; LLVM IR from simbody/simbody :: SimTKmath/Optimizers/src/IpOpt/IpIpoptAlg.ll (ZN10SimTKIpopt14IpoptAlgorithm8OptimizeEv)

; 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.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator.19" = type { i8 }
%"class.SimTKIpopt::IpoptAlgorithm" = type { %"class.SimTKIpopt::AlgorithmStrategyObject.base", %"class.SimTKIpopt::SmartPtr.10", %"class.SimTKIpopt::SmartPtr.11", %"class.SimTKIpopt::SmartPtr.12", %"class.SimTKIpopt::SmartPtr.13", %"class.SimTKIpopt::SmartPtr.14", %"class.SimTKIpopt::SmartPtr.15", %"class.SimTKIpopt::SmartPtr.16", %"class.SimTKIpopt::SmartPtr.17", i8, double, i8, double }
%"class.SimTKIpopt::AlgorithmStrategyObject.base" = type <{ %"class.SimTKIpopt::ReferencedObject.base", [4 x i8], %"class.SimTKIpopt::SmartPtr.6", %"class.SimTKIpopt::SmartPtr.7", %"class.SimTKIpopt::SmartPtr.8", %"class.SimTKIpopt::SmartPtr.9", i8 }>
%"class.SimTKIpopt::ReferencedObject.base" = type <{ ptr, i32 }>
%"class.SimTKIpopt::SmartPtr.6" = type { ptr }
%"class.SimTKIpopt::SmartPtr.7" = type { ptr }
%"class.SimTKIpopt::SmartPtr.8" = type { ptr }
%"class.SimTKIpopt::SmartPtr.9" = type { ptr }
%"class.SimTKIpopt::SmartPtr.10" = type { ptr }
%"class.SimTKIpopt::SmartPtr.11" = type { ptr }
%"class.SimTKIpopt::SmartPtr.12" = type { ptr }
%"class.SimTKIpopt::SmartPtr.13" = type { ptr }
%"class.SimTKIpopt::SmartPtr.14" = type { ptr }
%"class.SimTKIpopt::SmartPtr.15" = type { ptr }
%"class.SimTKIpopt::SmartPtr.16" = type { ptr }
%"class.SimTKIpopt::SmartPtr.17" = type { ptr }

@.str.17 = external hidden unnamed_addr constant [95 x i8], align 1
@_ZN10SimTKIpoptL15message_printedE = external hidden global i8, align 1
@_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt18RESTORATION_FAILEDE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt11TOO_FEW_DOFE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt14INTERNAL_ABORTE = external dso_local constant { ptr, ptr, ptr }, align 8
@.str.29 = external hidden unnamed_addr constant [68 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [77 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [25 x i8], align 1

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

declare i32 @__gxx_personality_v0(...)

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) #1

declare ptr @__cxa_begin_catch(ptr)

; 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 void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49)) #3 align 2

declare ptr @__cxa_allocate_exception(i64)

declare void @__cxa_throw(ptr, ptr, ptr)

declare void @__cxa_free_exception(ptr)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_10LineSearchEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_16ConvergenceCheckEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN10SimTKIpopt14IpoptAlgorithm8OptimizeEv(ptr noundef nonnull align 8 dereferenceable(152) %0) #3 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca i32, align 4
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca i32, align 4
  %6 = alloca i32, align 4
  %7 = alloca i8, align 1
  %8 = alloca i8, align 1
  %9 = alloca %"class.std::__cxx11::basic_string", align 8
  %10 = alloca %"class.std::allocator.19", align 1
  %11 = alloca %"class.std::__cxx11::basic_string", align 8
  %12 = alloca %"class.std::allocator.19", align 1
  %13 = alloca i1, align 1
  %14 = alloca i32, align 4
  %15 = alloca ptr, align 8
  %16 = alloca ptr, align 8
  %17 = alloca ptr, align 8
  %18 = alloca ptr, align 8
  %19 = alloca ptr, align 8
  %20 = alloca ptr, align 8
  %21 = alloca ptr, align 8
  %22 = alloca ptr, align 8
  %23 = alloca ptr, align 8
  %24 = alloca ptr, align 8
  %25 = alloca ptr, align 8
  %26 = alloca ptr, align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  %27 = load ptr, ptr %3, align 8
  %28 = call noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
  %29 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %28)
  %30 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %29)
  call void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %30)
  %31 = load i8, ptr @_ZN10SimTKIpoptL15message_printedE, align 1, !tbaa !9, !range !11, !noundef !12
  %32 = trunc i8 %31 to i1
  br i1 %32, label %35, label %33

33:                                               ; preds = %1
  %34 = call noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
  call void @_ZN10SimTKIpoptL13print_messageERKNS_10JournalistE(ptr noundef nonnull align 8 dereferenceable(40) %34)
  br label %35

35:                                               ; preds = %33, %1
  %36 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %37 unwind label %70

37:                                               ; preds = %35
  %38 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %36)
          to label %39 unwind label %70

39:                                               ; preds = %37
  %40 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics18InitializeIteratesEv(ptr noundef nonnull align 8 dereferenceable(664) %38)
          to label %41 unwind label %70

41:                                               ; preds = %39
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %40)
          to label %42 unwind label %70

42:                                               ; preds = %41
  invoke void @_ZN10SimTKIpopt14IpoptAlgorithm18InitializeIteratesEv(ptr noundef nonnull align 8 dereferenceable(152) %27)
          to label %43 unwind label %70

43:                                               ; preds = %42
  %44 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %45 unwind label %70

45:                                               ; preds = %43
  %46 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %44)
          to label %47 unwind label %70

47:                                               ; preds = %45
  %48 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics18InitializeIteratesEv(ptr noundef nonnull align 8 dereferenceable(664) %46)
          to label %49 unwind label %70

49:                                               ; preds = %47
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %48)
          to label %50 unwind label %70

50:                                               ; preds = %49
  %51 = getelementptr inbounds %"class.SimTKIpopt::IpoptAlgorithm", ptr %27, i32 0, i32 9
  %52 = load i8, ptr %51, align 8, !tbaa !13, !range !11, !noundef !12
  %53 = trunc i8 %52 to i1
  br i1 %53, label %74, label %54

54:                                               ; preds = %50
  %55 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %56 unwind label %70

56:                                               ; preds = %54
  %57 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %55)
          to label %58 unwind label %70

58:                                               ; preds = %56
  %59 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22PrintProblemStatisticsEv(ptr noundef nonnull align 8 dereferenceable(664) %57)
          to label %60 unwind label %70

60:                                               ; preds = %58
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %59)
          to label %61 unwind label %70

61:                                               ; preds = %60
  invoke void @_ZN10SimTKIpopt14IpoptAlgorithm22PrintProblemStatisticsEv(ptr noundef nonnull align 8 dereferenceable(152) %27)
          to label %62 unwind label %70

62:                                               ; preds = %61
  %63 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %64 unwind label %70

64:                                               ; preds = %62
  %65 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %63)
          to label %66 unwind label %70

66:                                               ; preds = %64
  %67 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22PrintProblemStatisticsEv(ptr noundef nonnull align 8 dereferenceable(664) %65)
          to label %68 unwind label %70

68:                                               ; preds = %66
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %67)
          to label %69 unwind label %70

69:                                               ; preds = %68
  br label %74

70:                                               ; preds = %80, %78, %76, %74, %68, %66, %64, %62, %61, %60, %58, %56, %54, %49, %47, %45, %43, %42, %41, %39, %37, %35
  %71 = landingpad { ptr, i32 }
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  %72 = extractvalue { ptr, i32 } %71, 0
  store ptr %72, ptr %4, align 8
  %73 = extractvalue { ptr, i32 } %71, 1
  store i32 %73, ptr %5, align 4
  br label %344

74:                                               ; preds = %69, %50
  %75 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %76 unwind label %70

76:                                               ; preds = %74
  %77 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %75)
          to label %78 unwind label %70

78:                                               ; preds = %76
  %79 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16CheckConvergenceEv(ptr noundef nonnull align 8 dereferenceable(664) %77)
          to label %80 unwind label %70

80:                                               ; preds = %78
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %79)
          to label %81 unwind label %70

81:                                               ; preds = %80
  call void @llvm.lifetime.start.p0(i64 4, ptr %6) #6
  %82 = getelementptr inbounds %"class.SimTKIpopt::IpoptAlgorithm", ptr %27, i32 0, i32 4
  %83 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_16ConvergenceCheckEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %82)
          to label %84 unwind label %173

84:                                               ; preds = %81
  %85 = load ptr, ptr %83, align 8, !tbaa !31
  %86 = getelementptr inbounds ptr, ptr %85, i64 3
  %87 = load ptr, ptr %86, align 8
  %88 = invoke noundef i32 %87(ptr noundef nonnull align 8 dereferenceable(49) %83, i1 noundef zeroext true)
          to label %89 unwind label %173

89:                                               ; preds = %84
  store i32 %88, ptr %6, align 4, !tbaa !33
  %90 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %91 unwind label %173

91:                                               ; preds = %89
  %92 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %90)
          to label %93 unwind label %173

93:                                               ; preds = %91
  %94 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16CheckConvergenceEv(ptr noundef nonnull align 8 dereferenceable(664) %92)
          to label %95 unwind label %173

95:                                               ; preds = %93
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %94)
          to label %96 unwind label %173

96:                                               ; preds = %95
  br label %97

97:                                               ; preds = %291, %96
  %98 = load i32, ptr %6, align 4, !tbaa !33
  %99 = icmp eq i32 %98, 0
  br i1 %99, label %100, label %293

100:                                              ; preds = %97
  %101 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %102 unwind label %173

102:                                              ; preds = %100
  %103 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %101)
          to label %104 unwind label %173

104:                                              ; preds = %102
  %105 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics13UpdateHessianEv(ptr noundef nonnull align 8 dereferenceable(664) %103)
          to label %106 unwind label %173

106:                                              ; preds = %104
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %105)
          to label %107 unwind label %173

107:                                              ; preds = %106
  invoke void @_ZN10SimTKIpopt14IpoptAlgorithm13UpdateHessianEv(ptr noundef nonnull align 8 dereferenceable(152) %27)
          to label %108 unwind label %173

108:                                              ; preds = %107
  %109 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %110 unwind label %173

110:                                              ; preds = %108
  %111 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %109)
          to label %112 unwind label %173

112:                                              ; preds = %110
  %113 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics13UpdateHessianEv(ptr noundef nonnull align 8 dereferenceable(664) %111)
          to label %114 unwind label %173

114:                                              ; preds = %112
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %113)
          to label %115 unwind label %173

115:                                              ; preds = %114
  %116 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %117 unwind label %173

117:                                              ; preds = %115
  %118 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %116)
          to label %119 unwind label %173

119:                                              ; preds = %117
  %120 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(664) %118)
          to label %121 unwind label %173

121:                                              ; preds = %119
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %120)
          to label %122 unwind label %173

122:                                              ; preds = %121
  invoke void @_ZN10SimTKIpopt14IpoptAlgorithm15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(152) %27)
          to label %123 unwind label %173

123:                                              ; preds = %122
  %124 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %125 unwind label %173

125:                                              ; preds = %123
  invoke void @_ZN10SimTKIpopt9IpoptData9ResetInfoEv(ptr noundef nonnull align 8 dereferenceable(864) %124)
          to label %126 unwind label %173

126:                                              ; preds = %125
  %127 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %128 unwind label %173

128:                                              ; preds = %126
  %129 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %127)
          to label %130 unwind label %173

130:                                              ; preds = %128
  %131 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(664) %129)
          to label %132 unwind label %173

132:                                              ; preds = %130
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %131)
          to label %133 unwind label %173

