; LLVM IR from simbody/simbody :: SimTKmath/Optimizers/src/IpOpt (IpPDFullSpaceSolver)

; 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.SimTKIpopt::SmartPtr.40" = type { ptr }
%"class.SimTKIpopt::SmartPtr.51" = type { ptr }
%"class.SimTKIpopt::SmartPtr.32" = type { ptr }
%"class.SimTKIpopt::SmartPtr.33" = type { ptr }
%"class.SimTKIpopt::SmartPtr.52" = type { ptr }
%"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.14" = type { i8 }
%"class.SimTKIpopt::PDFullSpaceSolver" = type { %"class.SimTKIpopt::PDSystemSolver.base", %"class.SimTKIpopt::SmartPtr.10", %"class.SimTKIpopt::SmartPtr.11", %"class.SimTKIpopt::CachedResults.12", i8, i32, i32, double, double, double }
%"class.SimTKIpopt::PDSystemSolver.base" = type { %"class.SimTKIpopt::AlgorithmStrategyObject.base" }
%"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::CachedResults.12" = type { ptr, i32, ptr }

@.str.16 = external hidden unnamed_addr constant [19 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [104 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [21 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [53 x i8], align 1
@_ZTIN10SimTKIpopt14INTERNAL_ABORTE = external dso_local constant { ptr, ptr, ptr }, align 8
@.str.24 = external hidden unnamed_addr constant [54 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [69 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.28 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.29 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [72 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: 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 #1 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 #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEpLEPKc(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) #2 align 2

declare ptr @__cxa_allocate_exception(i64)

; Function Attrs: mustprogress uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

declare void @__cxa_throw(ptr, ptr, ptr)

declare void @__cxa_free_exception(ptr)

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_15AugSystemSolverEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5IpNLPEv(ptr noundef nonnull align 8 dereferenceable(49)) #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)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49)) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN10SimTKIpopt17PDFullSpaceSolver5SolveEddRKNS_14IteratesVectorERS1_bb(ptr noundef nonnull align 8 dereferenceable(136) %0, double noundef %1, double noundef %2, ptr noundef nonnull align 8 dereferenceable(280) %3, ptr noundef nonnull align 8 dereferenceable(280) %4, i1 noundef zeroext %5, i1 noundef zeroext %6) unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %8 = alloca i1, align 1
  %9 = alloca ptr, align 8
  %10 = alloca double, align 8
  %11 = alloca double, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca i8, align 1
  %15 = alloca i8, align 1
  %16 = alloca %"class.SimTKIpopt::SmartPtr.40", align 8
  %17 = alloca %"class.SimTKIpopt::SmartPtr.40", align 8
  %18 = alloca ptr, align 8
  %19 = alloca i32, align 4
  %20 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %21 = alloca %"class.SimTKIpopt::SmartPtr.32", align 8
  %22 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %23 = alloca %"class.SimTKIpopt::SmartPtr.32", align 8
  %24 = alloca %"class.SimTKIpopt::SmartPtr.33", align 8
  %25 = alloca %"class.SimTKIpopt::SmartPtr.52", align 8
  %26 = alloca %"class.SimTKIpopt::SmartPtr.52", align 8
  %27 = alloca %"class.SimTKIpopt::SmartPtr.52", align 8
  %28 = alloca %"class.SimTKIpopt::SmartPtr.52", align 8
  %29 = alloca %"class.SimTKIpopt::SmartPtr.52", align 8
  %30 = alloca %"class.SimTKIpopt::SmartPtr.52", align 8
  %31 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %32 = alloca %"class.SimTKIpopt::SmartPtr.32", align 8
  %33 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %34 = alloca %"class.SimTKIpopt::SmartPtr.32", align 8
  %35 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %36 = alloca %"class.SimTKIpopt::SmartPtr.32", align 8
  %37 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %38 = alloca %"class.SimTKIpopt::SmartPtr.32", align 8
  %39 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %40 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %41 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %42 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %43 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %44 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %45 = alloca i8, align 1
  %46 = alloca i8, align 1
  %47 = alloca i8, align 1
  %48 = alloca i8, align 1
  %49 = alloca i8, align 1
  %50 = alloca i32, align 4
  %51 = alloca %"class.SimTKIpopt::SmartPtr.40", align 8
  %52 = alloca double, align 8
  %53 = alloca double, align 8
  %54 = alloca i32, align 4
  %55 = alloca i8, align 1
  %56 = alloca %"class.std::__cxx11::basic_string", align 8
  %57 = alloca %"class.std::allocator.14", align 1
  %58 = alloca %"class.std::__cxx11::basic_string", align 8
  %59 = alloca %"class.std::__cxx11::basic_string", align 8
  %60 = alloca %"class.std::allocator.14", align 1
  %61 = alloca i1, align 1
  %62 = alloca %"class.std::__cxx11::basic_string", align 8
  %63 = alloca %"class.std::allocator.14", align 1
  %64 = alloca %"class.std::__cxx11::basic_string", align 8
  %65 = alloca %"class.std::allocator.14", align 1
  %66 = alloca %"class.std::__cxx11::basic_string", align 8
  %67 = alloca %"class.std::allocator.14", align 1
  store ptr %0, ptr %9, align 8, !tbaa !5
  store double %1, ptr %10, align 8, !tbaa !9
  store double %2, ptr %11, align 8, !tbaa !9
  store ptr %3, ptr %12, align 8, !tbaa !5
  store ptr %4, ptr %13, align 8, !tbaa !5
  %68 = zext i1 %5 to i8
  store i8 %68, ptr %14, align 1, !tbaa !11
  %69 = zext i1 %6 to i8
  store i8 %69, ptr %15, align 1, !tbaa !11
  %70 = load ptr, ptr %9, align 8
  %71 = call noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
  %72 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %71)
  %73 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics19PDSystemSolverTotalEv(ptr noundef nonnull align 8 dereferenceable(664) %72)
  call void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %73)
  call void @llvm.lifetime.start.p0(i64 8, ptr %16) #5
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %16)
  %74 = load double, ptr %11, align 8, !tbaa !9
  %75 = fcmp une double %74, 0.000000e+00
  br i1 %75, label %76, label %90

76:                                               ; preds = %7
  call void @llvm.lifetime.start.p0(i64 8, ptr %17) #5
  %77 = load ptr, ptr %13, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector25MakeNewIteratesVectorCopyEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.40") align 8 %17, ptr noundef nonnull align 8 dereferenceable(280) %77)
          to label %78 unwind label %81

78:                                               ; preds = %76
  %79 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(8) %16, ptr noundef nonnull align 8 dereferenceable(8) %17)
          to label %80 unwind label %85

80:                                               ; preds = %78
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %17) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #5
  br label %90

81:                                               ; preds = %76
  %82 = landingpad { ptr, i32 }
          cleanup
  %83 = extractvalue { ptr, i32 } %82, 0
  store ptr %83, ptr %18, align 8
  %84 = extractvalue { ptr, i32 } %82, 1
  store i32 %84, ptr %19, align 4
  br label %89

85:                                               ; preds = %78
  %86 = landingpad { ptr, i32 }
          cleanup
  %87 = extractvalue { ptr, i32 } %86, 0
  store ptr %87, ptr %18, align 8
  %88 = extractvalue { ptr, i32 } %86, 1
  store i32 %88, ptr %19, align 4
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %17) #5
  br label %89

89:                                               ; preds = %85, %81
  call void @llvm.lifetime.end.p0(i64 8, ptr %17) #5
  br label %761

90:                                               ; preds = %80, %7
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %21) #5
  %91 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %92 unwind label %229

92:                                               ; preds = %90
  invoke void @_ZNK10SimTKIpopt9IpoptData4currEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.32") align 8 %21, ptr noundef nonnull align 8 dereferenceable(864) %91)
          to label %93 unwind label %229

93:                                               ; preds = %92
  %94 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %21)
          to label %95 unwind label %233

95:                                               ; preds = %93
  invoke void @_ZNK10SimTKIpopt14IteratesVector1xEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %20, ptr noundef nonnull align 8 dereferenceable(280) %94)
          to label %96 unwind label %233

96:                                               ; preds = %95
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %21) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %23) #5
  %97 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %98 unwind label %238

98:                                               ; preds = %96
  invoke void @_ZNK10SimTKIpopt9IpoptData4currEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.32") align 8 %23, ptr noundef nonnull align 8 dereferenceable(864) %97)
          to label %99 unwind label %238

99:                                               ; preds = %98
  %100 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
          to label %101 unwind label %242

101:                                              ; preds = %99
  invoke void @_ZNK10SimTKIpopt14IteratesVector1sEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %22, ptr noundef nonnull align 8 dereferenceable(280) %100)
          to label %102 unwind label %242

102:                                              ; preds = %101
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %23) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %24) #5
  %103 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %104 unwind label %247

104:                                              ; preds = %102
  invoke void @_ZN10SimTKIpopt9IpoptData1WEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.33") align 8 %24, ptr noundef nonnull align 8 dereferenceable(864) %103)
          to label %105 unwind label %247

105:                                              ; preds = %104
  call void @llvm.lifetime.start.p0(i64 8, ptr %25) #5
  %106 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %107 unwind label %251

107:                                              ; preds = %105
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities10curr_jac_cEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8 %25, ptr noundef nonnull align 8 dereferenceable(2025) %106)
          to label %108 unwind label %251

108:                                              ; preds = %107
  call void @llvm.lifetime.start.p0(i64 8, ptr %26) #5
  %109 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %110 unwind label %255

110:                                              ; preds = %108
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities10curr_jac_dEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8 %26, ptr noundef nonnull align 8 dereferenceable(2025) %109)
          to label %111 unwind label %255

