getelementptr inbounds i8, ptr %0, i64 984
  store ptr %78, ptr %80, align 8, !tbaa !36
  %81 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %74) #7
          to label %82 unwind label %14

82:                                               ; preds = %79
  %83 = getelementptr inbounds i8, ptr %0, i64 992
  store ptr %81, ptr %83, align 8, !tbaa !37
  br label %86

84:                                               ; preds = %70
  %85 = getelementptr inbounds i8, ptr %0, i64 976
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(24) %85, i8 0, i64 24, i1 false)
  br label %86

86:                                               ; preds = %84, %82
  %87 = getelementptr inbounds i8, ptr %0, i64 1000
  store ptr null, ptr %87, align 8, !tbaa !38
  %88 = zext nneg i32 %.046 to i64
  %89 = shl nuw nsw i64 %88, 3
  %90 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %89) #7
          to label %91 unwind label %14

91:                                               ; preds = %86
  %92 = getelementptr inbounds i8, ptr %0, i64 1008
  store ptr %90, ptr %92, align 8, !tbaa !39
  %93 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %89) #7
          to label %94 unwind label %14

94:                                               ; preds = %91
  %95 = getelementptr inbounds i8, ptr %0, i64 1024
  store ptr %93, ptr %95, align 8, !tbaa !40
  %96 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %89) #7
          to label %97 unwind label %14

97:                                               ; preds = %94
  %98 = getelementptr inbounds i8, ptr %0, i64 1040
  store ptr %96, ptr %98, align 8, !tbaa !41
  br i1 %.not57, label %109, label %99

99:                                               ; preds = %97
  %100 = zext nneg i32 %.04755 to i64
  %101 = shl nuw nsw i64 %100, 3
  %102 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %101) #7
          to label %103 unwind label %14

103:                                              ; preds = %99
  %104 = getelementptr inbounds i8, ptr %0, i64 1016
  store ptr %102, ptr %104, align 8, !tbaa !42
  %105 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %101) #7
          to label %106 unwind label %14

106:                                              ; preds = %103
  %107 = getelementptr inbounds i8, ptr %0, i64 1032
  store ptr %105, ptr %107, align 8, !tbaa !43
  %108 = invoke noalias noundef nonnull ptr @_Znam(i64 noundef %101) #7
          to label %112 unwind label %14

109:                                              ; preds = %97
  %110 = getelementptr inbounds i8, ptr %0, i64 1016
  store ptr null, ptr %110, align 8, !tbaa !42
  %111 = getelementptr inbounds i8, ptr %0, i64 1032
  store ptr null, ptr %111, align 8, !tbaa !43
  br label %112

112:                                              ; preds = %106, %109
  %.sink = phi ptr [ null, %109 ], [ %108, %106 ]
  %113 = getelementptr inbounds i8, ptr %0, i64 1048
  store ptr %.sink, ptr %113, align 8, !tbaa !44
  %114 = getelementptr inbounds i8, ptr %0, i64 496
  %115 = invoke noundef i32 @_ZN7qpOASES7Flipper4initEjj(ptr noundef nonnull align 8 dereferenceable(272) %114, i32 noundef %.046, i32 noundef %.04755)
          to label %116 unwind label %14

116:                                              ; preds = %112
  ret void

117:                                              ; preds = %43, %14
  %.pn = phi { ptr, i32 } [ %15, %14 ], [ %44, %43 ]
  tail call void @_ZN7qpOASES11ConstraintsD1Ev(ptr noundef nonnull align 8 dereferenceable(120) %5) #9
  br label %118

118:                                              ; preds = %117, %12
  %.pn.pn = phi { ptr, i32 } [ %.pn, %117 ], [ %13, %12 ]
  tail call void @_ZN7qpOASES9QProblemBD2Ev(ptr noundef nonnull align 8 dereferenceable(800) %0) #9
  resume { ptr, i32 } %.pn.pn
}

declare void @_ZN7qpOASES9QProblemBC2EiNS_11HessianTypeE(ptr noundef nonnull align 8 dereferenceable(800), i32 noundef, i32 noundef) unnamed_addr #0

declare noundef ptr @_ZN7qpOASES23getGlobalMessageHandlerEv() local_unnamed_addr #0

declare noundef i32 @_ZN7qpOASES15MessageHandling10throwErrorENS_11returnValueEPKcS3_S3_mNS_16VisibilityStatusE(ptr noundef nonnull align 8 dereferenceable(28), i32 noundef, ptr noundef, ptr noundef, ptr noundef, i64 noundef, i32 noundef) local_unnamed_addr #0

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

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN7qpOASES11DenseMatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

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

declare noundef i32 @_ZN7qpOASES11Constraints4initEi(ptr noundef nonnull align 8 dereferenceable(120), i32 noundef) local_unnamed_addr #0

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZN7qpOASES6getMinEii(i32 noundef, i32 noundef) local_unnamed_addr #5

declare noundef i32 @_ZN7qpOASES7Flipper4initEjj(ptr noundef nonnull align 8 dereferenceable(272), i32 noundef, i32 noundef) local_unnamed_addr #0