133:                                              ; preds = %132
  call void @llvm.lifetime.start.p0(i64 1, ptr %7) #6
  store i8 0, ptr %7, align 1, !tbaa !9
  %134 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %135 unwind label %177

135:                                              ; preds = %133
  %136 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %134)
          to label %137 unwind label %177

137:                                              ; preds = %135
  %138 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22UpdateBarrierParameterEv(ptr noundef nonnull align 8 dereferenceable(664) %136)
          to label %139 unwind label %177

139:                                              ; preds = %137
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %138)
          to label %140 unwind label %177

140:                                              ; preds = %139
  %141 = invoke noundef zeroext i1 @_ZN10SimTKIpopt14IpoptAlgorithm22UpdateBarrierParameterEv(ptr noundef nonnull align 8 dereferenceable(152) %27)
          to label %142 unwind label %177

142:                                              ; preds = %140
  %143 = xor i1 %141, true
  %144 = zext i1 %143 to i8
  store i8 %144, ptr %7, align 1, !tbaa !9
  %145 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %146 unwind label %177

146:                                              ; preds = %142
  %147 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %145)
          to label %148 unwind label %177

148:                                              ; preds = %146
  %149 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22UpdateBarrierParameterEv(ptr noundef nonnull align 8 dereferenceable(664) %147)
          to label %150 unwind label %177

150:                                              ; preds = %148
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %149)
          to label %151 unwind label %177

151:                                              ; preds = %150
  %152 = load i8, ptr %7, align 1, !tbaa !9, !range !11, !noundef !12
  %153 = trunc i8 %152 to i1
  br i1 %153, label %181, label %154

154:                                              ; preds = %151
  %155 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %156 unwind label %177

156:                                              ; preds = %154
  %157 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %155)
          to label %158 unwind label %177

158:                                              ; preds = %156
  %159 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22ComputeSearchDirectionEv(ptr noundef nonnull align 8 dereferenceable(664) %157)
          to label %160 unwind label %177

160:                                              ; preds = %158
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %159)
          to label %161 unwind label %177

161:                                              ; preds = %160
  %162 = invoke noundef zeroext i1 @_ZN10SimTKIpopt14IpoptAlgorithm22ComputeSearchDirectionEv(ptr noundef nonnull align 8 dereferenceable(152) %27)
          to label %163 unwind label %177

163:                                              ; preds = %161
  %164 = xor i1 %162, true
  %165 = zext i1 %164 to i8
  store i8 %165, ptr %7, align 1, !tbaa !9
  %166 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %167 unwind label %177

167:                                              ; preds = %163
  %168 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %166)
          to label %169 unwind label %177

169:                                              ; preds = %167
  %170 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22ComputeSearchDirectionEv(ptr noundef nonnull align 8 dereferenceable(664) %168)
          to label %171 unwind label %177

171:                                              ; preds = %169
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %170)
          to label %172 unwind label %177

172:                                              ; preds = %171
  br label %181

173:                                              ; preds = %314, %312, %310, %308, %307, %305, %303, %301, %300, %299, %297, %295, %293, %132, %130, %128, %126, %125, %123, %122, %121, %119, %117, %115, %114, %112, %110, %108, %107, %106, %104, %102, %100, %95, %93, %91, %89, %84, %81
  %174 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  %175 = extractvalue { ptr, i32 } %174, 0
  store ptr %175, ptr %4, align 8
  %176 = extractvalue { ptr, i32 } %174, 1
  store i32 %176, ptr %5, align 4
  br label %343

177:                                              ; preds = %290, %288, %286, %284, %279, %276, %275, %273, %271, %269, %267, %265, %263, %261, %260, %258, %256, %254, %253, %252, %250, %248, %246, %245, %243, %241, %239, %238, %237, %235, %233, %231, %171, %169, %167, %163, %161, %160, %158, %156, %154, %150, %148, %146, %142, %140, %139, %137, %135, %133
  %178 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  %179 = extractvalue { ptr, i32 } %178, 0
  store ptr %179, ptr %4, align 8
  %180 = extractvalue { ptr, i32 } %178, 1
  store i32 %180, ptr %5, align 4
  br label %292

181:                                              ; preds = %172, %151
  %182 = load i8, ptr %7, align 1, !tbaa !9, !range !11, !noundef !12
  %183 = trunc i8 %182 to i1
  br i1 %183, label %184, label %231

184:                                              ; preds = %181
  call void @llvm.lifetime.start.p0(i64 1, ptr %8) #6
  %185 = getelementptr inbounds %"class.SimTKIpopt::IpoptAlgorithm", ptr %27, i32 0, i32 2
  %186 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_10LineSearchEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %185)
          to label %187 unwind label %200

187:                                              ; preds = %184
  %188 = load ptr, ptr %186, align 8, !tbaa !31
  %189 = getelementptr inbounds ptr, ptr %188, i64 7
  %190 = load ptr, ptr %189, align 8
  %191 = invoke noundef zeroext i1 %190(ptr noundef nonnull align 8 dereferenceable(49) %186)
          to label %192 unwind label %200

192:                                              ; preds = %187
  %193 = zext i1 %191 to i8
  store i8 %193, ptr %8, align 1, !tbaa !9
  %194 = load i8, ptr %8, align 1, !tbaa !9, !range !11, !noundef !12
  %195 = trunc i8 %194 to i1
  br i1 %195, label %196, label %204

196:                                              ; preds = %192
  %197 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %198 unwind label %200

198:                                              ; preds = %196
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %197, i32 noundef 2, i32 noundef 2, ptr noundef @.str.29)
          to label %199 unwind label %200

199:                                              ; preds = %198
  br label %229

200:                                              ; preds = %206, %204, %198, %196, %187, %184
  %201 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  %202 = extractvalue { ptr, i32 } %201, 0
  store ptr %202, ptr %4, align 8
  %203 = extractvalue { ptr, i32 } %201, 1
  store i32 %203, ptr %5, align 4
  br label %230

204:                                              ; preds = %192
  %205 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %206 unwind label %200

206:                                              ; preds = %204
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %205, i32 noundef 1, i32 noundef 2, ptr noundef @.str.30)
          to label %207 unwind label %200

207:                                              ; preds = %206
  store i1 true, ptr %13, align 1
  %208 = call ptr @__cxa_allocate_exception(i64 112) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %10) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %9, ptr noundef @.str.31, ptr noundef nonnull align 1 dereferenceable(1) %10)
          to label %209 unwind label %212

209:                                              ; preds = %207
  call void @llvm.lifetime.start.p0(i64 1, ptr %12) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %12) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %11, ptr noundef @.str.17, ptr noundef nonnull align 1 dereferenceable(1) %12)
          to label %210 unwind label %216

210:                                              ; preds = %209
  invoke void @_ZN10SimTKIpopt23STEP_COMPUTATION_FAILEDC2ENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_i(ptr noundef nonnull align 8 dereferenceable(112) %208, ptr noundef %9, ptr noundef %11, i32 noundef 257)
          to label %211 unwind label %220

211:                                              ; preds = %210
  store i1 false, ptr %13, align 1
  invoke void @__cxa_throw(ptr %208, ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE, ptr @_ZN10SimTKIpopt14IpoptExceptionD2Ev) #7
          to label %707 unwind label %220

212:                                              ; preds = %207
  %213 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  %214 = extractvalue { ptr, i32 } %213, 0
  store ptr %214, ptr %4, align 8
  %215 = extractvalue { ptr, i32 } %213, 1
  store i32 %215, ptr %5, align 4
  br label %225

216:                                              ; preds = %209
  %217 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  %218 = extractvalue { ptr, i32 } %217, 0
  store ptr %218, ptr %4, align 8
  %219 = extractvalue { ptr, i32 } %217, 1
  store i32 %219, ptr %5, align 4
  br label %224

220:                                              ; preds = %211, %210
  %221 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  %222 = extractvalue { ptr, i32 } %221, 0
  store ptr %222, ptr %4, align 8
  %223 = extractvalue { ptr, i32 } %221, 1
  store i32 %223, ptr %5, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %11) #6
  br label %224

224:                                              ; preds = %220, %216
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %12) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %12) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %9) #6
  br label %225

225:                                              ; preds = %224, %212
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %10) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %10) #6
  %226 = load i1, ptr %13, align 1
  br i1 %226, label %227, label %228

227:                                              ; preds = %225
  call void @__cxa_free_exception(ptr %208) #6
  br label %228

228:                                              ; preds = %227, %225
  br label %230

229:                                              ; preds = %199
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #6
  br label %231

230:                                              ; preds = %228, %200
  call void @llvm.lifetime.end.p0(i64 1, ptr %8) #6
  br label %292

231:                                              ; preds = %229, %181
  %232 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %233 unwind label %177

233:                                              ; preds = %231
  %234 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %232)
          to label %235 unwind label %177

235:                                              ; preds = %233
  %236 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %234)
          to label %237 unwind label %177

237:                                              ; preds = %235
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %236)
          to label %238 unwind label %177

238:                                              ; preds = %237
  invoke void @_ZN10SimTKIpopt14IpoptAlgorithm27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(152) %27)
          to label %239 unwind label %177

239:                                              ; preds = %238
  %240 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %241 unwind label %177

241:                                              ; preds = %239
  %242 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %240)
          to label %243 unwind label %177

243:                                              ; preds = %241
  %244 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %242)
          to label %245 unwind label %177

245:                                              ; preds = %243
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %244)
          to label %246 unwind label %177

246:                                              ; preds = %245
  %247 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %248 unwind label %177

248:                                              ; preds = %246
  %249 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %247)
          to label %250 unwind label %177

250:                                              ; preds = %248
  %251 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16AcceptTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %249)
          to label %252 unwind label %177

252:                                              ; preds = %250
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %251)
          to label %253 unwind label %177

253:                                              ; preds = %252
  invoke void @_ZN10SimTKIpopt14IpoptAlgorithm16AcceptTrialPointEv(ptr noundef nonnull align 8 dereferenceable(152) %27)
          to label %254 unwind label %177

254:                                              ; preds = %253
  %255 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %256 unwind label %177

256:                                              ; preds = %254
  %257 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %255)
          to label %258 unwind label %177

258:                                              ; preds = %256
  %259 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16AcceptTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %257)
          to label %260 unwind label %177

260:                                              ; preds = %258
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %259)
          to label %261 unwind label %177

261:                                              ; preds = %260
  %262 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %263 unwind label %177

263:                                              ; preds = %261
  %264 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %265 unwind label %177

265:                                              ; preds = %263
  %266 = invoke noundef i32 @_ZNK10SimTKIpopt9IpoptData10iter_countEv(ptr noundef nonnull align 8 dereferenceable(864) %264)
          to label %267 unwind label %177

267:                                              ; preds = %265
  %268 = add nsw i32 %266, 1
  invoke void @_ZN10SimTKIpopt9IpoptData14Set_iter_countEi(ptr noundef nonnull align 8 dereferenceable(864) %262, i32 noundef %268)
          to label %269 unwind label %177

269:                                              ; preds = %267
  %270 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %271 unwind label %177

271:                                              ; preds = %269
  %272 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %270)
          to label %273 unwind label %177

273:                                              ; preds = %271
  %274 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16CheckConvergenceEv(ptr noundef nonnull align 8 dereferenceable(664) %272)
          to label %275 unwind label %177

275:                                              ; preds = %273
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %274)
          to label %276 unwind label %177

276:                                              ; preds = %275
  %277 = getelementptr inbounds %"class.SimTKIpopt::IpoptAlgorithm", ptr %27, i32 0, i32 4
  %278 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_16ConvergenceCheckEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %277)
          to label %279 unwind label %177

279:                                              ; preds = %276
  %280 = load ptr, ptr %278, align 8, !tbaa !31
  %281 = getelementptr inbounds ptr, ptr %280, i64 3
  %282 = load ptr, ptr %281, align 8
  %283 = invoke noundef i32 %282(ptr noundef nonnull align 8 dereferenceable(49) %278, i1 noundef zeroext true)
          to label %284 unwind label %177