111:                                              ; preds = %110
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #5
  %112 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5IpNLPEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %113 unwind label %259

113:                                              ; preds = %111
  %114 = load ptr, ptr %112, align 8, !tbaa !13
  %115 = getelementptr inbounds ptr, ptr %114, i64 13
  %116 = load ptr, ptr %115, align 8
  invoke void %116(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8 %27, ptr noundef nonnull align 8 dereferenceable(24) %112)
          to label %117 unwind label %259

117:                                              ; preds = %113
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #5
  %118 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5IpNLPEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %119 unwind label %263

119:                                              ; preds = %117
  %120 = load ptr, ptr %118, align 8, !tbaa !13
  %121 = getelementptr inbounds ptr, ptr %120, i64 15
  %122 = load ptr, ptr %121, align 8
  invoke void %122(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8 %28, ptr noundef nonnull align 8 dereferenceable(24) %118)
          to label %123 unwind label %263

123:                                              ; preds = %119
  call void @llvm.lifetime.start.p0(i64 8, ptr %29) #5
  %124 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5IpNLPEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %125 unwind label %267

125:                                              ; preds = %123
  %126 = load ptr, ptr %124, align 8, !tbaa !13
  %127 = getelementptr inbounds ptr, ptr %126, i64 17
  %128 = load ptr, ptr %127, align 8
  invoke void %128(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8 %29, ptr noundef nonnull align 8 dereferenceable(24) %124)
          to label %129 unwind label %267

129:                                              ; preds = %125
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #5
  %130 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5IpNLPEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %131 unwind label %271

131:                                              ; preds = %129
  %132 = load ptr, ptr %130, align 8, !tbaa !13
  %133 = getelementptr inbounds ptr, ptr %132, i64 19
  %134 = load ptr, ptr %133, align 8
  invoke void %134(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8 %30, ptr noundef nonnull align 8 dereferenceable(24) %130)
          to label %135 unwind label %271

135:                                              ; preds = %131
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %32) #5
  %136 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %137 unwind label %275

137:                                              ; preds = %135
  invoke void @_ZNK10SimTKIpopt9IpoptData4currEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.32") align 8 %32, ptr noundef nonnull align 8 dereferenceable(864) %136)
          to label %138 unwind label %275

138:                                              ; preds = %137
  %139 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %32)
          to label %140 unwind label %279

140:                                              ; preds = %138
  invoke void @_ZNK10SimTKIpopt14IteratesVector3z_LEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %31, ptr noundef nonnull align 8 dereferenceable(280) %139)
          to label %141 unwind label %279

141:                                              ; preds = %140
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %32) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %33) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #5
  %142 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %143 unwind label %284

143:                                              ; preds = %141
  invoke void @_ZNK10SimTKIpopt9IpoptData4currEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.32") align 8 %34, ptr noundef nonnull align 8 dereferenceable(864) %142)
          to label %144 unwind label %284

144:                                              ; preds = %143
  %145 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %34)
          to label %146 unwind label %288

146:                                              ; preds = %144
  invoke void @_ZNK10SimTKIpopt14IteratesVector3z_UEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %33, ptr noundef nonnull align 8 dereferenceable(280) %145)
          to label %147 unwind label %288

147:                                              ; preds = %146
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %34) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %35) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #5
  %148 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %149 unwind label %293

149:                                              ; preds = %147
  invoke void @_ZNK10SimTKIpopt9IpoptData4currEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.32") align 8 %36, ptr noundef nonnull align 8 dereferenceable(864) %148)
          to label %150 unwind label %293

150:                                              ; preds = %149
  %151 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %36)
          to label %152 unwind label %297

152:                                              ; preds = %150
  invoke void @_ZNK10SimTKIpopt14IteratesVector3v_LEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %35, ptr noundef nonnull align 8 dereferenceable(280) %151)
          to label %153 unwind label %297

153:                                              ; preds = %152
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %36) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #5
  %154 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %155 unwind label %302

155:                                              ; preds = %153
  invoke void @_ZNK10SimTKIpopt9IpoptData4currEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.32") align 8 %38, ptr noundef nonnull align 8 dereferenceable(864) %154)
          to label %156 unwind label %302

156:                                              ; preds = %155
  %157 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %38)
          to label %158 unwind label %306

158:                                              ; preds = %156
  invoke void @_ZNK10SimTKIpopt14IteratesVector3v_UEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %37, ptr noundef nonnull align 8 dereferenceable(280) %157)
          to label %159 unwind label %306

159:                                              ; preds = %158
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %38) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #5
  %160 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %161 unwind label %311

161:                                              ; preds = %159
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_x_LEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %39, ptr noundef nonnull align 8 dereferenceable(2025) %160)
          to label %162 unwind label %311

162:                                              ; preds = %161
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #5
  %163 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %164 unwind label %315

164:                                              ; preds = %162
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_x_UEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %40, ptr noundef nonnull align 8 dereferenceable(2025) %163)
          to label %165 unwind label %315

165:                                              ; preds = %164
  call void @llvm.lifetime.start.p0(i64 8, ptr %41) #5
  %166 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %167 unwind label %319

167:                                              ; preds = %165
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_s_LEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %41, ptr noundef nonnull align 8 dereferenceable(2025) %166)
          to label %168 unwind label %319

168:                                              ; preds = %167
  call void @llvm.lifetime.start.p0(i64 8, ptr %42) #5
  %169 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %170 unwind label %323

170:                                              ; preds = %168
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_s_UEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %42, ptr noundef nonnull align 8 dereferenceable(2025) %169)
          to label %171 unwind label %323

171:                                              ; preds = %170
  call void @llvm.lifetime.start.p0(i64 8, ptr %43) #5
  %172 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %173 unwind label %327

173:                                              ; preds = %171
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities12curr_sigma_xEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %43, ptr noundef nonnull align 8 dereferenceable(2025) %172)
          to label %174 unwind label %327

174:                                              ; preds = %173
  call void @llvm.lifetime.start.p0(i64 8, ptr %44) #5
  %175 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %176 unwind label %331

176:                                              ; preds = %174
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities12curr_sigma_sEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %44, ptr noundef nonnull align 8 dereferenceable(2025) %175)
          to label %177 unwind label %331

177:                                              ; preds = %176
  call void @llvm.lifetime.start.p0(i64 1, ptr %45) #5
  store i8 0, ptr %45, align 1, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 1, ptr %46) #5
  store i8 0, ptr %46, align 1, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 1, ptr %47) #5
  store i8 0, ptr %47, align 1, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 1, ptr %48) #5
  store i8 0, ptr %48, align 1, !tbaa !11
  br label %178

178:                                              ; preds = %705, %177
  %179 = load i8, ptr %45, align 1, !tbaa !11, !range !15, !noundef !16
  %180 = trunc i8 %179 to i1
  %181 = xor i1 %180, true
  br i1 %181, label %182, label %711

182:                                              ; preds = %178
  call void @llvm.lifetime.start.p0(i64 1, ptr %49) #5
  store i8 1, ptr %49, align 1, !tbaa !11
  %183 = load i8, ptr %15, align 1, !tbaa !11, !range !15, !noundef !16
  %184 = trunc i8 %183 to i1
  br i1 %184, label %339, label %185

185:                                              ; preds = %182
  %186 = load i8, ptr %46, align 1, !tbaa !11, !range !15, !noundef !16
  %187 = trunc i8 %186 to i1
  %188 = load i8, ptr %47, align 1, !tbaa !11, !range !15, !noundef !16
  %189 = trunc i8 %188 to i1
  %190 = invoke noundef nonnull align 8 dereferenceable(80) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_9SymMatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %24)
          to label %191 unwind label %335

191:                                              ; preds = %185
  %192 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %25)
          to label %193 unwind label %335

193:                                              ; preds = %191
  %194 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %26)
          to label %195 unwind label %335

195:                                              ; preds = %193
  %196 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27)
          to label %197 unwind label %335

197:                                              ; preds = %195
  %198 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %28)
          to label %199 unwind label %335

199:                                              ; preds = %197
  %200 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %29)
          to label %201 unwind label %335

201:                                              ; preds = %199
  %202 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %30)
          to label %203 unwind label %335

203:                                              ; preds = %201
  %204 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %31)
          to label %205 unwind label %335

205:                                              ; preds = %203
  %206 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
          to label %207 unwind label %335

207:                                              ; preds = %205
  %208 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %35)
          to label %209 unwind label %335

209:                                              ; preds = %207
  %210 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %37)
          to label %211 unwind label %335

211:                                              ; preds = %209
  %212 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %39)
          to label %213 unwind label %335

213:                                              ; preds = %211
  %214 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %40)
          to label %215 unwind label %335

215:                                              ; preds = %213
  %216 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %41)
          to label %217 unwind label %335

217:                                              ; preds = %215
  %218 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %42)
          to label %219 unwind label %335

219:                                              ; preds = %217
  %220 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %43)
          to label %221 unwind label %335

221:                                              ; preds = %219
  %222 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %44)
          to label %223 unwind label %335