; Function Attrs: nounwind
declare void @_ZN7qpOASES11ConstraintsD1Ev(ptr noundef nonnull align 8 dereferenceable(120)) unnamed_addr #1

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

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 = { 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 #2 = { 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 #3 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { 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 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nocallback nofree nounwind willreturn memory(argmem: write) }
attributes #7 = { builtin allocsize(0) }
attributes #8 = { builtin nounwind }
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, !11, i64 800}
!9 = !{!"_ZTSN7qpOASES8QProblemE", !10, i64 0, !11, i64 800, !13, i64 808, !13, i64 816, !13, i64 824, !25, i64 832, !13, i64 952, !13, i64 960, !16, i64 968, !13, i64 976, !13, i64 984, !13, i64 992, !13, i64 1000, !13, i64 1008, !13, i64 1016, !13, i64 1024, !13, i64 1032, !13, i64 1040, !13, i64 1048}
!10 = !{!"_ZTSN7qpOASES9QProblemBE", !11, i64 8, !13, i64 16, !13, i64 24, !13, i64 32, !13, i64 40, !14, i64 48, !13, i64 168, !11, i64 176, !13, i64 184, !13, i64 192, !18, i64 200, !19, i64 208, !11, i64 212, !11, i64 216, !20, i64 220, !18, i64 224, !16, i64 232, !13, i64 240, !18, i64 248, !18, i64 256, !16, i64 264, !21, i64 272, !24, i64 496, !26, i64 768}
!11 = !{!"_ZTSN7qpOASES11BooleanTypeE", !12, i64 0}
!12 = !{!"omnipotent char", !7, i64 0}
!13 = !{!"any pointer", !12, i64 0}
!14 = !{!"_ZTSN7qpOASES6BoundsE", !15, i64 0, !17, i64 40, !17, i64 80}
!15 = !{!"_ZTSN7qpOASES9SubjectToE", !16, i64 8, !13, i64 16, !13, i64 24, !11, i64 32, !11, i64 36}
!16 = !{!"int", !12, i64 0}
!17 = !{!"_ZTSN7qpOASES9IndexlistE", !13, i64 0, !13, i64 8, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28, !16, i64 32}
!18 = !{!"double", !12, i64 0}
!19 = !{!"_ZTSN7qpOASES14QProblemStatusE", !12, i64 0}
!20 = !{!"_ZTSN7qpOASES11HessianTypeE", !12, i64 0}
!21 = !{!"_ZTSN7qpOASES7OptionsE", !22, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !11, i64 24, !16, i64 28, !16, i64 32, !11, i64 36, !18, i64 40, !18, i64 48, !18, i64 56, !18, i64 64, !18, i64 72, !18, i64 80, !18, i64 88, !18, i64 96, !18, i64 104, !18, i64 112, !18, i64 120, !23, i64 128, !18, i64 136, !16, i64 144, !18, i64 152, !16, i64 160, !18, i64 168, !18, i64 176, !18, i64 184, !18, i64 192, !11, i64 200, !11, i64 204, !16, i64 208, !16, i64 212, !16, i64 216}
!22 = !{!"_ZTSN7qpOASES10PrintLevelE", !12, i64 0}
!23 = !{!"_ZTSN7qpOASES15SubjectToStatusE", !12, i64 0}
!24 = !{!"_ZTSN7qpOASES7FlipperE", !16, i64 0, !16, i64 4, !14, i64 8, !25, i64 128, !13, i64 248, !13, i64 256, !13, i64 264}
!25 = !{!"_ZTSN7qpOASES11ConstraintsE", !15, i64 0, !17, i64 40, !17, i64 80}
!26 = !{!"_ZTSN7qpOASES13TabularOutputE", !16, i64 0, !16, i64 4, !16, i64 8, !16, i64 12, !16, i64 16, !16, i64 20, !16, i64 24, !16, i64 28}
!27 = !{!9, !13, i64 808}
!28 = !{!9, !13, i64 816}
!29 = !{!18, !18, i64 0}
!30 = !{!9, !13, i64 824}
!31 = !{!10, !13, i64 192}
!32 = !{!9, !16, i64 968}
!33 = !{!9, !13, i64 952}
!34 = !{!9, !13, i64 960}
!35 = !{!9, !13, i64 976}
!36 = !{!9, !13, i64 984}
!37 = !{!9, !13, i64 992}
!38 = !{!9, !13, i64 1000}
!39 = !{!9, !13, i64 1008}
!40 = !{!9, !13, i64 1024}
!41 = !{!9, !13, i64 1040}
!42 = !{!9, !13, i64 1016}
!43 = !{!9, !13, i64 1032}
!44 = !{!9, !13, i64 1048}


; Effective O3 passes: ConstraintEliminationPass,CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LoopIdiomRecognizePass,LoopRotatePass,LoopSimplifyPass,MemCpyOptPass,ReassociatePass,SROAPass,SimplifyCFGPass,TailCallElimPass