284:                                              ; preds = %279
  store i32 %283, ptr %6, align 4, !tbaa !33
  %285 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %286 unwind label %177

286:                                              ; preds = %284
  %287 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %285)
          to label %288 unwind label %177

288:                                              ; preds = %286
  %289 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16CheckConvergenceEv(ptr noundef nonnull align 8 dereferenceable(664) %287)
          to label %290 unwind label %177

290:                                              ; preds = %288
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %289)
          to label %291 unwind label %177

291:                                              ; preds = %290
  call void @llvm.lifetime.end.p0(i64 1, ptr %7) #6
  br label %97, !llvm.loop !35

292:                                              ; preds = %230, %177
  call void @llvm.lifetime.end.p0(i64 1, ptr %7) #6
  br label %343

293:                                              ; preds = %97
  %294 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %295 unwind label %173

295:                                              ; preds = %293
  %296 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %294)
          to label %297 unwind label %173

297:                                              ; preds = %295
  %298 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(664) %296)
          to label %299 unwind label %173

299:                                              ; preds = %297
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %298)
          to label %300 unwind label %173

300:                                              ; preds = %299
  invoke void @_ZN10SimTKIpopt14IpoptAlgorithm15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(152) %27)
          to label %301 unwind label %173

301:                                              ; preds = %300
  %302 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %303 unwind label %173

303:                                              ; preds = %301
  %304 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %302)
          to label %305 unwind label %173

305:                                              ; preds = %303
  %306 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(664) %304)
          to label %307 unwind label %173

307:                                              ; preds = %305
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %306)
          to label %308 unwind label %173

308:                                              ; preds = %307
  %309 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %310 unwind label %173

310:                                              ; preds = %308
  %311 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %309)
          to label %312 unwind label %173

312:                                              ; preds = %310
  %313 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %311)
          to label %314 unwind label %173

314:                                              ; preds = %312
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %313)
          to label %315 unwind label %173

315:                                              ; preds = %314
  %316 = load i32, ptr %6, align 4, !tbaa !33
  %317 = icmp eq i32 %316, 1
  br i1 %317, label %318, label %319

318:                                              ; preds = %315
  store i32 0, ptr %2, align 4
  store i32 1, ptr %14, align 4
  br label %340

319:                                              ; preds = %315
  %320 = load i32, ptr %6, align 4, !tbaa !33
  %321 = icmp eq i32 %320, 2
  br i1 %321, label %322, label %323

322:                                              ; preds = %319
  store i32 3, ptr %2, align 4
  store i32 1, ptr %14, align 4
  br label %340

323:                                              ; preds = %319
  %324 = load i32, ptr %6, align 4, !tbaa !33
  %325 = icmp eq i32 %324, 3
  br i1 %325, label %326, label %327

326:                                              ; preds = %323
  store i32 1, ptr %2, align 4
  store i32 1, ptr %14, align 4
  br label %340

327:                                              ; preds = %323
  %328 = load i32, ptr %6, align 4, !tbaa !33
  %329 = icmp eq i32 %328, 4
  br i1 %329, label %330, label %331

330:                                              ; preds = %327
  store i32 6, ptr %2, align 4
  store i32 1, ptr %14, align 4
  br label %340

331:                                              ; preds = %327
  %332 = load i32, ptr %6, align 4, !tbaa !33
  %333 = icmp eq i32 %332, 5
  br i1 %333, label %334, label %335

334:                                              ; preds = %331
  store i32 5, ptr %2, align 4
  store i32 1, ptr %14, align 4
  br label %340

335:                                              ; preds = %331
  br label %336

336:                                              ; preds = %335
  br label %337

337:                                              ; preds = %336
  br label %338

338:                                              ; preds = %337
  br label %339

339:                                              ; preds = %338
  store i32 0, ptr %14, align 4
  br label %340

340:                                              ; preds = %339, %334, %330, %326, %322, %318
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #6
  %341 = load i32, ptr %14, align 4
  switch i32 %341, label %707 [
    i32 0, label %342
    i32 1, label %697
  ]

342:                                              ; preds = %340
  br label %693

343:                                              ; preds = %292, %173
  call void @llvm.lifetime.end.p0(i64 4, ptr %6) #6
  br label %344

344:                                              ; preds = %343, %70
  %345 = load i32, ptr %5, align 4
  %346 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE) #6
  %347 = icmp eq i32 %345, %346
  br i1 %347, label %348, label %369

348:                                              ; preds = %344
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #6
  %349 = load ptr, ptr %4, align 8
  %350 = call ptr @__cxa_begin_catch(ptr %349) #6
  store ptr %350, ptr %26, align 8
  %351 = load ptr, ptr %26, align 8, !tbaa !5
  %352 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %353 unwind label %688

353:                                              ; preds = %348
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %351, ptr noundef nonnull align 8 dereferenceable(40) %352, i32 noundef 6)
          to label %354 unwind label %688

354:                                              ; preds = %353
  %355 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %356 unwind label %688

356:                                              ; preds = %354
  %357 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %355)
          to label %358 unwind label %688

358:                                              ; preds = %356
  %359 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22UpdateBarrierParameterEv(ptr noundef nonnull align 8 dereferenceable(664) %357)
          to label %360 unwind label %688

360:                                              ; preds = %358
  invoke void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %359)
          to label %361 unwind label %688

361:                                              ; preds = %360
  %362 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %363 unwind label %688

363:                                              ; preds = %361
  %364 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %362)
          to label %365 unwind label %688

365:                                              ; preds = %363
  %366 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %364)
          to label %367 unwind label %688

367:                                              ; preds = %365
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %366)
          to label %368 unwind label %688

368:                                              ; preds = %367
  store i32 2, ptr %2, align 4
  store i32 1, ptr %14, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #6
  br label %697

369:                                              ; preds = %344
  %370 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE) #6
  %371 = icmp eq i32 %345, %370
  br i1 %371, label %372, label %393

372:                                              ; preds = %369
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #6
  %373 = load ptr, ptr %4, align 8
  %374 = call ptr @__cxa_begin_catch(ptr %373) #6
  store ptr %374, ptr %25, align 8
  %375 = load ptr, ptr %25, align 8, !tbaa !5
  %376 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %377 unwind label %683

377:                                              ; preds = %372
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %375, ptr noundef nonnull align 8 dereferenceable(40) %376, i32 noundef 6)
          to label %378 unwind label %683

378:                                              ; preds = %377
  %379 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %380 unwind label %683

380:                                              ; preds = %378
  %381 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %379)
          to label %382 unwind label %683

382:                                              ; preds = %380
  %383 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %381)
          to label %384 unwind label %683

384:                                              ; preds = %382
  invoke void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %383)
          to label %385 unwind label %683

385:                                              ; preds = %384
  %386 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %387 unwind label %683

387:                                              ; preds = %385
  %388 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %386)
          to label %389 unwind label %683

389:                                              ; preds = %387
  %390 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %388)
          to label %391 unwind label %683

391:                                              ; preds = %389
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %390)
          to label %392 unwind label %683

392:                                              ; preds = %391
  store i32 3, ptr %2, align 4
  store i32 1, ptr %14, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #6
  br label %697

393:                                              ; preds = %369
  %394 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE) #6
  %395 = icmp eq i32 %345, %394
  br i1 %395, label %396, label %424

396:                                              ; preds = %393
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #6
  %397 = load ptr, ptr %4, align 8
  %398 = call ptr @__cxa_begin_catch(ptr %397) #6
  store ptr %398, ptr %24, align 8
  %399 = load ptr, ptr %24, align 8, !tbaa !5
  %400 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %401 unwind label %678

401:                                              ; preds = %396
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %399, ptr noundef nonnull align 8 dereferenceable(40) %400, i32 noundef 6)
          to label %402 unwind label %678

402:                                              ; preds = %401
  %403 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %404 unwind label %678

404:                                              ; preds = %402
  %405 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %403)
          to label %406 unwind label %678

406:                                              ; preds = %404
  %407 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %405)
          to label %408 unwind label %678

408:                                              ; preds = %406
  invoke void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %407)
          to label %409 unwind label %678

409:                                              ; preds = %408
  %410 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %411 unwind label %678

411:                                              ; preds = %409
  %412 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %410)
          to label %413 unwind label %678

413:                                              ; preds = %411
  %414 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16CheckConvergenceEv(ptr noundef nonnull align 8 dereferenceable(664) %412)
          to label %415 unwind label %678

415:                                              ; preds = %413
  invoke void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %414)
          to label %416 unwind label %678

416:                                              ; preds = %415
  %417 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %418 unwind label %678

418:                                              ; preds = %416
  %419 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %417)
          to label %420 unwind label %678

420:                                              ; preds = %418
  %421 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %419)
          to label %422 unwind label %678

422:                                              ; preds = %420
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %421)
          to label %423 unwind label %678

423:                                              ; preds = %422
  store i32 4, ptr %2, align 4
  store i32 1, ptr %14, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #6
  br label %697

424:                                              ; preds = %393
  %425 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE) #6
  %426 = icmp eq i32 %345, %425
  br i1 %426, label %427, label %448

427:                                              ; preds = %424
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #6
  %428 = load ptr, ptr %4, align 8
  %429 = call ptr @__cxa_begin_catch(ptr %428) #6
  store ptr %429, ptr %23, align 8
  %430 = load ptr, ptr %23, align 8, !tbaa !5
  %431 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %432 unwind label %673

432:                                              ; preds = %427
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %430, ptr noundef nonnull align 8 dereferenceable(40) %431, i32 noundef 6)
          to label %433 unwind label %673

433:                                              ; preds = %432
  %434 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %435 unwind label %673

435:                                              ; preds = %433
  %436 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %434)
          to label %437 unwind label %673

437:                                              ; preds = %435
  %438 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %436)
          to label %439 unwind label %673

439:                                              ; preds = %437
  invoke void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %438)
          to label %440 unwind label %673

440:                                              ; preds = %439
  %441 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %442 unwind label %673

442:                                              ; preds = %440
  %443 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %441)
          to label %444 unwind label %673

444:                                              ; preds = %442
  %445 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %443)
          to label %446 unwind label %673

446:                                              ; preds = %444
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %445)
          to label %447 unwind label %673

447:                                              ; preds = %446
  store i32 7, ptr %2, align 4
  store i32 1, ptr %14, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #6
  br label %697

448:                                              ; preds = %424
  %449 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE) #6
  %450 = icmp eq i32 %345, %449
  br i1 %450, label %451, label %472

451:                                              ; preds = %448
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #6
  %452 = load ptr, ptr %4, align 8
  %453 = call ptr @__cxa_begin_catch(ptr %452) #6
  store ptr %453, ptr %22, align 8
  %454 = load ptr, ptr %22, align 8, !tbaa !5
  %455 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %456 unwind label %668

456:                                              ; preds = %451
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %454, ptr noundef nonnull align 8 dereferenceable(40) %455, i32 noundef 6)
          to label %457 unwind label %668

457:                                              ; preds = %456
  %458 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %459 unwind label %668

459:                                              ; preds = %457
  %460 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %458)
          to label %461 unwind label %668

461:                                              ; preds = %459
  %462 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %460)
          to label %463 unwind label %668

463:                                              ; preds = %461
  invoke void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %462)
          to label %464 unwind label %668

464:                                              ; preds = %463
  %465 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %466 unwind label %668

466:                                              ; preds = %464
  %467 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %465)
          to label %468 unwind label %668

468:                                              ; preds = %466
  %469 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %467)
          to label %470 unwind label %668

470:                                              ; preds = %468
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %469)
          to label %471 unwind label %668