223:                                              ; preds = %221
  %224 = load ptr, ptr %12, align 8, !tbaa !5
  %225 = load ptr, ptr %13, align 8, !tbaa !5
  %226 = invoke noundef zeroext i1 @_ZN10SimTKIpopt17PDFullSpaceSolver9SolveOnceEbbRKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorERSA_(ptr noundef nonnull align 8 dereferenceable(136) %70, i1 noundef zeroext %187, i1 noundef zeroext %189, ptr noundef nonnull align 8 dereferenceable(80) %190, ptr noundef nonnull align 8 dereferenceable(69) %192, ptr noundef nonnull align 8 dereferenceable(69) %194, ptr noundef nonnull align 8 dereferenceable(69) %196, ptr noundef nonnull align 8 dereferenceable(69) %198, ptr noundef nonnull align 8 dereferenceable(69) %200, ptr noundef nonnull align 8 dereferenceable(69) %202, ptr noundef nonnull align 8 dereferenceable(205) %204, ptr noundef nonnull align 8 dereferenceable(205) %206, ptr noundef nonnull align 8 dereferenceable(205) %208, ptr noundef nonnull align 8 dereferenceable(205) %210, ptr noundef nonnull align 8 dereferenceable(205) %212, ptr noundef nonnull align 8 dereferenceable(205) %214, ptr noundef nonnull align 8 dereferenceable(205) %216, ptr noundef nonnull align 8 dereferenceable(205) %218, ptr noundef nonnull align 8 dereferenceable(205) %220, ptr noundef nonnull align 8 dereferenceable(205) %222, double noundef 1.000000e+00, double noundef 0.000000e+00, ptr noundef nonnull align 8 dereferenceable(280) %224, ptr noundef nonnull align 8 dereferenceable(280) %225)
          to label %227 unwind label %335

227:                                              ; preds = %223
  %228 = zext i1 %226 to i8
  store i8 %228, ptr %49, align 1, !tbaa !11
  store i8 0, ptr %46, align 1, !tbaa !11
  store i8 0, ptr %47, align 1, !tbaa !11
  br label %339

229:                                              ; preds = %92, %90
  %230 = landingpad { ptr, i32 }
          cleanup
  %231 = extractvalue { ptr, i32 } %230, 0
  store ptr %231, ptr %18, align 8
  %232 = extractvalue { ptr, i32 } %230, 1
  store i32 %232, ptr %19, align 4
  br label %237

233:                                              ; preds = %95, %93
  %234 = landingpad { ptr, i32 }
          cleanup
  %235 = extractvalue { ptr, i32 } %234, 0
  store ptr %235, ptr %18, align 8
  %236 = extractvalue { ptr, i32 } %234, 1
  store i32 %236, ptr %19, align 4
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %21) #5
  br label %237

237:                                              ; preds = %233, %229
  call void @llvm.lifetime.end.p0(i64 8, ptr %21) #5
  br label %760

238:                                              ; preds = %98, %96
  %239 = landingpad { ptr, i32 }
          cleanup
  %240 = extractvalue { ptr, i32 } %239, 0
  store ptr %240, ptr %18, align 8
  %241 = extractvalue { ptr, i32 } %239, 1
  store i32 %241, ptr %19, align 4
  br label %246

242:                                              ; preds = %101, %99
  %243 = landingpad { ptr, i32 }
          cleanup
  %244 = extractvalue { ptr, i32 } %243, 0
  store ptr %244, ptr %18, align 8
  %245 = extractvalue { ptr, i32 } %243, 1
  store i32 %245, ptr %19, align 4
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %23) #5
  br label %246

246:                                              ; preds = %242, %238
  call void @llvm.lifetime.end.p0(i64 8, ptr %23) #5
  br label %759

247:                                              ; preds = %104, %102
  %248 = landingpad { ptr, i32 }
          cleanup
  %249 = extractvalue { ptr, i32 } %248, 0
  store ptr %249, ptr %18, align 8
  %250 = extractvalue { ptr, i32 } %248, 1
  store i32 %250, ptr %19, align 4
  br label %758

251:                                              ; preds = %107, %105
  %252 = landingpad { ptr, i32 }
          cleanup
  %253 = extractvalue { ptr, i32 } %252, 0
  store ptr %253, ptr %18, align 8
  %254 = extractvalue { ptr, i32 } %252, 1
  store i32 %254, ptr %19, align 4
  br label %757

255:                                              ; preds = %110, %108
  %256 = landingpad { ptr, i32 }
          cleanup
  %257 = extractvalue { ptr, i32 } %256, 0
  store ptr %257, ptr %18, align 8
  %258 = extractvalue { ptr, i32 } %256, 1
  store i32 %258, ptr %19, align 4
  br label %756

259:                                              ; preds = %113, %111
  %260 = landingpad { ptr, i32 }
          cleanup
  %261 = extractvalue { ptr, i32 } %260, 0
  store ptr %261, ptr %18, align 8
  %262 = extractvalue { ptr, i32 } %260, 1
  store i32 %262, ptr %19, align 4
  br label %755

263:                                              ; preds = %119, %117
  %264 = landingpad { ptr, i32 }
          cleanup
  %265 = extractvalue { ptr, i32 } %264, 0
  store ptr %265, ptr %18, align 8
  %266 = extractvalue { ptr, i32 } %264, 1
  store i32 %266, ptr %19, align 4
  br label %754

267:                                              ; preds = %125, %123
  %268 = landingpad { ptr, i32 }
          cleanup
  %269 = extractvalue { ptr, i32 } %268, 0
  store ptr %269, ptr %18, align 8
  %270 = extractvalue { ptr, i32 } %268, 1
  store i32 %270, ptr %19, align 4
  br label %753

271:                                              ; preds = %131, %129
  %272 = landingpad { ptr, i32 }
          cleanup
  %273 = extractvalue { ptr, i32 } %272, 0
  store ptr %273, ptr %18, align 8
  %274 = extractvalue { ptr, i32 } %272, 1
  store i32 %274, ptr %19, align 4
  br label %752

275:                                              ; preds = %137, %135
  %276 = landingpad { ptr, i32 }
          cleanup
  %277 = extractvalue { ptr, i32 } %276, 0
  store ptr %277, ptr %18, align 8
  %278 = extractvalue { ptr, i32 } %276, 1
  store i32 %278, ptr %19, align 4
  br label %283

279:                                              ; preds = %140, %138
  %280 = landingpad { ptr, i32 }
          cleanup
  %281 = extractvalue { ptr, i32 } %280, 0
  store ptr %281, ptr %18, align 8
  %282 = extractvalue { ptr, i32 } %280, 1
  store i32 %282, ptr %19, align 4
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %32) #5
  br label %283

283:                                              ; preds = %279, %275
  call void @llvm.lifetime.end.p0(i64 8, ptr %32) #5
  br label %751

284:                                              ; preds = %143, %141
  %285 = landingpad { ptr, i32 }
          cleanup
  %286 = extractvalue { ptr, i32 } %285, 0
  store ptr %286, ptr %18, align 8
  %287 = extractvalue { ptr, i32 } %285, 1
  store i32 %287, ptr %19, align 4
  br label %292

288:                                              ; preds = %146, %144
  %289 = landingpad { ptr, i32 }
          cleanup
  %290 = extractvalue { ptr, i32 } %289, 0
  store ptr %290, ptr %18, align 8
  %291 = extractvalue { ptr, i32 } %289, 1
  store i32 %291, ptr %19, align 4
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %34) #5
  br label %292

292:                                              ; preds = %288, %284
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #5
  br label %750

293:                                              ; preds = %149, %147
  %294 = landingpad { ptr, i32 }
          cleanup
  %295 = extractvalue { ptr, i32 } %294, 0
  store ptr %295, ptr %18, align 8
  %296 = extractvalue { ptr, i32 } %294, 1
  store i32 %296, ptr %19, align 4
  br label %301

297:                                              ; preds = %152, %150
  %298 = landingpad { ptr, i32 }
          cleanup
  %299 = extractvalue { ptr, i32 } %298, 0
  store ptr %299, ptr %18, align 8
  %300 = extractvalue { ptr, i32 } %298, 1
  store i32 %300, ptr %19, align 4
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %36) #5
  br label %301

301:                                              ; preds = %297, %293
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #5
  br label %749

302:                                              ; preds = %155, %153
  %303 = landingpad { ptr, i32 }
          cleanup
  %304 = extractvalue { ptr, i32 } %303, 0
  store ptr %304, ptr %18, align 8
  %305 = extractvalue { ptr, i32 } %303, 1
  store i32 %305, ptr %19, align 4
  br label %310

306:                                              ; preds = %158, %156
  %307 = landingpad { ptr, i32 }
          cleanup
  %308 = extractvalue { ptr, i32 } %307, 0
  store ptr %308, ptr %18, align 8
  %309 = extractvalue { ptr, i32 } %307, 1
  store i32 %309, ptr %19, align 4
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %38) #5
  br label %310

310:                                              ; preds = %306, %302
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #5
  br label %748

311:                                              ; preds = %161, %159
  %312 = landingpad { ptr, i32 }
          cleanup
  %313 = extractvalue { ptr, i32 } %312, 0
  store ptr %313, ptr %18, align 8
  %314 = extractvalue { ptr, i32 } %312, 1
  store i32 %314, ptr %19, align 4
  br label %747

315:                                              ; preds = %164, %162
  %316 = landingpad { ptr, i32 }
          cleanup
  %317 = extractvalue { ptr, i32 } %316, 0
  store ptr %317, ptr %18, align 8
  %318 = extractvalue { ptr, i32 } %316, 1
  store i32 %318, ptr %19, align 4
  br label %746

319:                                              ; preds = %167, %165
  %320 = landingpad { ptr, i32 }
          cleanup
  %321 = extractvalue { ptr, i32 } %320, 0
  store ptr %321, ptr %18, align 8
  %322 = extractvalue { ptr, i32 } %320, 1
  store i32 %322, ptr %19, align 4
  br label %745