471:                                              ; preds = %470
  store i32 7, ptr %2, align 4
  store i32 1, ptr %14, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #6
  br label %697

472:                                              ; preds = %448
  %473 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE) #6
  %474 = icmp eq i32 %345, %473
  br i1 %474, label %475, label %496

475:                                              ; preds = %472
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #6
  %476 = load ptr, ptr %4, align 8
  %477 = call ptr @__cxa_begin_catch(ptr %476) #6
  store ptr %477, ptr %21, align 8
  %478 = load ptr, ptr %21, align 8, !tbaa !5
  %479 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %480 unwind label %663

480:                                              ; preds = %475
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %478, ptr noundef nonnull align 8 dereferenceable(40) %479, i32 noundef 6)
          to label %481 unwind label %663

481:                                              ; preds = %480
  %482 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %483 unwind label %663

483:                                              ; preds = %481
  %484 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %482)
          to label %485 unwind label %663

485:                                              ; preds = %483
  %486 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %484)
          to label %487 unwind label %663

487:                                              ; preds = %485
  invoke void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %486)
          to label %488 unwind label %663

488:                                              ; preds = %487
  %489 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %490 unwind label %663

490:                                              ; preds = %488
  %491 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %489)
          to label %492 unwind label %663

492:                                              ; preds = %490
  %493 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %491)
          to label %494 unwind label %663

494:                                              ; preds = %492
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %493)
          to label %495 unwind label %663

495:                                              ; preds = %494
  store i32 1, ptr %2, align 4
  store i32 1, ptr %14, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #6
  br label %697

496:                                              ; preds = %472
  %497 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE) #6
  %498 = icmp eq i32 %345, %497
  br i1 %498, label %499, label %520

499:                                              ; preds = %496
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #6
  %500 = load ptr, ptr %4, align 8
  %501 = call ptr @__cxa_begin_catch(ptr %500) #6
  store ptr %501, ptr %20, align 8
  %502 = load ptr, ptr %20, align 8, !tbaa !5
  %503 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %504 unwind label %658

504:                                              ; preds = %499
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %502, ptr noundef nonnull align 8 dereferenceable(40) %503, i32 noundef 6)
          to label %505 unwind label %658

505:                                              ; preds = %504
  %506 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %507 unwind label %658

507:                                              ; preds = %505
  %508 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %506)
          to label %509 unwind label %658

509:                                              ; preds = %507
  %510 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %508)
          to label %511 unwind label %658

511:                                              ; preds = %509
  invoke void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %510)
          to label %512 unwind label %658

512:                                              ; preds = %511
  %513 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %514 unwind label %658

514:                                              ; preds = %512
  %515 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %513)
          to label %516 unwind label %658

516:                                              ; preds = %514
  %517 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %515)
          to label %518 unwind label %658

518:                                              ; preds = %516
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %517)
          to label %519 unwind label %658

519:                                              ; preds = %518
  store i32 5, ptr %2, align 4
  store i32 1, ptr %14, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #6
  br label %697

520:                                              ; preds = %496
  %521 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE) #6
  %522 = icmp eq i32 %345, %521
  br i1 %522, label %523, label %544

523:                                              ; preds = %520
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #6
  %524 = load ptr, ptr %4, align 8
  %525 = call ptr @__cxa_begin_catch(ptr %524) #6
  store ptr %525, ptr %19, align 8
  %526 = load ptr, ptr %19, align 8, !tbaa !5
  %527 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %528 unwind label %653

528:                                              ; preds = %523
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %526, ptr noundef nonnull align 8 dereferenceable(40) %527, i32 noundef 6)
          to label %529 unwind label %653

529:                                              ; preds = %528
  %530 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %531 unwind label %653

531:                                              ; preds = %529
  %532 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %530)
          to label %533 unwind label %653

533:                                              ; preds = %531
  %534 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %532)
          to label %535 unwind label %653

535:                                              ; preds = %533
  invoke void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %534)
          to label %536 unwind label %653

536:                                              ; preds = %535
  %537 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %538 unwind label %653

538:                                              ; preds = %536
  %539 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %537)
          to label %540 unwind label %653

540:                                              ; preds = %538
  %541 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %539)
          to label %542 unwind label %653

542:                                              ; preds = %540
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %541)
          to label %543 unwind label %653

543:                                              ; preds = %542
  store i32 8, ptr %2, align 4
  store i32 1, ptr %14, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #6
  br label %697

544:                                              ; preds = %520
  %545 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE) #6
  %546 = icmp eq i32 %345, %545
  br i1 %546, label %547, label %568

547:                                              ; preds = %544
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #6
  %548 = load ptr, ptr %4, align 8
  %549 = call ptr @__cxa_begin_catch(ptr %548) #6
  store ptr %549, ptr %18, align 8
  %550 = load ptr, ptr %18, align 8, !tbaa !5
  %551 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %552 unwind label %648

552:                                              ; preds = %547
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %550, ptr noundef nonnull align 8 dereferenceable(40) %551, i32 noundef 6)
          to label %553 unwind label %648

553:                                              ; preds = %552
  %554 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %555 unwind label %648

555:                                              ; preds = %553
  %556 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %554)
          to label %557 unwind label %648

557:                                              ; preds = %555
  %558 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %556)
          to label %559 unwind label %648

559:                                              ; preds = %557
  invoke void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %558)
          to label %560 unwind label %648

560:                                              ; preds = %559
  %561 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %562 unwind label %648

562:                                              ; preds = %560
  %563 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %561)
          to label %564 unwind label %648

564:                                              ; preds = %562
  %565 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %563)
          to label %566 unwind label %648

566:                                              ; preds = %564
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %565)
          to label %567 unwind label %648

567:                                              ; preds = %566
  store i32 9, ptr %2, align 4
  store i32 1, ptr %14, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #6
  br label %697

568:                                              ; preds = %544
  %569 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE) #6
  %570 = icmp eq i32 %345, %569
  br i1 %570, label %571, label %592

571:                                              ; preds = %568
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #6
  %572 = load ptr, ptr %4, align 8
  %573 = call ptr @__cxa_begin_catch(ptr %572) #6
  store ptr %573, ptr %17, align 8
  %574 = load ptr, ptr %17, align 8, !tbaa !5
  %575 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %576 unwind label %643

576:                                              ; preds = %571
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %574, ptr noundef nonnull align 8 dereferenceable(40) %575, i32 noundef 6)
          to label %577 unwind label %643

577:                                              ; preds = %576
  %578 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %579 unwind label %643

579:                                              ; preds = %577
  %580 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %578)
          to label %581 unwind label %643

581:                                              ; preds = %579
  %582 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %580)
          to label %583 unwind label %643

583:                                              ; preds = %581
  invoke void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %582)
          to label %584 unwind label %643

584:                                              ; preds = %583
  %585 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %586 unwind label %643

586:                                              ; preds = %584
  %587 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %585)
          to label %588 unwind label %643

588:                                              ; preds = %586
  %589 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %587)
          to label %590 unwind label %643

590:                                              ; preds = %588
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %589)
          to label %591 unwind label %643

591:                                              ; preds = %590
  store i32 0, ptr %2, align 4
  store i32 1, ptr %14, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #6
  br label %697

592:                                              ; preds = %568
  %593 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE) #6
  %594 = icmp eq i32 %345, %593
  br i1 %594, label %595, label %616

595:                                              ; preds = %592
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #6
  %596 = load ptr, ptr %4, align 8
  %597 = call ptr @__cxa_begin_catch(ptr %596) #6
  store ptr %597, ptr %16, align 8
  %598 = load ptr, ptr %16, align 8, !tbaa !5
  %599 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %600 unwind label %638

600:                                              ; preds = %595
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %598, ptr noundef nonnull align 8 dereferenceable(40) %599, i32 noundef 6)
          to label %601 unwind label %638

601:                                              ; preds = %600
  %602 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %603 unwind label %638

603:                                              ; preds = %601
  %604 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %602)
          to label %605 unwind label %638

605:                                              ; preds = %603
  %606 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %604)
          to label %607 unwind label %638

607:                                              ; preds = %605
  invoke void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %606)
          to label %608 unwind label %638

608:                                              ; preds = %607
  %609 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %610 unwind label %638

610:                                              ; preds = %608
  %611 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %609)
          to label %612 unwind label %638

612:                                              ; preds = %610
  %613 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %611)
          to label %614 unwind label %638

614:                                              ; preds = %612
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %613)
          to label %615 unwind label %638

615:                                              ; preds = %614
  store i32 10, ptr %2, align 4
  store i32 1, ptr %14, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #6
  br label %697

616:                                              ; preds = %592
  %617 = call i32 @llvm.eh.typeid.for.p0(ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE) #6
  %618 = icmp eq i32 %345, %617
  br i1 %618, label %619, label %699

619:                                              ; preds = %616
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #6
  %620 = load ptr, ptr %4, align 8
  %621 = call ptr @__cxa_begin_catch(ptr %620) #6
  store ptr %621, ptr %15, align 8
  %622 = load ptr, ptr %15, align 8, !tbaa !5
  %623 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %624 unwind label %633

624:                                              ; preds = %619
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %622, ptr noundef nonnull align 8 dereferenceable(40) %623, i32 noundef 1)
          to label %625 unwind label %633

625:                                              ; preds = %624
  %626 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
          to label %627 unwind label %633

627:                                              ; preds = %625
  %628 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %626)
          to label %629 unwind label %633

629:                                              ; preds = %627
  %630 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %628)
          to label %631 unwind label %633

631:                                              ; preds = %629
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %630)
          to label %632 unwind label %633

632:                                              ; preds = %631
  store i32 11, ptr %2, align 4
  store i32 1, ptr %14, align 4
  call void @__cxa_end_catch()
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #6
  br label %697

633:                                              ; preds = %631, %629, %627, %625, %624, %619
  %634 = landingpad { ptr, i32 }
          cleanup
  %635 = extractvalue { ptr, i32 } %634, 0
  store ptr %635, ptr %4, align 8
  %636 = extractvalue { ptr, i32 } %634, 1
  store i32 %636, ptr %5, align 4
  invoke void @__cxa_end_catch()
          to label %637 unwind label %704

637:                                              ; preds = %633
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #6
  br label %699

638:                                              ; preds = %614, %612, %610, %608, %607, %605, %603, %601, %600, %595
  %639 = landingpad { ptr, i32 }
          cleanup
  %640 = extractvalue { ptr, i32 } %639, 0
  store ptr %640, ptr %4, align 8
  %641 = extractvalue { ptr, i32 } %639, 1
  store i32 %641, ptr %5, align 4
  invoke void @__cxa_end_catch()
          to label %642 unwind label %704

642:                                              ; preds = %638
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #6
  br label %699

643:                                              ; preds = %590, %588, %586, %584, %583, %581, %579, %577, %576, %571
  %644 = landingpad { ptr, i32 }
          cleanup
  %645 = extractvalue { ptr, i32 } %644, 0
  store ptr %645, ptr %4, align 8
  %646 = extractvalue { ptr, i32 } %644, 1
  store i32 %646, ptr %5, align 4
  invoke void @__cxa_end_catch()
          to label %647 unwind label %704

647:                                              ; preds = %643
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #6
  br label %699

648:                                              ; preds = %566, %564, %562, %560, %559, %557, %555, %553, %552, %547
  %649 = landingpad { ptr, i32 }
          cleanup
  %650 = extractvalue { ptr, i32 } %649, 0
  store ptr %650, ptr %4, align 8
  %651 = extractvalue { ptr, i32 } %649, 1
  store i32 %651, ptr %5, align 4
  invoke void @__cxa_end_catch()
          to label %652 unwind label %704

652:                                              ; preds = %648
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #6
  br label %699

653:                                              ; preds = %542, %540, %538, %536, %535, %533, %531, %529, %528, %523
  %654 = landingpad { ptr, i32 }
          cleanup
  %655 = extractvalue { ptr, i32 } %654, 0
  store ptr %655, ptr %4, align 8
  %656 = extractvalue { ptr, i32 } %654, 1
  store i32 %656, ptr %5, align 4
  invoke void @__cxa_end_catch()
          to label %657 unwind label %704

657:                                              ; preds = %653
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #6
  br label %699

658:                                              ; preds = %518, %516, %514, %512, %511, %509, %507, %505, %504, %499
  %659 = landingpad { ptr, i32 }
          cleanup
  %660 = extractvalue { ptr, i32 } %659, 0
  store ptr %660, ptr %4, align 8
  %661 = extractvalue { ptr, i32 } %659, 1
  store i32 %661, ptr %5, align 4
  invoke void @__cxa_end_catch()
          to label %662 unwind label %704

662:                                              ; preds = %658
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #6
  br label %699

663:                                              ; preds = %494, %492, %490, %488, %487, %485, %483, %481, %480, %475
  %664 = landingpad { ptr, i32 }
          cleanup
  %665 = extractvalue { ptr, i32 } %664, 0
  store ptr %665, ptr %4, align 8
  %666 = extractvalue { ptr, i32 } %664, 1
  store i32 %666, ptr %5, align 4
  invoke void @__cxa_end_catch()
          to label %667 unwind label %704

667:                                              ; preds = %663
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #6
  br label %699

668:                                              ; preds = %470, %468, %466, %464, %463, %461, %459, %457, %456, %451
  %669 = landingpad { ptr, i32 }
          cleanup
  %670 = extractvalue { ptr, i32 } %669, 0
  store ptr %670, ptr %4, align 8
  %671 = extractvalue { ptr, i32 } %669, 1
  store i32 %671, ptr %5, align 4
  invoke void @__cxa_end_catch()
          to label %672 unwind label %704

672:                                              ; preds = %668
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #6
  br label %699

673:                                              ; preds = %446, %444, %442, %440, %439, %437, %435, %433, %432, %427
  %674 = landingpad { ptr, i32 }
          cleanup
  %675 = extractvalue { ptr, i32 } %674, 0
  store ptr %675, ptr %4, align 8
  %676 = extractvalue { ptr, i32 } %674, 1
  store i32 %676, ptr %5, align 4
  invoke void @__cxa_end_catch()
          to label %677 unwind label %704

677:                                              ; preds = %673
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #6
  br label %699

678:                                              ; preds = %422, %420, %418, %416, %415, %413, %411, %409, %408, %406, %404, %402, %401, %396
  %679 = landingpad { ptr, i32 }
          cleanup
  %680 = extractvalue { ptr, i32 } %679, 0
  store ptr %680, ptr %4, align 8
  %681 = extractvalue { ptr, i32 } %679, 1
  store i32 %681, ptr %5, align 4
  invoke void @__cxa_end_catch()
          to label %682 unwind label %704

682:                                              ; preds = %678
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #6
  br label %699

683:                                              ; preds = %391, %389, %387, %385, %384, %382, %380, %378, %377, %372
  %684 = landingpad { ptr, i32 }
          cleanup
  %685 = extractvalue { ptr, i32 } %684, 0
  store ptr %685, ptr %4, align 8
  %686 = extractvalue { ptr, i32 } %684, 1
  store i32 %686, ptr %5, align 4
  invoke void @__cxa_end_catch()
          to label %687 unwind label %704

687:                                              ; preds = %683
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #6
  br label %699

688:                                              ; preds = %367, %365, %363, %361, %360, %358, %356, %354, %353, %348
  %689 = landingpad { ptr, i32 }
          cleanup
  %690 = extractvalue { ptr, i32 } %689, 0
  store ptr %690, ptr %4, align 8
  %691 = extractvalue { ptr, i32 } %689, 1
  store i32 %691, ptr %5, align 4
  invoke void @__cxa_end_catch()
          to label %692 unwind label %704

692:                                              ; preds = %688
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #6
  br label %699

693:                                              ; preds = %342
  %694 = call noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %27)
  %695 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %694)
  %696 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %695)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %696)
  store i32 11, ptr %2, align 4
  br label %697

697:                                              ; preds = %693, %632, %615, %591, %567, %543, %519, %495, %471, %447, %423, %392, %368, %340
  %698 = load i32, ptr %2, align 4
  ret i32 %698

699:                                              ; preds = %692, %687, %682, %677, %672, %667, %662, %657, %652, %647, %642, %637, %616
  %700 = load ptr, ptr %4, align 8
  %701 = load i32, ptr %5, align 4
  %702 = insertvalue { ptr, i32 } poison, ptr %700, 0
  %703 = insertvalue { ptr, i32 } %702, i32 %701, 1
  resume { ptr, i32 } %703

704:                                              ; preds = %688, %683, %678, %673, %668, %663, %658, %653, %648, %643, %638, %633
  %705 = landingpad { ptr, i32 }
          catch ptr null
  %706 = extractvalue { ptr, i32 } %705, 0
  call void @__clang_call_terminate(ptr %706) #8
  unreachable

707:                                              ; preds = %340, %211
  unreachable
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18)) #3 align 2

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN10SimTKIpoptL13print_messageERKNS_10JournalistE(ptr noundef nonnull align 8 dereferenceable(40)) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics18InitializeIteratesEv(ptr noundef nonnull align 8 dereferenceable(664)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptAlgorithm18InitializeIteratesEv(ptr noundef nonnull align 8 dereferenceable(152)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22PrintProblemStatisticsEv(ptr noundef nonnull align 8 dereferenceable(664)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptAlgorithm22PrintProblemStatisticsEv(ptr noundef nonnull align 8 dereferenceable(152)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16CheckConvergenceEv(ptr noundef nonnull align 8 dereferenceable(664)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics13UpdateHessianEv(ptr noundef nonnull align 8 dereferenceable(664)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptAlgorithm13UpdateHessianEv(ptr noundef nonnull align 8 dereferenceable(152)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(664)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptAlgorithm15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(152)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt9IpoptData9ResetInfoEv(ptr noundef nonnull align 8 dereferenceable(864)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22UpdateBarrierParameterEv(ptr noundef nonnull align 8 dereferenceable(664)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN10SimTKIpopt14IpoptAlgorithm22UpdateBarrierParameterEv(ptr noundef nonnull align 8 dereferenceable(152)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22ComputeSearchDirectionEv(ptr noundef nonnull align 8 dereferenceable(664)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN10SimTKIpopt14IpoptAlgorithm22ComputeSearchDirectionEv(ptr noundef nonnull align 8 dereferenceable(152)) #3 align 2

declare void @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef, i32 noundef, ptr noundef, ...) #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt23STEP_COMPUTATION_FAILEDC2ENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_i(ptr noundef nonnull align 8 dereferenceable(112), ptr noundef, ptr noundef, i32 noundef) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptExceptionD2Ev(ptr noundef nonnull align 8 dereferenceable(112)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptAlgorithm27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(152)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16AcceptTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptAlgorithm16AcceptTrialPointEv(ptr noundef nonnull align 8 dereferenceable(152)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt9IpoptData14Set_iter_countEi(ptr noundef nonnull align 8 dereferenceable(864), i32 noundef) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK10SimTKIpopt9IpoptData10iter_countEv(ptr noundef nonnull align 8 dereferenceable(864)) #2 align 2

; Function Attrs: nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112), ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) #3 align 2

declare void @__cxa_end_catch()

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { noinline noreturn nounwind uwtable "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 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 #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { "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 memory(none) }
attributes #6 = { nounwind }
attributes #7 = { noreturn }
attributes #8 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"bool", !7, i64 0}
!11 = !{i8 0, i8 2}
!12 = !{}
!13 = !{!14, !10, i64 120}
!14 = !{!"_ZTSN10SimTKIpopt14IpoptAlgorithmE", !15, i64 0, !22, i64 56, !23, i64 64, !24, i64 72, !25, i64 80, !26, i64 88, !27, i64 96, !28, i64 104, !29, i64 112, !10, i64 120, !30, i64 128, !10, i64 136, !30, i64 144}
!15 = !{!"_ZTSN10SimTKIpopt23AlgorithmStrategyObjectE", !16, i64 0, !18, i64 16, !19, i64 24, !20, i64 32, !21, i64 40, !10, i64 48}
!16 = !{!"_ZTSN10SimTKIpopt16ReferencedObjectE", !17, i64 8}
!17 = !{!"int", !7, i64 0}
!18 = !{!"_ZTSN10SimTKIpopt8SmartPtrIKNS_10JournalistEEE", !6, i64 0}
!19 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_8IpoptNLPEEE", !6, i64 0}
!20 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_9IpoptDataEEE", !6, i64 0}
!21 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_25IpoptCalculatedQuantitiesEEE", !6, i64 0}
!22 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_14PDSystemSolverEEE", !6, i64 0}
!23 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_10LineSearchEEE", !6, i64 0}
!24 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_8MuUpdateEEE", !6, i64 0}
!25 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_16ConvergenceCheckEEE", !6, i64 0}
!26 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_18IterateInitializerEEE", !6, i64 0}
!27 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_15IterationOutputEEE", !6, i64 0}
!28 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_14HessianUpdaterEEE", !6, i64 0}
!29 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_22EqMultiplierCalculatorEEE", !6, i64 0}
!30 = !{!"double", !7, i64 0}
!31 = !{!32, !32, i64 0}
!32 = !{!"vtable pointer", !8, i64 0}
!33 = !{!34, !34, i64 0}
!34 = !{!"_ZTSN10SimTKIpopt16ConvergenceCheck17ConvergenceStatusE", !7, i64 0}
!35 = distinct !{!35, !36}
!36 = !{!"llvm.loop.mustprogress"}


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

%"class.std::__cxx11::basic_string" = type { %"struct.std::__cxx11::basic_string<char>::_Alloc_hider", i64, %union.anon }
%"struct.std::__cxx11::basic_string<char>::_Alloc_hider" = type { ptr }
%union.anon = type { i64, [8 x i8] }
%"class.std::allocator.19" = type { i8 }

@.str.17 = external hidden unnamed_addr constant [95 x i8], align 1
@_ZN10SimTKIpoptL15message_printedE = external hidden local_unnamed_addr global i8, align 1
@_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt18RESTORATION_FAILEDE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt11TOO_FEW_DOFE = external dso_local constant { ptr, ptr, ptr }, align 8
@_ZTIN10SimTKIpopt14INTERNAL_ABORTE = external dso_local constant { ptr, ptr, ptr }, align 8
@.str.29 = external hidden unnamed_addr constant [68 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [77 x i8], align 1
@.str.31 = external hidden unnamed_addr constant [25 x i8], align 1
@switch.table._ZN10SimTKIpopt14IpoptAlgorithm8OptimizeEv = private unnamed_addr constant [5 x i32] [i32 0, i32 3, i32 1, i32 6, i32 5], align 4

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

declare i32 @__gxx_personality_v0(...)