323:                                              ; preds = %170, %168
  %324 = landingpad { ptr, i32 }
          cleanup
  %325 = extractvalue { ptr, i32 } %324, 0
  store ptr %325, ptr %18, align 8
  %326 = extractvalue { ptr, i32 } %324, 1
  store i32 %326, ptr %19, align 4
  br label %744

327:                                              ; preds = %173, %171
  %328 = landingpad { ptr, i32 }
          cleanup
  %329 = extractvalue { ptr, i32 } %328, 0
  store ptr %329, ptr %18, align 8
  %330 = extractvalue { ptr, i32 } %328, 1
  store i32 %330, ptr %19, align 4
  br label %743

331:                                              ; preds = %176, %174
  %332 = landingpad { ptr, i32 }
          cleanup
  %333 = extractvalue { ptr, i32 } %332, 0
  store ptr %333, ptr %18, align 8
  %334 = extractvalue { ptr, i32 } %332, 1
  store i32 %334, ptr %19, align 4
  br label %742

335:                                              ; preds = %348, %346, %344, %342, %223, %221, %219, %217, %215, %213, %211, %209, %207, %205, %203, %201, %199, %197, %195, %193, %191, %185
  %336 = landingpad { ptr, i32 }
          cleanup
  %337 = extractvalue { ptr, i32 } %336, 0
  store ptr %337, ptr %18, align 8
  %338 = extractvalue { ptr, i32 } %336, 1
  store i32 %338, ptr %19, align 4
  br label %710

339:                                              ; preds = %227, %182
  store i8 0, ptr %15, align 1, !tbaa !11
  %340 = load i8, ptr %49, align 1, !tbaa !11, !range !15, !noundef !16
  %341 = trunc i8 %340 to i1
  br i1 %341, label %350, label %342

342:                                              ; preds = %339
  %343 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %344 unwind label %335

344:                                              ; preds = %342
  %345 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %343)
          to label %346 unwind label %335

346:                                              ; preds = %344
  %347 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics19PDSystemSolverTotalEv(ptr noundef nonnull align 8 dereferenceable(664) %345)
          to label %348 unwind label %335

348:                                              ; preds = %346
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %347)
          to label %349 unwind label %335

349:                                              ; preds = %348
  store i1 false, ptr %8, align 1
  store i32 1, ptr %50, align 4
  br label %703

350:                                              ; preds = %339
  %351 = load i8, ptr %14, align 1, !tbaa !11, !range !15, !noundef !16
  %352 = trunc i8 %351 to i1
  br i1 %352, label %353, label %354

353:                                              ; preds = %350
  store i32 3, ptr %50, align 4
  br label %703

354:                                              ; preds = %350
  call void @llvm.lifetime.start.p0(i64 8, ptr %51) #5
  %355 = load ptr, ptr %13, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector21MakeNewIteratesVectorEb(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.40") align 8 %51, ptr noundef nonnull align 8 dereferenceable(280) %355, i1 noundef zeroext true)
          to label %356 unwind label %484

356:                                              ; preds = %354
  %357 = invoke noundef nonnull align 8 dereferenceable(80) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_9SymMatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %24)
          to label %358 unwind label %488

358:                                              ; preds = %356
  %359 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %25)
          to label %360 unwind label %488

360:                                              ; preds = %358
  %361 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %26)
          to label %362 unwind label %488

362:                                              ; preds = %360
  %363 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27)
          to label %364 unwind label %488

364:                                              ; preds = %362
  %365 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %28)
          to label %366 unwind label %488

366:                                              ; preds = %364
  %367 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %29)
          to label %368 unwind label %488

368:                                              ; preds = %366
  %369 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %30)
          to label %370 unwind label %488

370:                                              ; preds = %368
  %371 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %31)
          to label %372 unwind label %488

372:                                              ; preds = %370
  %373 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
          to label %374 unwind label %488

374:                                              ; preds = %372
  %375 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %35)
          to label %376 unwind label %488

376:                                              ; preds = %374
  %377 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %37)
          to label %378 unwind label %488

378:                                              ; preds = %376
  %379 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %39)
          to label %380 unwind label %488

380:                                              ; preds = %378
  %381 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %40)
          to label %382 unwind label %488

382:                                              ; preds = %380
  %383 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %41)
          to label %384 unwind label %488

384:                                              ; preds = %382
  %385 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %42)
          to label %386 unwind label %488

386:                                              ; preds = %384
  %387 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %43)
          to label %388 unwind label %488

388:                                              ; preds = %386
  %389 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %44)
          to label %390 unwind label %488

390:                                              ; preds = %388
  %391 = load double, ptr %10, align 8, !tbaa !9
  %392 = load double, ptr %11, align 8, !tbaa !9
  %393 = load ptr, ptr %12, align 8, !tbaa !5
  %394 = load ptr, ptr %13, align 8, !tbaa !5
  %395 = invoke noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %51)
          to label %396 unwind label %488

396:                                              ; preds = %390
  invoke void @_ZN10SimTKIpopt17PDFullSpaceSolver16ComputeResidualsERKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorESC_RSA_(ptr noundef nonnull align 8 dereferenceable(136) %70, ptr noundef nonnull align 8 dereferenceable(80) %357, ptr noundef nonnull align 8 dereferenceable(69) %359, ptr noundef nonnull align 8 dereferenceable(69) %361, ptr noundef nonnull align 8 dereferenceable(69) %363, ptr noundef nonnull align 8 dereferenceable(69) %365, ptr noundef nonnull align 8 dereferenceable(69) %367, ptr noundef nonnull align 8 dereferenceable(69) %369, ptr noundef nonnull align 8 dereferenceable(205) %371, ptr noundef nonnull align 8 dereferenceable(205) %373, ptr noundef nonnull align 8 dereferenceable(205) %375, ptr noundef nonnull align 8 dereferenceable(205) %377, ptr noundef nonnull align 8 dereferenceable(205) %379, ptr noundef nonnull align 8 dereferenceable(205) %381, ptr noundef nonnull align 8 dereferenceable(205) %383, ptr noundef nonnull align 8 dereferenceable(205) %385, ptr noundef nonnull align 8 dereferenceable(205) %387, ptr noundef nonnull align 8 dereferenceable(205) %389, double noundef %391, double noundef %392, ptr noundef nonnull align 8 dereferenceable(280) %393, ptr noundef nonnull align 8 dereferenceable(280) %394, ptr noundef nonnull align 8 dereferenceable(280) %395)
          to label %397 unwind label %488

397:                                              ; preds = %396
  call void @llvm.lifetime.start.p0(i64 8, ptr %52) #5
  %398 = load ptr, ptr %12, align 8, !tbaa !5
  %399 = load ptr, ptr %13, align 8, !tbaa !5
  %400 = invoke noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %51)
          to label %401 unwind label %492

401:                                              ; preds = %397
  %402 = invoke noundef double @_ZN10SimTKIpopt17PDFullSpaceSolver20ComputeResidualRatioERKNS_14IteratesVectorES3_S3_(ptr noundef nonnull align 8 dereferenceable(136) %70, ptr noundef nonnull align 8 dereferenceable(280) %398, ptr noundef nonnull align 8 dereferenceable(280) %399, ptr noundef nonnull align 8 dereferenceable(280) %400)
          to label %403 unwind label %492

403:                                              ; preds = %401
  store double %402, ptr %52, align 8, !tbaa !9
  %404 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %405 unwind label %492

405:                                              ; preds = %403
  %406 = load double, ptr %52, align 8, !tbaa !9
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %404, i32 noundef 5, i32 noundef 7, ptr noundef @.str.21, double noundef %406)
          to label %407 unwind label %492

407:                                              ; preds = %405
  call void @llvm.lifetime.start.p0(i64 8, ptr %53) #5
  %408 = load double, ptr %52, align 8, !tbaa !9
  store double %408, ptr %53, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %54) #5
  store i32 0, ptr %54, align 4, !tbaa !17
  call void @llvm.lifetime.start.p0(i64 1, ptr %55) #5
  store i8 0, ptr %55, align 1, !tbaa !11
  br label %409

409:                                              ; preds = %691, %407
  %410 = load i8, ptr %14, align 1, !tbaa !11, !range !15, !noundef !16
  %411 = trunc i8 %410 to i1
  br i1 %411, label %427, label %412

412:                                              ; preds = %409
  %413 = load i8, ptr %55, align 1, !tbaa !11, !range !15, !noundef !16
  %414 = trunc i8 %413 to i1
  br i1 %414, label %427, label %415

415:                                              ; preds = %412
  %416 = load i32, ptr %54, align 4, !tbaa !17
  %417 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %70, i32 0, i32 5
  %418 = load i32, ptr %417, align 4, !tbaa !19
  %419 = icmp slt i32 %416, %418
  br i1 %419, label %425, label %420

420:                                              ; preds = %415
  %421 = load double, ptr %52, align 8, !tbaa !9
  %422 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %70, i32 0, i32 7
  %423 = load double, ptr %422, align 8, !tbaa !31
  %424 = fcmp ogt double %421, %423
  br label %425

425:                                              ; preds = %420, %415
  %426 = phi i1 [ true, %415 ], [ %424, %420 ]
  br label %427

427:                                              ; preds = %425, %412, %409
  %428 = phi i1 [ false, %412 ], [ false, %409 ], [ %426, %425 ]
  br i1 %428, label %429, label %693

429:                                              ; preds = %427
  %430 = load i8, ptr %46, align 1, !tbaa !11, !range !15, !noundef !16
  %431 = trunc i8 %430 to i1
  %432 = invoke noundef nonnull align 8 dereferenceable(80) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_9SymMatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %24)
          to label %433 unwind label %496

433:                                              ; preds = %429
  %434 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %25)
          to label %435 unwind label %496