; Function Attrs: noinline noreturn nounwind uwtable
declare hidden void @__clang_call_terminate(ptr noundef) local_unnamed_addr #1

declare ptr @__cxa_begin_catch(ptr) local_unnamed_addr

; 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 void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49)) local_unnamed_addr #3 align 2

declare ptr @__cxa_allocate_exception(i64) local_unnamed_addr

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

declare void @__cxa_free_exception(ptr) local_unnamed_addr

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_10LineSearchEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_16ConvergenceCheckEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_ZN10SimTKIpopt14IpoptAlgorithm8OptimizeEv(ptr noundef nonnull align 8 dereferenceable(152) %0) local_unnamed_addr #3 align 2 personality ptr @__gxx_personality_v0 {
  %2 = alloca %"class.std::__cxx11::basic_string", align 8
  %3 = alloca %"class.std::allocator.19", align 1
  %4 = alloca %"class.std::__cxx11::basic_string", align 8
  %5 = alloca %"class.std::allocator.19", align 1
  %6 = tail call noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
  %7 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %6)
  %8 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %7)
  tail call void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %8)
  %9 = load i8, ptr @_ZN10SimTKIpoptL15message_printedE, align 1, !tbaa !5, !range !9, !noundef !10
  %10 = trunc nuw i8 %9 to i1
  br i1 %10, label %13, label %11

11:                                               ; preds = %1
  %12 = tail call noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
  tail call void @_ZN10SimTKIpoptL13print_messageERKNS_10JournalistE(ptr noundef nonnull align 8 dereferenceable(40) %12)
  br label %13

13:                                               ; preds = %11, %1
  %14 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %15 unwind label %38

15:                                               ; preds = %13
  %16 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %14)
  %17 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics18InitializeIteratesEv(ptr noundef nonnull align 8 dereferenceable(664) %16)
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %17)
          to label %18 unwind label %38

18:                                               ; preds = %15
  invoke void @_ZN10SimTKIpopt14IpoptAlgorithm18InitializeIteratesEv(ptr noundef nonnull align 8 dereferenceable(152) %0)
          to label %19 unwind label %38

19:                                               ; preds = %18
  %20 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %21 unwind label %38

21:                                               ; preds = %19
  %22 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %20)
  %23 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics18InitializeIteratesEv(ptr noundef nonnull align 8 dereferenceable(664) %22)
  tail call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %23)
  %24 = getelementptr inbounds i8, ptr %0, i64 120
  %25 = load i8, ptr %24, align 8, !tbaa !11, !range !9, !noundef !10
  %26 = trunc nuw i8 %25 to i1
  br i1 %26, label %40, label %27

27:                                               ; preds = %21
  %28 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %29 unwind label %38

29:                                               ; preds = %27
  %30 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %28)
  %31 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22PrintProblemStatisticsEv(ptr noundef nonnull align 8 dereferenceable(664) %30)
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %31)
          to label %32 unwind label %38

32:                                               ; preds = %29
  invoke void @_ZN10SimTKIpopt14IpoptAlgorithm22PrintProblemStatisticsEv(ptr noundef nonnull align 8 dereferenceable(152) %0)
          to label %33 unwind label %38

33:                                               ; preds = %32
  %34 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %35 unwind label %38

35:                                               ; preds = %33
  %36 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %34)
  %37 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22PrintProblemStatisticsEv(ptr noundef nonnull align 8 dereferenceable(664) %36)
  tail call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %37)
  br label %40

38:                                               ; preds = %42, %40, %33, %32, %29, %27, %19, %18, %15, %13
  %39 = landingpad { ptr, i32 }
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  br label %189

40:                                               ; preds = %35, %21
  %41 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %42 unwind label %38

42:                                               ; preds = %40
  %43 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %41)
  %44 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16CheckConvergenceEv(ptr noundef nonnull align 8 dereferenceable(664) %43)
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %44)
          to label %45 unwind label %38

45:                                               ; preds = %42
  %46 = getelementptr inbounds i8, ptr %0, i64 80
  %47 = tail call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_16ConvergenceCheckEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %46)
  %48 = load ptr, ptr %47, align 8, !tbaa !30
  %49 = getelementptr inbounds i8, ptr %48, i64 24
  %50 = load ptr, ptr %49, align 8
  %51 = invoke noundef i32 %50(ptr noundef nonnull align 8 dereferenceable(49) %47, i1 noundef zeroext true)
          to label %52 unwind label %.loopexit.split-lp

52:                                               ; preds = %45
  %53 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %54 unwind label %.loopexit.split-lp

54:                                               ; preds = %52
  %55 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %53)
  %56 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16CheckConvergenceEv(ptr noundef nonnull align 8 dereferenceable(664) %55)
  tail call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %56)
  %57 = icmp eq i32 %51, 0
  br i1 %57, label %.lr.ph, label %._crit_edge

.lr.ph:                                           ; preds = %54
  %58 = getelementptr inbounds i8, ptr %0, i64 64
  br label %59

59:                                               ; preds = %.lr.ph, %170
  %60 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %61 unwind label %.loopexit

61:                                               ; preds = %59
  %62 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %60)
  %63 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics13UpdateHessianEv(ptr noundef nonnull align 8 dereferenceable(664) %62)
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %63)
          to label %64 unwind label %.loopexit

64:                                               ; preds = %61
  invoke void @_ZN10SimTKIpopt14IpoptAlgorithm13UpdateHessianEv(ptr noundef nonnull align 8 dereferenceable(152) %0)
          to label %65 unwind label %.loopexit

65:                                               ; preds = %64
  %66 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %67 unwind label %.loopexit

67:                                               ; preds = %65
  %68 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %66)
  %69 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics13UpdateHessianEv(ptr noundef nonnull align 8 dereferenceable(664) %68)
  tail call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %69)
  %70 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %71 unwind label %.loopexit

71:                                               ; preds = %67
  %72 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %70)
  %73 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(664) %72)
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %73)
          to label %74 unwind label %.loopexit

74:                                               ; preds = %71
  invoke void @_ZN10SimTKIpopt14IpoptAlgorithm15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(152) %0)
          to label %75 unwind label %.loopexit

75:                                               ; preds = %74
  %76 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %77 unwind label %.loopexit

77:                                               ; preds = %75
  tail call void @_ZN10SimTKIpopt9IpoptData9ResetInfoEv(ptr noundef nonnull align 8 dereferenceable(864) %76)
  %78 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %79 unwind label %.loopexit

79:                                               ; preds = %77
  %80 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %78)
  %81 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(664) %80)
  tail call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %81)
  %82 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %83 unwind label %102

83:                                               ; preds = %79
  %84 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %82)
  %85 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22UpdateBarrierParameterEv(ptr noundef nonnull align 8 dereferenceable(664) %84)
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %85)
          to label %86 unwind label %102

86:                                               ; preds = %83
  %87 = invoke noundef zeroext i1 @_ZN10SimTKIpopt14IpoptAlgorithm22UpdateBarrierParameterEv(ptr noundef nonnull align 8 dereferenceable(152) %0)
          to label %88 unwind label %102

88:                                               ; preds = %86
  %89 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %90 unwind label %102

90:                                               ; preds = %88
  %91 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %89)
  %92 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22UpdateBarrierParameterEv(ptr noundef nonnull align 8 dereferenceable(664) %91)
  tail call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %92)
  br i1 %87, label %93, label %.thread

93:                                               ; preds = %90
  %94 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %95 unwind label %102

95:                                               ; preds = %93
  %96 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %94)
  %97 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22ComputeSearchDirectionEv(ptr noundef nonnull align 8 dereferenceable(664) %96)
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %97)
          to label %98 unwind label %102

98:                                               ; preds = %95
  %99 = invoke noundef zeroext i1 @_ZN10SimTKIpopt14IpoptAlgorithm22ComputeSearchDirectionEv(ptr noundef nonnull align 8 dereferenceable(152) %0)
          to label %100 unwind label %102

100:                                              ; preds = %98
  %101 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %104 unwind label %102

.loopexit:                                        ; preds = %59, %61, %64, %65, %67, %71, %74, %75, %77
  %lpad.loopexit = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  br label %189

.loopexit.split-lp:                               ; preds = %45, %52, %._crit_edge, %175, %178, %179, %181
  %lpad.loopexit.split-lp = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  br label %189

102:                                              ; preds = %168, %162, %159, %155, %153, %149, %147, %146, %143, %139, %137, %136, %133, %131, %100, %98, %95, %93, %88, %86, %83, %79
  %103 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  br label %189

104:                                              ; preds = %100
  %105 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %101)
  %106 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22ComputeSearchDirectionEv(ptr noundef nonnull align 8 dereferenceable(664) %105)
  tail call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %106)
  br i1 %99, label %131, label %.thread

.thread:                                          ; preds = %90, %104
  %107 = tail call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_10LineSearchEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %58)
  %108 = load ptr, ptr %107, align 8, !tbaa !30
  %109 = getelementptr inbounds i8, ptr %108, i64 56
  %110 = load ptr, ptr %109, align 8
  %111 = invoke noundef zeroext i1 %110(ptr noundef nonnull align 8 dereferenceable(49) %107)
          to label %112 unwind label %.loopexit71

112:                                              ; preds = %.thread
  br i1 %111, label %113, label %116

113:                                              ; preds = %112
  %114 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %115 unwind label %.loopexit71

115:                                              ; preds = %113
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %114, i32 noundef 2, i32 noundef 2, ptr noundef nonnull @.str.29)
          to label %131 unwind label %.loopexit71

.loopexit71:                                      ; preds = %.thread, %113, %115
  %lpad.loopexit73 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  br label %189

.loopexit.split-lp72:                             ; preds = %116, %118
  %lpad.loopexit.split-lp74 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  br label %189

116:                                              ; preds = %112
  %117 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %118 unwind label %.loopexit.split-lp72

118:                                              ; preds = %116
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %117, i32 noundef 1, i32 noundef 2, ptr noundef nonnull @.str.30)
          to label %119 unwind label %.loopexit.split-lp72

119:                                              ; preds = %118
  %120 = tail call ptr @__cxa_allocate_exception(i64 112) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %3) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %3) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %2, ptr noundef nonnull @.str.31, ptr noundef nonnull align 1 dereferenceable(1) %3)
          to label %121 unwind label %.thread63

121:                                              ; preds = %119
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %5) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %4, ptr noundef nonnull @.str.17, ptr noundef nonnull align 1 dereferenceable(1) %5)
          to label %122 unwind label %125

122:                                              ; preds = %121
  invoke void @_ZN10SimTKIpopt23STEP_COMPUTATION_FAILEDC2ENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_i(ptr noundef nonnull align 8 dereferenceable(112) %120, ptr noundef nonnull %2, ptr noundef nonnull %4, i32 noundef 257)
          to label %123 unwind label %127

123:                                              ; preds = %122
  invoke void @__cxa_throw(ptr nonnull %120, ptr nonnull @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE, ptr nonnull @_ZN10SimTKIpopt14IpoptExceptionD2Ev) #7
          to label %414 unwind label %127

.thread63:                                        ; preds = %119
  %124 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %3) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %3) #6
  br label %130

125:                                              ; preds = %121
  %126 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  br label %129

127:                                              ; preds = %123, %122
  %.050 = phi i1 [ false, %123 ], [ true, %122 ]
  %128 = landingpad { ptr, i32 }
          cleanup
          catch ptr @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE
          catch ptr @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE
          catch ptr @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE
          catch ptr @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE
          catch ptr @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE
          catch ptr @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE
          catch ptr @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE
          catch ptr @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE
          catch ptr @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE
          catch ptr @_ZTIN10SimTKIpopt11TOO_FEW_DOFE
          catch ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %4) #6
  br label %129

129:                                              ; preds = %125, %127
  %.151 = phi i1 [ %.050, %127 ], [ true, %125 ]
  %.pn = phi { ptr, i32 } [ %128, %127 ], [ %126, %125 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %5) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %5) #6
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %2) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %3) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %3) #6
  br i1 %.151, label %130, label %189

130:                                              ; preds = %.thread63, %129
  %.pn.pn66 = phi { ptr, i32 } [ %124, %.thread63 ], [ %.pn, %129 ]
  call void @__cxa_free_exception(ptr %120) #6
  br label %189

131:                                              ; preds = %115, %104
  %132 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %133 unwind label %102

133:                                              ; preds = %131
  %134 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %132)
  %135 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %134)
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %135)
          to label %136 unwind label %102