435:                                              ; preds = %433
  %436 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %26)
          to label %437 unwind label %496

437:                                              ; preds = %435
  %438 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27)
          to label %439 unwind label %496

439:                                              ; preds = %437
  %440 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %28)
          to label %441 unwind label %496

441:                                              ; preds = %439
  %442 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %29)
          to label %443 unwind label %496

443:                                              ; preds = %441
  %444 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %30)
          to label %445 unwind label %496

445:                                              ; preds = %443
  %446 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %31)
          to label %447 unwind label %496

447:                                              ; preds = %445
  %448 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
          to label %449 unwind label %496

449:                                              ; preds = %447
  %450 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %35)
          to label %451 unwind label %496

451:                                              ; preds = %449
  %452 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %37)
          to label %453 unwind label %496

453:                                              ; preds = %451
  %454 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %39)
          to label %455 unwind label %496

455:                                              ; preds = %453
  %456 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %40)
          to label %457 unwind label %496

457:                                              ; preds = %455
  %458 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %41)
          to label %459 unwind label %496

459:                                              ; preds = %457
  %460 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %42)
          to label %461 unwind label %496

461:                                              ; preds = %459
  %462 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %43)
          to label %463 unwind label %496

463:                                              ; preds = %461
  %464 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %44)
          to label %465 unwind label %496

465:                                              ; preds = %463
  %466 = invoke noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %51)
          to label %467 unwind label %496

467:                                              ; preds = %465
  %468 = load ptr, ptr %13, align 8, !tbaa !5
  %469 = invoke noundef zeroext i1 @_ZN10SimTKIpopt17PDFullSpaceSolver9SolveOnceEbbRKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorERSA_(ptr noundef nonnull align 8 dereferenceable(136) %70, i1 noundef zeroext %431, i1 noundef zeroext false, ptr noundef nonnull align 8 dereferenceable(80) %432, ptr noundef nonnull align 8 dereferenceable(69) %434, ptr noundef nonnull align 8 dereferenceable(69) %436, ptr noundef nonnull align 8 dereferenceable(69) %438, ptr noundef nonnull align 8 dereferenceable(69) %440, ptr noundef nonnull align 8 dereferenceable(69) %442, ptr noundef nonnull align 8 dereferenceable(69) %444, ptr noundef nonnull align 8 dereferenceable(205) %446, ptr noundef nonnull align 8 dereferenceable(205) %448, ptr noundef nonnull align 8 dereferenceable(205) %450, ptr noundef nonnull align 8 dereferenceable(205) %452, ptr noundef nonnull align 8 dereferenceable(205) %454, ptr noundef nonnull align 8 dereferenceable(205) %456, ptr noundef nonnull align 8 dereferenceable(205) %458, ptr noundef nonnull align 8 dereferenceable(205) %460, ptr noundef nonnull align 8 dereferenceable(205) %462, ptr noundef nonnull align 8 dereferenceable(205) %464, double noundef -1.000000e+00, double noundef 1.000000e+00, ptr noundef nonnull align 8 dereferenceable(280) %466, ptr noundef nonnull align 8 dereferenceable(280) %468)
          to label %470 unwind label %496

470:                                              ; preds = %467
  %471 = zext i1 %469 to i8
  store i8 %471, ptr %49, align 1, !tbaa !11
  %472 = load i8, ptr %49, align 1, !tbaa !11, !range !15, !noundef !16
  %473 = trunc i8 %472 to i1
  br i1 %473, label %527, label %474

474:                                              ; preds = %470
  call void @llvm.lifetime.start.p0(i64 32, ptr %56) #5
  call void @llvm.lifetime.start.p0(i64 1, ptr %57) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %57) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %56, ptr noundef @.str.22, ptr noundef nonnull align 1 dereferenceable(1) %57)
          to label %475 unwind label %500

475:                                              ; preds = %474
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %57) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %57) #5
  %476 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEpLEPKc(ptr noundef nonnull align 8 dereferenceable(32) %56, ptr noundef @.str.16)
          to label %477 unwind label %504

477:                                              ; preds = %475
  %478 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEpLEPKc(ptr noundef nonnull align 8 dereferenceable(32) %56, ptr noundef @.str.23)
          to label %479 unwind label %504

479:                                              ; preds = %477
  store i1 true, ptr %61, align 1
  %480 = call ptr @__cxa_allocate_exception(i64 112) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %58, ptr noundef nonnull align 8 dereferenceable(32) %56)
          to label %481 unwind label %508

481:                                              ; preds = %479
  call void @llvm.lifetime.start.p0(i64 1, ptr %60) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %60) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %59, ptr noundef @.str.18, ptr noundef nonnull align 1 dereferenceable(1) %60)
          to label %482 unwind label %512

482:                                              ; preds = %481
  invoke void @_ZN10SimTKIpopt14INTERNAL_ABORTC2ENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_i(ptr noundef nonnull align 8 dereferenceable(112) %480, ptr noundef %58, ptr noundef %59, i32 noundef 235)
          to label %483 unwind label %516

483:                                              ; preds = %482
  store i1 false, ptr %61, align 1
  invoke void @__cxa_throw(ptr %480, ptr @_ZTIN10SimTKIpopt14INTERNAL_ABORTE, ptr @_ZN10SimTKIpopt14IpoptExceptionD2Ev) #6
          to label %767 unwind label %516

484:                                              ; preds = %354
  %485 = landingpad { ptr, i32 }
          cleanup
  %486 = extractvalue { ptr, i32 } %485, 0
  store ptr %486, ptr %18, align 8
  %487 = extractvalue { ptr, i32 } %485, 1
  store i32 %487, ptr %19, align 4
  br label %709

488:                                              ; preds = %396, %390, %388, %386, %384, %382, %380, %378, %376, %374, %372, %370, %368, %366, %364, %362, %360, %358, %356
  %489 = landingpad { ptr, i32 }
          cleanup
  %490 = extractvalue { ptr, i32 } %489, 0
  store ptr %490, ptr %18, align 8
  %491 = extractvalue { ptr, i32 } %489, 1
  store i32 %491, ptr %19, align 4
  br label %708

492:                                              ; preds = %405, %403, %401, %397
  %493 = landingpad { ptr, i32 }
          cleanup
  %494 = extractvalue { ptr, i32 } %493, 0
  store ptr %494, ptr %18, align 8
  %495 = extractvalue { ptr, i32 } %493, 1
  store i32 %495, ptr %19, align 4
  br label %707

496:                                              ; preds = %676, %674, %670, %659, %657, %653, %625, %614, %611, %610, %608, %599, %597, %576, %574, %572, %568, %567, %561, %559, %557, %555, %553, %551, %549, %547, %545, %543, %541, %539, %537, %535, %533, %531, %529, %527, %467, %465, %463, %461, %459, %457, %455, %453, %451, %449, %447, %445, %443, %441, %439, %437, %435, %433, %429
  %497 = landingpad { ptr, i32 }
          cleanup
  %498 = extractvalue { ptr, i32 } %497, 0
  store ptr %498, ptr %18, align 8
  %499 = extractvalue { ptr, i32 } %497, 1
  store i32 %499, ptr %19, align 4
  br label %706

500:                                              ; preds = %474
  %501 = landingpad { ptr, i32 }
          cleanup
  %502 = extractvalue { ptr, i32 } %501, 0
  store ptr %502, ptr %18, align 8
  %503 = extractvalue { ptr, i32 } %501, 1
  store i32 %503, ptr %19, align 4
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %57) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %57) #5
  br label %526

504:                                              ; preds = %477, %475
  %505 = landingpad { ptr, i32 }
          cleanup
  %506 = extractvalue { ptr, i32 } %505, 0
  store ptr %506, ptr %18, align 8
  %507 = extractvalue { ptr, i32 } %505, 1
  store i32 %507, ptr %19, align 4
  br label %525

508:                                              ; preds = %479
  %509 = landingpad { ptr, i32 }
          cleanup
  %510 = extractvalue { ptr, i32 } %509, 0
  store ptr %510, ptr %18, align 8
  %511 = extractvalue { ptr, i32 } %509, 1
  store i32 %511, ptr %19, align 4
  br label %521

512:                                              ; preds = %481
  %513 = landingpad { ptr, i32 }
          cleanup
  %514 = extractvalue { ptr, i32 } %513, 0
  store ptr %514, ptr %18, align 8
  %515 = extractvalue { ptr, i32 } %513, 1
  store i32 %515, ptr %19, align 4
  br label %520

516:                                              ; preds = %483, %482
  %517 = landingpad { ptr, i32 }
          cleanup
  %518 = extractvalue { ptr, i32 } %517, 0
  store ptr %518, ptr %18, align 8
  %519 = extractvalue { ptr, i32 } %517, 1
  store i32 %519, ptr %19, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %59) #5
  br label %520

520:                                              ; preds = %516, %512
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %60) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %60) #5
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %58) #5
  br label %521

521:                                              ; preds = %520, %508
  %522 = load i1, ptr %61, align 1
  br i1 %522, label %523, label %524

523:                                              ; preds = %521
  call void @__cxa_free_exception(ptr %480) #5
  br label %524

524:                                              ; preds = %523, %521
  br label %525

525:                                              ; preds = %524, %504
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %56) #5
  br label %526

526:                                              ; preds = %525, %500
  call void @llvm.lifetime.end.p0(i64 32, ptr %56) #5
  br label %706

527:                                              ; preds = %470
  %528 = invoke noundef nonnull align 8 dereferenceable(80) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_9SymMatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %24)
          to label %529 unwind label %496

529:                                              ; preds = %527
  %530 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %25)
          to label %531 unwind label %496