136:                                              ; preds = %133
  invoke void @_ZN10SimTKIpopt14IpoptAlgorithm27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(152) %0)
          to label %137 unwind label %102

137:                                              ; preds = %136
  %138 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %139 unwind label %102

139:                                              ; preds = %137
  %140 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %138)
  %141 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %140)
  tail call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %141)
  %142 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %143 unwind label %102

143:                                              ; preds = %139
  %144 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %142)
  %145 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16AcceptTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %144)
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %145)
          to label %146 unwind label %102

146:                                              ; preds = %143
  invoke void @_ZN10SimTKIpopt14IpoptAlgorithm16AcceptTrialPointEv(ptr noundef nonnull align 8 dereferenceable(152) %0)
          to label %147 unwind label %102

147:                                              ; preds = %146
  %148 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %149 unwind label %102

149:                                              ; preds = %147
  %150 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %148)
  %151 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16AcceptTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %150)
  tail call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %151)
  %152 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %153 unwind label %102

153:                                              ; preds = %149
  %154 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %155 unwind label %102

155:                                              ; preds = %153
  %156 = tail call noundef i32 @_ZNK10SimTKIpopt9IpoptData10iter_countEv(ptr noundef nonnull align 8 dereferenceable(864) %154)
  %157 = add nsw i32 %156, 1
  tail call void @_ZN10SimTKIpopt9IpoptData14Set_iter_countEi(ptr noundef nonnull align 8 dereferenceable(864) %152, i32 noundef %157)
  %158 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %159 unwind label %102

159:                                              ; preds = %155
  %160 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %158)
  %161 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16CheckConvergenceEv(ptr noundef nonnull align 8 dereferenceable(664) %160)
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %161)
          to label %162 unwind label %102

162:                                              ; preds = %159
  %163 = tail call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_16ConvergenceCheckEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %46)
  %164 = load ptr, ptr %163, align 8, !tbaa !30
  %165 = getelementptr inbounds i8, ptr %164, i64 24
  %166 = load ptr, ptr %165, align 8
  %167 = invoke noundef i32 %166(ptr noundef nonnull align 8 dereferenceable(49) %163, i1 noundef zeroext true)
          to label %168 unwind label %102

168:                                              ; preds = %162
  %169 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %170 unwind label %102

170:                                              ; preds = %168
  %171 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %169)
  %172 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16CheckConvergenceEv(ptr noundef nonnull align 8 dereferenceable(664) %171)
  tail call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %172)
  %173 = icmp eq i32 %167, 0
  br i1 %173, label %59, label %._crit_edge, !llvm.loop !32

._crit_edge:                                      ; preds = %170, %54
  %.048.lcssa = phi i32 [ %51, %54 ], [ %167, %170 ]
  %174 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %175 unwind label %.loopexit.split-lp

175:                                              ; preds = %._crit_edge
  %176 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %174)
  %177 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(664) %176)
  invoke void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %177)
          to label %178 unwind label %.loopexit.split-lp

178:                                              ; preds = %175
  invoke void @_ZN10SimTKIpopt14IpoptAlgorithm15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(152) %0)
          to label %179 unwind label %.loopexit.split-lp

179:                                              ; preds = %178
  %180 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %181 unwind label %.loopexit.split-lp

181:                                              ; preds = %179
  %182 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %180)
  %183 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(664) %182)
  tail call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %183)
  %184 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %185 unwind label %.loopexit.split-lp

185:                                              ; preds = %181
  %186 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %184)
  %187 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %186)
  tail call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %187)
  %188 = icmp ult i32 %.048.lcssa, 6
  br i1 %188, label %switch.lookup, label %405

189:                                              ; preds = %.loopexit71, %.loopexit.split-lp72, %.loopexit, %.loopexit.split-lp, %130, %129, %102, %38
  %.pn58.pn.pn = phi { ptr, i32 } [ %39, %38 ], [ %103, %102 ], [ %.pn.pn66, %130 ], [ %.pn, %129 ], [ %lpad.loopexit, %.loopexit ], [ %lpad.loopexit.split-lp, %.loopexit.split-lp ], [ %lpad.loopexit73, %.loopexit71 ], [ %lpad.loopexit.split-lp74, %.loopexit.split-lp72 ]
  %.5 = extractvalue { ptr, i32 } %.pn58.pn.pn, 0
  %.546 = extractvalue { ptr, i32 } %.pn58.pn.pn, 1
  %190 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN10SimTKIpopt18TINY_STEP_DETECTEDE) #6
  %191 = icmp eq i32 %.546, %190
  br i1 %191, label %192, label %205

192:                                              ; preds = %189
  %193 = call ptr @__cxa_begin_catch(ptr %.5) #6
  %194 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %195 unwind label %403

195:                                              ; preds = %192
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %193, ptr noundef nonnull align 8 dereferenceable(40) %194, i32 noundef 6)
          to label %196 unwind label %403

196:                                              ; preds = %195
  %197 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %198 unwind label %403

198:                                              ; preds = %196
  %199 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %197)
  %200 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22UpdateBarrierParameterEv(ptr noundef nonnull align 8 dereferenceable(664) %199)
  call void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %200)
  %201 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %202 unwind label %403

202:                                              ; preds = %198
  %203 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %201)
  %204 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %203)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %204)
  call void @__cxa_end_catch()
  br label %.thread67

205:                                              ; preds = %189
  %206 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN10SimTKIpopt24ACCEPTABLE_POINT_REACHEDE) #6
  %207 = icmp eq i32 %.546, %206
  br i1 %207, label %208, label %221

208:                                              ; preds = %205
  %209 = call ptr @__cxa_begin_catch(ptr %.5) #6
  %210 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %211 unwind label %401

211:                                              ; preds = %208
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %209, ptr noundef nonnull align 8 dereferenceable(40) %210, i32 noundef 6)
          to label %212 unwind label %401

212:                                              ; preds = %211
  %213 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %214 unwind label %401

214:                                              ; preds = %212
  %215 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %213)
  %216 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %215)
  call void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %216)
  %217 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %218 unwind label %401

218:                                              ; preds = %214
  %219 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %217)
  %220 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %219)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %220)
  call void @__cxa_end_catch()
  br label %.thread67

221:                                              ; preds = %205
  %222 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN10SimTKIpopt18LOCALLY_INFEASIBLEE) #6
  %223 = icmp eq i32 %.546, %222
  br i1 %223, label %224, label %241

224:                                              ; preds = %221
  %225 = call ptr @__cxa_begin_catch(ptr %.5) #6
  %226 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %227 unwind label %399

227:                                              ; preds = %224
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %225, ptr noundef nonnull align 8 dereferenceable(40) %226, i32 noundef 6)
          to label %228 unwind label %399

228:                                              ; preds = %227
  %229 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %230 unwind label %399

230:                                              ; preds = %228
  %231 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %229)
  %232 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %231)
  call void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %232)
  %233 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %234 unwind label %399

234:                                              ; preds = %230
  %235 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %233)
  %236 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16CheckConvergenceEv(ptr noundef nonnull align 8 dereferenceable(664) %235)
  call void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %236)
  %237 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %238 unwind label %399

238:                                              ; preds = %234
  %239 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %237)
  %240 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %239)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %240)
  call void @__cxa_end_catch()
  br label %.thread67

241:                                              ; preds = %221
  %242 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN10SimTKIpopt39RESTORATION_CONVERGED_TO_FEASIBLE_POINTE) #6
  %243 = icmp eq i32 %.546, %242
  br i1 %243, label %244, label %257

244:                                              ; preds = %241
  %245 = call ptr @__cxa_begin_catch(ptr %.5) #6
  %246 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %247 unwind label %397

247:                                              ; preds = %244
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %245, ptr noundef nonnull align 8 dereferenceable(40) %246, i32 noundef 6)
          to label %248 unwind label %397

248:                                              ; preds = %247
  %249 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %250 unwind label %397

250:                                              ; preds = %248
  %251 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %249)
  %252 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %251)
  call void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %252)
  %253 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %254 unwind label %397

254:                                              ; preds = %250
  %255 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %253)
  %256 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %255)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %256)
  call void @__cxa_end_catch()
  br label %.thread67

257:                                              ; preds = %241
  %258 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN10SimTKIpopt18RESTORATION_FAILEDE) #6
  %259 = icmp eq i32 %.546, %258
  br i1 %259, label %260, label %273

260:                                              ; preds = %257
  %261 = call ptr @__cxa_begin_catch(ptr %.5) #6
  %262 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %263 unwind label %395

263:                                              ; preds = %260
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %261, ptr noundef nonnull align 8 dereferenceable(40) %262, i32 noundef 6)
          to label %264 unwind label %395

264:                                              ; preds = %263
  %265 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %266 unwind label %395

266:                                              ; preds = %264
  %267 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %265)
  %268 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %267)
  call void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %268)
  %269 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %270 unwind label %395

270:                                              ; preds = %266
  %271 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %269)
  %272 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %271)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %272)
  call void @__cxa_end_catch()
  br label %.thread67

273:                                              ; preds = %257
  %274 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN10SimTKIpopt28RESTORATION_MAXITER_EXCEEDEDE) #6
  %275 = icmp eq i32 %.546, %274
  br i1 %275, label %276, label %289

276:                                              ; preds = %273
  %277 = call ptr @__cxa_begin_catch(ptr %.5) #6
  %278 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %279 unwind label %393

279:                                              ; preds = %276
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %277, ptr noundef nonnull align 8 dereferenceable(40) %278, i32 noundef 6)
          to label %280 unwind label %393

280:                                              ; preds = %279
  %281 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %282 unwind label %393

282:                                              ; preds = %280
  %283 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %281)
  %284 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %283)
  call void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %284)
  %285 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %286 unwind label %393

286:                                              ; preds = %282
  %287 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %285)
  %288 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %287)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %288)
  call void @__cxa_end_catch()
  br label %.thread67

289:                                              ; preds = %273
  %290 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN10SimTKIpopt21RESTORATION_USER_STOPE) #6
  %291 = icmp eq i32 %.546, %290
  br i1 %291, label %292, label %305

292:                                              ; preds = %289
  %293 = call ptr @__cxa_begin_catch(ptr %.5) #6
  %294 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %295 unwind label %391

295:                                              ; preds = %292
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %293, ptr noundef nonnull align 8 dereferenceable(40) %294, i32 noundef 6)
          to label %296 unwind label %391

296:                                              ; preds = %295
  %297 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %298 unwind label %391

298:                                              ; preds = %296
  %299 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %297)
  %300 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %299)
  call void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %300)
  %301 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %302 unwind label %391

302:                                              ; preds = %298
  %303 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %301)
  %304 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %303)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %304)
  call void @__cxa_end_catch()
  br label %.thread67

305:                                              ; preds = %289
  %306 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN10SimTKIpopt23STEP_COMPUTATION_FAILEDE) #6
  %307 = icmp eq i32 %.546, %306
  br i1 %307, label %308, label %321

308:                                              ; preds = %305
  %309 = call ptr @__cxa_begin_catch(ptr %.5) #6
  %310 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %311 unwind label %389

311:                                              ; preds = %308
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %309, ptr noundef nonnull align 8 dereferenceable(40) %310, i32 noundef 6)
          to label %312 unwind label %389

312:                                              ; preds = %311
  %313 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %314 unwind label %389

314:                                              ; preds = %312
  %315 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %313)
  %316 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %315)
  call void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %316)
  %317 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %318 unwind label %389

318:                                              ; preds = %314
  %319 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %317)
  %320 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %319)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %320)
  call void @__cxa_end_catch()
  br label %.thread67

321:                                              ; preds = %305
  %322 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN10SimTKIpopt8IpoptNLP10Eval_ErrorE) #6
  %323 = icmp eq i32 %.546, %322
  br i1 %323, label %324, label %337

324:                                              ; preds = %321
  %325 = call ptr @__cxa_begin_catch(ptr %.5) #6
  %326 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %327 unwind label %387

327:                                              ; preds = %324
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %325, ptr noundef nonnull align 8 dereferenceable(40) %326, i32 noundef 6)
          to label %328 unwind label %387

328:                                              ; preds = %327
  %329 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %330 unwind label %387

330:                                              ; preds = %328
  %331 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %329)
  %332 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %331)
  call void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %332)
  %333 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %334 unwind label %387

334:                                              ; preds = %330
  %335 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %333)
  %336 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %335)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %336)
  call void @__cxa_end_catch()
  br label %.thread67

337:                                              ; preds = %321
  %338 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN10SimTKIpopt26FEASIBILITY_PROBLEM_SOLVEDE) #6
  %339 = icmp eq i32 %.546, %338
  br i1 %339, label %340, label %353

340:                                              ; preds = %337
  %341 = call ptr @__cxa_begin_catch(ptr %.5) #6
  %342 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %343 unwind label %385

343:                                              ; preds = %340
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %341, ptr noundef nonnull align 8 dereferenceable(40) %342, i32 noundef 6)
          to label %344 unwind label %385

344:                                              ; preds = %343
  %345 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %346 unwind label %385

346:                                              ; preds = %344
  %347 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %345)
  %348 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %347)
  call void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %348)
  %349 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %350 unwind label %385

350:                                              ; preds = %346
  %351 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %349)
  %352 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %351)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %352)
  call void @__cxa_end_catch()
  br label %.thread67

353:                                              ; preds = %337
  %354 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN10SimTKIpopt11TOO_FEW_DOFE) #6
  %355 = icmp eq i32 %.546, %354
  br i1 %355, label %356, label %369

356:                                              ; preds = %353
  %357 = call ptr @__cxa_begin_catch(ptr %.5) #6
  %358 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %359 unwind label %383

359:                                              ; preds = %356
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %357, ptr noundef nonnull align 8 dereferenceable(40) %358, i32 noundef 6)
          to label %360 unwind label %383

360:                                              ; preds = %359
  %361 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %362 unwind label %383

362:                                              ; preds = %360
  %363 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %361)
  %364 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664) %363)
  call void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18) %364)
  %365 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %366 unwind label %383

366:                                              ; preds = %362
  %367 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %365)
  %368 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %367)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %368)
  call void @__cxa_end_catch()
  br label %.thread67

369:                                              ; preds = %353
  %370 = call i32 @llvm.eh.typeid.for.p0(ptr nonnull @_ZTIN10SimTKIpopt14INTERNAL_ABORTE) #6
  %371 = icmp eq i32 %.546, %370
  br i1 %371, label %372, label %410

372:                                              ; preds = %369
  %373 = call ptr @__cxa_begin_catch(ptr %.5) #6
  %374 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %375 unwind label %381

375:                                              ; preds = %372
  invoke void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112) %373, ptr noundef nonnull align 8 dereferenceable(40) %374, i32 noundef 1)
          to label %376 unwind label %381

376:                                              ; preds = %375
  %377 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %378 unwind label %381

378:                                              ; preds = %376
  %379 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %377)
  %380 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %379)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %380)
  call void @__cxa_end_catch()
  br label %.thread67

381:                                              ; preds = %376, %375, %372
  %382 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %410 unwind label %411

383:                                              ; preds = %362, %360, %359, %356
  %384 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %410 unwind label %411

385:                                              ; preds = %346, %344, %343, %340
  %386 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %410 unwind label %411

387:                                              ; preds = %330, %328, %327, %324
  %388 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %410 unwind label %411

389:                                              ; preds = %314, %312, %311, %308
  %390 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %410 unwind label %411

391:                                              ; preds = %298, %296, %295, %292
  %392 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %410 unwind label %411

393:                                              ; preds = %282, %280, %279, %276
  %394 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %410 unwind label %411

395:                                              ; preds = %266, %264, %263, %260
  %396 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %410 unwind label %411

397:                                              ; preds = %250, %248, %247, %244
  %398 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %410 unwind label %411

399:                                              ; preds = %234, %230, %228, %227, %224
  %400 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %410 unwind label %411

401:                                              ; preds = %214, %212, %211, %208
  %402 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %410 unwind label %411

403:                                              ; preds = %198, %196, %195, %192
  %404 = landingpad { ptr, i32 }
          cleanup
  invoke void @__cxa_end_catch()
          to label %410 unwind label %411

405:                                              ; preds = %185
  %406 = tail call noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
  %407 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %406)
  %408 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664) %407)
  tail call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %408)
  br label %.thread67

switch.lookup:                                    ; preds = %185
  %switch.tableidx = add nsw i32 %.048.lcssa, -1
  %409 = sext i32 %switch.tableidx to i64
  %switch.gep = getelementptr inbounds [5 x i32], ptr @switch.table._ZN10SimTKIpopt14IpoptAlgorithm8OptimizeEv, i64 0, i64 %409
  %switch.load = load i32, ptr %switch.gep, align 4
  br label %.thread67

.thread67:                                        ; preds = %switch.lookup, %405, %378, %366, %350, %334, %318, %302, %286, %270, %254, %238, %218, %202
  %.1 = phi i32 [ 2, %202 ], [ 3, %218 ], [ 4, %238 ], [ 7, %254 ], [ 7, %270 ], [ 1, %286 ], [ 5, %302 ], [ 8, %318 ], [ 9, %334 ], [ 0, %350 ], [ 10, %366 ], [ 11, %378 ], [ 11, %405 ], [ %switch.load, %switch.lookup ]
  ret i32 %.1

410:                                              ; preds = %403, %401, %399, %397, %395, %393, %391, %389, %387, %385, %383, %381, %369
  %.merged = phi { ptr, i32 } [ %.pn58.pn.pn, %369 ], [ %382, %381 ], [ %384, %383 ], [ %386, %385 ], [ %388, %387 ], [ %390, %389 ], [ %392, %391 ], [ %394, %393 ], [ %396, %395 ], [ %398, %397 ], [ %400, %399 ], [ %402, %401 ], [ %404, %403 ]
  resume { ptr, i32 } %.merged

411:                                              ; preds = %403, %401, %399, %397, %395, %393, %391, %389, %387, %385, %383, %381
  %412 = landingpad { ptr, i32 }
          catch ptr null
  %413 = extractvalue { ptr, i32 } %412, 0
  call void @__clang_call_terminate(ptr %413) #8
  unreachable

414:                                              ; preds = %123
  unreachable
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16OverallAlgorithmEv(ptr noundef nonnull align 8 dereferenceable(664)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare hidden void @_ZN10SimTKIpoptL13print_messageERKNS_10JournalistE(ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics18InitializeIteratesEv(ptr noundef nonnull align 8 dereferenceable(664)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptAlgorithm18InitializeIteratesEv(ptr noundef nonnull align 8 dereferenceable(152)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22PrintProblemStatisticsEv(ptr noundef nonnull align 8 dereferenceable(664)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptAlgorithm22PrintProblemStatisticsEv(ptr noundef nonnull align 8 dereferenceable(152)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16CheckConvergenceEv(ptr noundef nonnull align 8 dereferenceable(664)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics13UpdateHessianEv(ptr noundef nonnull align 8 dereferenceable(664)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptAlgorithm13UpdateHessianEv(ptr noundef nonnull align 8 dereferenceable(152)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(664)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptAlgorithm15OutputIterationEv(ptr noundef nonnull align 8 dereferenceable(152)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt9IpoptData9ResetInfoEv(ptr noundef nonnull align 8 dereferenceable(864)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22UpdateBarrierParameterEv(ptr noundef nonnull align 8 dereferenceable(664)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN10SimTKIpopt14IpoptAlgorithm22UpdateBarrierParameterEv(ptr noundef nonnull align 8 dereferenceable(152)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics22ComputeSearchDirectionEv(ptr noundef nonnull align 8 dereferenceable(664)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN10SimTKIpopt14IpoptAlgorithm22ComputeSearchDirectionEv(ptr noundef nonnull align 8 dereferenceable(152)) local_unnamed_addr #3 align 2

declare void @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef, i32 noundef, ptr noundef, ...) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt23STEP_COMPUTATION_FAILEDC2ENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_i(ptr noundef nonnull align 8 dereferenceable(112), ptr noundef, ptr noundef, i32 noundef) unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptExceptionD2Ev(ptr noundef nonnull align 8 dereferenceable(112)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptAlgorithm27ComputeAcceptableTrialPointEv(ptr noundef nonnull align 8 dereferenceable(152)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics16AcceptTrialPointEv(ptr noundef nonnull align 8 dereferenceable(664)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptAlgorithm16AcceptTrialPointEv(ptr noundef nonnull align 8 dereferenceable(152)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt9IpoptData14Set_iter_countEi(ptr noundef nonnull align 8 dereferenceable(864), i32 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK10SimTKIpopt9IpoptData10iter_countEv(ptr noundef nonnull align 8 dereferenceable(864)) local_unnamed_addr #2 align 2

; Function Attrs: nofree nosync nounwind memory(none)
declare i32 @llvm.eh.typeid.for.p0(ptr) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IpoptException15ReportExceptionERKNS_10JournalistENS_13EJournalLevelE(ptr noundef nonnull align 8 dereferenceable(112), ptr noundef nonnull align 8 dereferenceable(40), i32 noundef) local_unnamed_addr #3 align 2

declare void @__cxa_end_catch() local_unnamed_addr

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt9TimedTask12EndIfStartedEv(ptr noundef nonnull align 8 dereferenceable(18)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { noinline noreturn nounwind uwtable "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 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 #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { "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 = { nofree nosync nounwind memory(none) }
attributes #6 = { nounwind }
attributes #7 = { noreturn }
attributes #8 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"bool", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{i8 0, i8 2}
!10 = !{}
!11 = !{!12, !6, i64 120}
!12 = !{!"_ZTSN10SimTKIpopt14IpoptAlgorithmE", !13, i64 0, !21, i64 56, !22, i64 64, !23, i64 72, !24, i64 80, !25, i64 88, !26, i64 96, !27, i64 104, !28, i64 112, !6, i64 120, !29, i64 128, !6, i64 136, !29, i64 144}
!13 = !{!"_ZTSN10SimTKIpopt23AlgorithmStrategyObjectE", !14, i64 0, !16, i64 16, !18, i64 24, !19, i64 32, !20, i64 40, !6, i64 48}
!14 = !{!"_ZTSN10SimTKIpopt16ReferencedObjectE", !15, i64 8}
!15 = !{!"int", !7, i64 0}
!16 = !{!"_ZTSN10SimTKIpopt8SmartPtrIKNS_10JournalistEEE", !17, i64 0}
!17 = !{!"any pointer", !7, i64 0}
!18 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_8IpoptNLPEEE", !17, i64 0}
!19 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_9IpoptDataEEE", !17, i64 0}
!20 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_25IpoptCalculatedQuantitiesEEE", !17, i64 0}
!21 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_14PDSystemSolverEEE", !17, i64 0}
!22 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_10LineSearchEEE", !17, i64 0}
!23 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_8MuUpdateEEE", !17, i64 0}
!24 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_16ConvergenceCheckEEE", !17, i64 0}
!25 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_18IterateInitializerEEE", !17, i64 0}
!26 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_15IterationOutputEEE", !17, i64 0}
!27 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_14HessianUpdaterEEE", !17, i64 0}
!28 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_22EqMultiplierCalculatorEEE", !17, i64 0}
!29 = !{!"double", !7, i64 0}
!30 = !{!31, !31, i64 0}
!31 = !{!"vtable pointer", !8, i64 0}
!32 = distinct !{!32, !33}
!33 = !{!"llvm.loop.mustprogress"}


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