531:                                              ; preds = %529
  %532 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %26)
          to label %533 unwind label %496

533:                                              ; preds = %531
  %534 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27)
          to label %535 unwind label %496

535:                                              ; preds = %533
  %536 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %28)
          to label %537 unwind label %496

537:                                              ; preds = %535
  %538 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %29)
          to label %539 unwind label %496

539:                                              ; preds = %537
  %540 = invoke noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %30)
          to label %541 unwind label %496

541:                                              ; preds = %539
  %542 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %31)
          to label %543 unwind label %496

543:                                              ; preds = %541
  %544 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
          to label %545 unwind label %496

545:                                              ; preds = %543
  %546 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %35)
          to label %547 unwind label %496

547:                                              ; preds = %545
  %548 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %37)
          to label %549 unwind label %496

549:                                              ; preds = %547
  %550 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %39)
          to label %551 unwind label %496

551:                                              ; preds = %549
  %552 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %40)
          to label %553 unwind label %496

553:                                              ; preds = %551
  %554 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %41)
          to label %555 unwind label %496

555:                                              ; preds = %553
  %556 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %42)
          to label %557 unwind label %496

557:                                              ; preds = %555
  %558 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %43)
          to label %559 unwind label %496

559:                                              ; preds = %557
  %560 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %44)
          to label %561 unwind label %496

561:                                              ; preds = %559
  %562 = load double, ptr %10, align 8, !tbaa !9
  %563 = load double, ptr %11, align 8, !tbaa !9
  %564 = load ptr, ptr %12, align 8, !tbaa !5
  %565 = load ptr, ptr %13, align 8, !tbaa !5
  %566 = invoke noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %51)
          to label %567 unwind label %496

567:                                              ; preds = %561
  invoke void @_ZN10SimTKIpopt17PDFullSpaceSolver16ComputeResidualsERKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorESC_RSA_(ptr noundef nonnull align 8 dereferenceable(136) %70, ptr noundef nonnull align 8 dereferenceable(80) %528, ptr noundef nonnull align 8 dereferenceable(69) %530, ptr noundef nonnull align 8 dereferenceable(69) %532, ptr noundef nonnull align 8 dereferenceable(69) %534, ptr noundef nonnull align 8 dereferenceable(69) %536, ptr noundef nonnull align 8 dereferenceable(69) %538, ptr noundef nonnull align 8 dereferenceable(69) %540, ptr noundef nonnull align 8 dereferenceable(205) %542, ptr noundef nonnull align 8 dereferenceable(205) %544, ptr noundef nonnull align 8 dereferenceable(205) %546, ptr noundef nonnull align 8 dereferenceable(205) %548, ptr noundef nonnull align 8 dereferenceable(205) %550, ptr noundef nonnull align 8 dereferenceable(205) %552, ptr noundef nonnull align 8 dereferenceable(205) %554, ptr noundef nonnull align 8 dereferenceable(205) %556, ptr noundef nonnull align 8 dereferenceable(205) %558, ptr noundef nonnull align 8 dereferenceable(205) %560, double noundef %562, double noundef %563, ptr noundef nonnull align 8 dereferenceable(280) %564, ptr noundef nonnull align 8 dereferenceable(280) %565, ptr noundef nonnull align 8 dereferenceable(280) %566)
          to label %568 unwind label %496

568:                                              ; preds = %567
  %569 = load ptr, ptr %12, align 8, !tbaa !5
  %570 = load ptr, ptr %13, align 8, !tbaa !5
  %571 = invoke noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %51)
          to label %572 unwind label %496

572:                                              ; preds = %568
  %573 = invoke noundef double @_ZN10SimTKIpopt17PDFullSpaceSolver20ComputeResidualRatioERKNS_14IteratesVectorES3_S3_(ptr noundef nonnull align 8 dereferenceable(136) %70, ptr noundef nonnull align 8 dereferenceable(280) %569, ptr noundef nonnull align 8 dereferenceable(280) %570, ptr noundef nonnull align 8 dereferenceable(280) %571)
          to label %574 unwind label %496

574:                                              ; preds = %572
  store double %573, ptr %52, align 8, !tbaa !9
  %575 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %576 unwind label %496

576:                                              ; preds = %574
  %577 = load double, ptr %52, align 8, !tbaa !9
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %575, i32 noundef 5, i32 noundef 7, ptr noundef @.str.21, double noundef %577)
          to label %578 unwind label %496

578:                                              ; preds = %576
  %579 = load i32, ptr %54, align 4, !tbaa !17
  %580 = add nsw i32 %579, 1
  store i32 %580, ptr %54, align 4, !tbaa !17
  %581 = load i32, ptr %54, align 4, !tbaa !17
  %582 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %70, i32 0, i32 5
  %583 = load i32, ptr %582, align 4, !tbaa !19
  %584 = icmp sgt i32 %581, %583
  br i1 %584, label %585, label %691

585:                                              ; preds = %578
  %586 = load i32, ptr %54, align 4, !tbaa !17
  %587 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %70, i32 0, i32 6
  %588 = load i32, ptr %587, align 8, !tbaa !32
  %589 = icmp sgt i32 %586, %588
  br i1 %589, label %597, label %590

590:                                              ; preds = %585
  %591 = load double, ptr %52, align 8, !tbaa !9
  %592 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %70, i32 0, i32 9
  %593 = load double, ptr %592, align 8, !tbaa !33
  %594 = load double, ptr %53, align 8, !tbaa !9
  %595 = fmul double %593, %594
  %596 = fcmp ogt double %591, %595
  br i1 %596, label %597, label %691

597:                                              ; preds = %590, %585
  %598 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %599 unwind label %496

599:                                              ; preds = %597
  %600 = load double, ptr %52, align 8, !tbaa !9
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %598, i32 noundef 5, i32 noundef 7, ptr noundef @.str.24, double noundef %600)
          to label %601 unwind label %496

601:                                              ; preds = %599
  store i8 1, ptr %55, align 1, !tbaa !11
  store i8 0, ptr %46, align 1, !tbaa !11
  %602 = load i8, ptr %48, align 1, !tbaa !11, !range !15, !noundef !16
  %603 = trunc i8 %602 to i1
  br i1 %603, label %689, label %604

604:                                              ; preds = %601
  %605 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %70, i32 0, i32 4
  %606 = load i8, ptr %605, align 8, !tbaa !34, !range !15, !noundef !16
  %607 = trunc i8 %606 to i1
  br i1 %607, label %641, label %608

608:                                              ; preds = %604
  %609 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %610 unwind label %496

610:                                              ; preds = %608
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %609, i32 noundef 5, i32 noundef 7, ptr noundef @.str.25)
          to label %611 unwind label %496

611:                                              ; preds = %610
  %612 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %70, i32 0, i32 1
  %613 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_15AugSystemSolverEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %612)
          to label %614 unwind label %496

614:                                              ; preds = %611
  %615 = load ptr, ptr %613, align 8, !tbaa !13
  %616 = getelementptr inbounds ptr, ptr %615, i64 7
  %617 = load ptr, ptr %616, align 8
  %618 = invoke noundef zeroext i1 %617(ptr noundef nonnull align 8 dereferenceable(49) %613)
          to label %619 unwind label %496

619:                                              ; preds = %614
  %620 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %70, i32 0, i32 4
  %621 = zext i1 %618 to i8
  store i8 %621, ptr %620, align 8, !tbaa !34
  %622 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %70, i32 0, i32 4
  %623 = load i8, ptr %622, align 8, !tbaa !34, !range !15, !noundef !16
  %624 = trunc i8 %623 to i1
  br i1 %624, label %625, label %639

625:                                              ; preds = %619
  %626 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %627 unwind label %496

627:                                              ; preds = %625
  call void @llvm.lifetime.start.p0(i64 32, ptr %62) #5
  call void @llvm.lifetime.start.p0(i64 1, ptr %63) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %63) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %62, ptr noundef @.str.26, ptr noundef nonnull align 1 dereferenceable(1) %63)
          to label %628 unwind label %630

628:                                              ; preds = %627
  invoke void @_ZN10SimTKIpopt9IpoptData18Append_info_stringERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(864) %626, ptr noundef nonnull align 8 dereferenceable(32) %62)
          to label %629 unwind label %634

629:                                              ; preds = %628
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %62) #5
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %63) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %63) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %62) #5
  store i8 1, ptr %46, align 1, !tbaa !11
  br label %640

630:                                              ; preds = %627
  %631 = landingpad { ptr, i32 }
          cleanup
  %632 = extractvalue { ptr, i32 } %631, 0
  store ptr %632, ptr %18, align 8
  %633 = extractvalue { ptr, i32 } %631, 1
  store i32 %633, ptr %19, align 4
  br label %638

634:                                              ; preds = %628
  %635 = landingpad { ptr, i32 }
          cleanup
  %636 = extractvalue { ptr, i32 } %635, 0
  store ptr %636, ptr %18, align 8
  %637 = extractvalue { ptr, i32 } %635, 1
  store i32 %637, ptr %19, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %62) #5
  br label %638

638:                                              ; preds = %634, %630
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %63) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %63) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %62) #5
  br label %706

639:                                              ; preds = %619
  store i8 1, ptr %47, align 1, !tbaa !11
  br label %640

640:                                              ; preds = %639, %629
  br label %642

641:                                              ; preds = %604
  store i8 1, ptr %47, align 1, !tbaa !11
  br label %642

642:                                              ; preds = %641, %640
  %643 = load i8, ptr %47, align 1, !tbaa !11, !range !15, !noundef !16
  %644 = trunc i8 %643 to i1
  %645 = zext i1 %644 to i8
  store i8 %645, ptr %48, align 1, !tbaa !11
  %646 = load i8, ptr %47, align 1, !tbaa !11, !range !15, !noundef !16
  %647 = trunc i8 %646 to i1
  br i1 %647, label %648, label %688

648:                                              ; preds = %642
  %649 = load double, ptr %52, align 8, !tbaa !9
  %650 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %70, i32 0, i32 8
  %651 = load double, ptr %650, align 8, !tbaa !35
  %652 = fcmp olt double %649, %651
  br i1 %652, label %653, label %670

653:                                              ; preds = %648
  store i8 0, ptr %47, align 1, !tbaa !11
  %654 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %655 unwind label %496

655:                                              ; preds = %653
  call void @llvm.lifetime.start.p0(i64 32, ptr %64) #5
  call void @llvm.lifetime.start.p0(i64 1, ptr %65) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %65) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %64, ptr noundef @.str.27, ptr noundef nonnull align 1 dereferenceable(1) %65)
          to label %656 unwind label %661

656:                                              ; preds = %655
  invoke void @_ZN10SimTKIpopt9IpoptData18Append_info_stringERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(864) %654, ptr noundef nonnull align 8 dereferenceable(32) %64)
          to label %657 unwind label %665

657:                                              ; preds = %656
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %64) #5
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %65) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %65) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %64) #5
  %658 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %659 unwind label %496

659:                                              ; preds = %657
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %658, i32 noundef 5, i32 noundef 7, ptr noundef @.str.28)
          to label %660 unwind label %496

660:                                              ; preds = %659
  br label %687

661:                                              ; preds = %655
  %662 = landingpad { ptr, i32 }
          cleanup
  %663 = extractvalue { ptr, i32 } %662, 0
  store ptr %663, ptr %18, align 8
  %664 = extractvalue { ptr, i32 } %662, 1
  store i32 %664, ptr %19, align 4
  br label %669

665:                                              ; preds = %656
  %666 = landingpad { ptr, i32 }
          cleanup
  %667 = extractvalue { ptr, i32 } %666, 0
  store ptr %667, ptr %18, align 8
  %668 = extractvalue { ptr, i32 } %666, 1
  store i32 %668, ptr %19, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %64) #5
  br label %669

669:                                              ; preds = %665, %661
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %65) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %65) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %64) #5
  br label %706

670:                                              ; preds = %648
  %671 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %672 unwind label %496

672:                                              ; preds = %670
  call void @llvm.lifetime.start.p0(i64 32, ptr %66) #5
  call void @llvm.lifetime.start.p0(i64 1, ptr %67) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %67) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %66, ptr noundef @.str.29, ptr noundef nonnull align 1 dereferenceable(1) %67)
          to label %673 unwind label %678

673:                                              ; preds = %672
  invoke void @_ZN10SimTKIpopt9IpoptData18Append_info_stringERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(864) %671, ptr noundef nonnull align 8 dereferenceable(32) %66)
          to label %674 unwind label %682

674:                                              ; preds = %673
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %66) #5
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %67) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %67) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %66) #5
  %675 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %676 unwind label %496

676:                                              ; preds = %674
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %675, i32 noundef 5, i32 noundef 7, ptr noundef @.str.30)
          to label %677 unwind label %496

677:                                              ; preds = %676
  br label %687

678:                                              ; preds = %672
  %679 = landingpad { ptr, i32 }
          cleanup
  %680 = extractvalue { ptr, i32 } %679, 0
  store ptr %680, ptr %18, align 8
  %681 = extractvalue { ptr, i32 } %679, 1
  store i32 %681, ptr %19, align 4
  br label %686

682:                                              ; preds = %673
  %683 = landingpad { ptr, i32 }
          cleanup
  %684 = extractvalue { ptr, i32 } %683, 0
  store ptr %684, ptr %18, align 8
  %685 = extractvalue { ptr, i32 } %683, 1
  store i32 %685, ptr %19, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %66) #5
  br label %686

686:                                              ; preds = %682, %678
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %67) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %67) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr %66) #5
  br label %706

687:                                              ; preds = %677, %660
  br label %688

688:                                              ; preds = %687, %642
  br label %690

689:                                              ; preds = %601
  store i8 0, ptr %47, align 1, !tbaa !11
  br label %690

690:                                              ; preds = %689, %688
  br label %691

691:                                              ; preds = %690, %590, %578
  %692 = load double, ptr %52, align 8, !tbaa !9
  store double %692, ptr %53, align 8, !tbaa !9
  br label %409, !llvm.loop !36

693:                                              ; preds = %427
  %694 = load i8, ptr %46, align 1, !tbaa !11, !range !15, !noundef !16
  %695 = trunc i8 %694 to i1
  br i1 %695, label %700, label %696

696:                                              ; preds = %693
  %697 = load i8, ptr %47, align 1, !tbaa !11, !range !15, !noundef !16
  %698 = trunc i8 %697 to i1
  %699 = xor i1 %698, true
  br label %700

700:                                              ; preds = %696, %693
  %701 = phi i1 [ false, %693 ], [ %699, %696 ]
  %702 = zext i1 %701 to i8
  store i8 %702, ptr %45, align 1, !tbaa !11
  call void @llvm.lifetime.end.p0(i64 1, ptr %55) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %54) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %53) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #5
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %51) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #5
  store i32 0, ptr %50, align 4
  br label %703

703:                                              ; preds = %700, %353, %349
  call void @llvm.lifetime.end.p0(i64 1, ptr %49) #5
  %704 = load i32, ptr %50, align 4
  switch i32 %704, label %739 [
    i32 0, label %705
    i32 3, label %711
  ]

705:                                              ; preds = %703
  br label %178, !llvm.loop !38

706:                                              ; preds = %686, %669, %638, %526, %496
  call void @llvm.lifetime.end.p0(i64 1, ptr %55) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %54) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %53) #5
  br label %707

707:                                              ; preds = %706, %492
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #5
  br label %708

708:                                              ; preds = %707, %488
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %51) #5
  br label %709

709:                                              ; preds = %708, %484
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #5
  br label %710

710:                                              ; preds = %709, %335
  call void @llvm.lifetime.end.p0(i64 1, ptr %49) #5
  br label %741

711:                                              ; preds = %703, %178
  %712 = load double, ptr %10, align 8, !tbaa !9
  %713 = fcmp une double %712, 0.000000e+00
  br i1 %713, label %714, label %722

714:                                              ; preds = %711
  %715 = load ptr, ptr %13, align 8, !tbaa !5
  %716 = load double, ptr %10, align 8, !tbaa !9
  invoke void @_ZN10SimTKIpopt6Vector4ScalEd(ptr noundef nonnull align 8 dereferenceable(205) %715, double noundef %716)
          to label %717 unwind label %718

717:                                              ; preds = %714
  br label %722

718:                                              ; preds = %737, %735, %733, %731, %729, %725, %714
  %719 = landingpad { ptr, i32 }
          cleanup
  %720 = extractvalue { ptr, i32 } %719, 0
  store ptr %720, ptr %18, align 8
  %721 = extractvalue { ptr, i32 } %719, 1
  store i32 %721, ptr %19, align 4
  br label %741

722:                                              ; preds = %717, %711
  %723 = load double, ptr %11, align 8, !tbaa !9
  %724 = fcmp une double %723, 0.000000e+00
  br i1 %724, label %725, label %731

725:                                              ; preds = %722
  %726 = load ptr, ptr %13, align 8, !tbaa !5
  %727 = load double, ptr %11, align 8, !tbaa !9
  %728 = invoke noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %16)
          to label %729 unwind label %718

729:                                              ; preds = %725
  invoke void @_ZN10SimTKIpopt6Vector4AxpyEdRKS0_(ptr noundef nonnull align 8 dereferenceable(205) %726, double noundef %727, ptr noundef nonnull align 8 dereferenceable(205) %728)
          to label %730 unwind label %718

730:                                              ; preds = %729
  br label %731

731:                                              ; preds = %730, %722
  %732 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %70)
          to label %733 unwind label %718

733:                                              ; preds = %731
  %734 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %732)
          to label %735 unwind label %718

735:                                              ; preds = %733
  %736 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics19PDSystemSolverTotalEv(ptr noundef nonnull align 8 dereferenceable(664) %734)
          to label %737 unwind label %718

737:                                              ; preds = %735
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %736)
          to label %738 unwind label %718

738:                                              ; preds = %737
  store i1 true, ptr %8, align 1
  store i32 1, ptr %50, align 4
  br label %739

739:                                              ; preds = %738, %703
  call void @llvm.lifetime.end.p0(i64 1, ptr %48) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %47) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %46) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %45) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %44) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %43) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %42) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %42) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %41) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %41) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %40) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %39) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %37) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %35) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %33) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %31) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %30) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %29) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %28) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %27) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %26) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %25) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_9SymMatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %24) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %22) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %20) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #5
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %16) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #5
  %740 = load i1, ptr %8, align 1
  ret i1 %740

741:                                              ; preds = %718, %710
  call void @llvm.lifetime.end.p0(i64 1, ptr %48) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %47) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %46) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr %45) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %44) #5
  br label %742

742:                                              ; preds = %741, %331
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %43) #5
  br label %743

743:                                              ; preds = %742, %327
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %42) #5
  br label %744

744:                                              ; preds = %743, %323
  call void @llvm.lifetime.end.p0(i64 8, ptr %42) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %41) #5
  br label %745

745:                                              ; preds = %744, %319
  call void @llvm.lifetime.end.p0(i64 8, ptr %41) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %40) #5
  br label %746

746:                                              ; preds = %745, %315
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %39) #5
  br label %747

747:                                              ; preds = %746, %311
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %37) #5
  br label %748

748:                                              ; preds = %747, %310
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %35) #5
  br label %749

749:                                              ; preds = %748, %301
  call void @llvm.lifetime.end.p0(i64 8, ptr %35) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %33) #5
  br label %750

750:                                              ; preds = %749, %292
  call void @llvm.lifetime.end.p0(i64 8, ptr %33) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %31) #5
  br label %751

751:                                              ; preds = %750, %283
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %30) #5
  br label %752

752:                                              ; preds = %751, %271
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %29) #5
  br label %753

753:                                              ; preds = %752, %267
  call void @llvm.lifetime.end.p0(i64 8, ptr %29) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %28) #5
  br label %754

754:                                              ; preds = %753, %263
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %27) #5
  br label %755

755:                                              ; preds = %754, %259
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %26) #5
  br label %756

756:                                              ; preds = %755, %255
  call void @llvm.lifetime.end.p0(i64 8, ptr %26) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %25) #5
  br label %757

757:                                              ; preds = %756, %251
  call void @llvm.lifetime.end.p0(i64 8, ptr %25) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_9SymMatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %24) #5
  br label %758

758:                                              ; preds = %757, %247
  call void @llvm.lifetime.end.p0(i64 8, ptr %24) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %22) #5
  br label %759

759:                                              ; preds = %758, %246
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %20) #5
  br label %760

760:                                              ; preds = %759, %237
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #5
  br label %761

761:                                              ; preds = %760, %89
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %16) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr %16) #5
  br label %762

762:                                              ; preds = %761
  %763 = load ptr, ptr %18, align 8
  %764 = load i32, ptr %19, align 4
  %765 = insertvalue { ptr, i32 } poison, ptr %763, 0
  %766 = insertvalue { ptr, i32 } %765, i32 %764, 1
  resume { ptr, i32 } %766

767:                                              ; preds = %483
  unreachable
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics19PDSystemSolverTotalEv(ptr noundef nonnull align 8 dereferenceable(664)) #1 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector25MakeNewIteratesVectorCopyEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.40") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt9IpoptData4currEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.32") align 8, ptr noundef nonnull align 8 dereferenceable(864)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector1xEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector1sEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt9IpoptData1WEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.33") align 8, ptr noundef nonnull align 8 dereferenceable(864)) #2 align 2

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities10curr_jac_cEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) #4

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities10curr_jac_dEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector3z_LEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector3z_UEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector3v_LEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector3v_UEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_x_LEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) #4

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_x_UEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) #4

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_s_LEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) #4

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_s_UEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) #4

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities12curr_sigma_xEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) #4

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities12curr_sigma_sEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN10SimTKIpopt17PDFullSpaceSolver9SolveOnceEbbRKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorERSA_(ptr noundef nonnull align 8 dereferenceable(136), i1 noundef zeroext, i1 noundef zeroext, ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(280), ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_9SymMatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18)) #1 align 2

declare void @_ZNK10SimTKIpopt14IteratesVector21MakeNewIteratesVectorEb(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.40") align 8, ptr noundef nonnull align 8 dereferenceable(280), i1 noundef zeroext) #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt17PDFullSpaceSolver16ComputeResidualsERKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorESC_RSA_(ptr noundef nonnull align 8 dereferenceable(136), ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(280), ptr noundef nonnull align 8 dereferenceable(280), ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZN10SimTKIpopt17PDFullSpaceSolver20ComputeResidualRatioERKNS_14IteratesVectorES3_S3_(ptr noundef nonnull align 8 dereferenceable(136), ptr noundef nonnull align 8 dereferenceable(280), ptr noundef nonnull align 8 dereferenceable(280), ptr noundef nonnull align 8 dereferenceable(280)) #2 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 @_ZN10SimTKIpopt14INTERNAL_ABORTC2ENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_i(ptr noundef nonnull align 8 dereferenceable(112), ptr noundef, ptr noundef, i32 noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptExceptionD2Ev(ptr noundef nonnull align 8 dereferenceable(112)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt9IpoptData18Append_info_stringERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(864), ptr noundef nonnull align 8 dereferenceable(32)) #2 align 2

declare void @_ZN10SimTKIpopt6Vector4ScalEd(ptr noundef nonnull align 8 dereferenceable(205), double noundef) #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt6Vector4AxpyEdRKS0_(ptr noundef nonnull align 8 dereferenceable(205), double noundef, ptr noundef nonnull align 8 dereferenceable(205)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrIKNS_9SymMatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

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

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { "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 }
attributes #6 = { noreturn }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"double", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"bool", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"vtable pointer", !8, i64 0}
!15 = !{i8 0, i8 2}
!16 = !{}
!17 = !{!18, !18, i64 0}
!18 = !{!"int", !7, i64 0}
!19 = !{!20, !18, i64 100}
!20 = !{!"_ZTSN10SimTKIpopt17PDFullSpaceSolverE", !21, i64 0, !28, i64 56, !29, i64 64, !30, i64 72, !12, i64 96, !18, i64 100, !18, i64 104, !10, i64 112, !10, i64 120, !10, i64 128}
!21 = !{!"_ZTSN10SimTKIpopt14PDSystemSolverE", !22, i64 0}
!22 = !{!"_ZTSN10SimTKIpopt23AlgorithmStrategyObjectE", !23, i64 0, !24, i64 16, !25, i64 24, !26, i64 32, !27, i64 40, !12, i64 48}
!23 = !{!"_ZTSN10SimTKIpopt16ReferencedObjectE", !18, i64 8}
!24 = !{!"_ZTSN10SimTKIpopt8SmartPtrIKNS_10JournalistEEE", !6, i64 0}
!25 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_8IpoptNLPEEE", !6, i64 0}
!26 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_9IpoptDataEEE", !6, i64 0}
!27 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_25IpoptCalculatedQuantitiesEEE", !6, i64 0}
!28 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_15AugSystemSolverEEE", !6, i64 0}
!29 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEE", !6, i64 0}
!30 = !{!"_ZTSN10SimTKIpopt13CachedResultsIPvEE", !18, i64 8, !6, i64 16}
!31 = !{!20, !10, i64 112}
!32 = !{!20, !18, i64 104}
!33 = !{!20, !10, i64 128}
!34 = !{!20, !12, i64 96}
!35 = !{!20, !10, i64 120}
!36 = distinct !{!36, !37}
!37 = !{!"llvm.loop.mustprogress"}
!38 = distinct !{!38, !37}


; 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.SimTKIpopt::SmartPtr.40" = type { ptr }
%"class.SimTKIpopt::SmartPtr.51" = type { ptr }
%"class.SimTKIpopt::SmartPtr.32" = type { ptr }
%"class.SimTKIpopt::SmartPtr.33" = type { ptr }
%"class.SimTKIpopt::SmartPtr.52" = type { ptr }
%"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.14" = type { i8 }

@.str.16 = external hidden unnamed_addr constant [19 x i8], align 1
@.str.18 = external hidden unnamed_addr constant [104 x i8], align 1
@.str.21 = external hidden unnamed_addr constant [21 x i8], align 1
@.str.22 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.23 = external hidden unnamed_addr constant [53 x i8], align 1
@_ZTIN10SimTKIpopt14INTERNAL_ABORTE = external dso_local constant { ptr, ptr, ptr }, align 8
@.str.24 = external hidden unnamed_addr constant [54 x i8], align 1
@.str.25 = external hidden unnamed_addr constant [69 x i8], align 1
@.str.26 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.27 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.28 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.29 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.30 = external hidden unnamed_addr constant [72 x i8], align 1

; 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: 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 #1 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 #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEpLEPKc(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef) local_unnamed_addr #2 align 2

declare ptr @__cxa_allocate_exception(i64) local_unnamed_addr

; Function Attrs: mustprogress uwtable
declare void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(32)) unnamed_addr #2 align 2

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_15AugSystemSolverEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 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 #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(24) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5IpNLPEv(ptr noundef nonnull align 8 dereferenceable(49)) local_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 #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef zeroext i1 @_ZN10SimTKIpopt17PDFullSpaceSolver5SolveEddRKNS_14IteratesVectorERS1_bb(ptr noundef nonnull align 8 dereferenceable(136) %0, double noundef %1, double noundef %2, ptr noundef nonnull align 8 dereferenceable(280) %3, ptr noundef nonnull align 8 dereferenceable(280) %4, i1 noundef zeroext %5, i1 noundef zeroext %6) unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %8 = alloca %"class.SimTKIpopt::SmartPtr.40", align 8
  %9 = alloca %"class.SimTKIpopt::SmartPtr.40", align 8
  %10 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %11 = alloca %"class.SimTKIpopt::SmartPtr.32", align 8
  %12 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %13 = alloca %"class.SimTKIpopt::SmartPtr.32", align 8
  %14 = alloca %"class.SimTKIpopt::SmartPtr.33", align 8
  %15 = alloca %"class.SimTKIpopt::SmartPtr.52", align 8
  %16 = alloca %"class.SimTKIpopt::SmartPtr.52", align 8
  %17 = alloca %"class.SimTKIpopt::SmartPtr.52", align 8
  %18 = alloca %"class.SimTKIpopt::SmartPtr.52", align 8
  %19 = alloca %"class.SimTKIpopt::SmartPtr.52", align 8
  %20 = alloca %"class.SimTKIpopt::SmartPtr.52", align 8
  %21 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %22 = alloca %"class.SimTKIpopt::SmartPtr.32", align 8
  %23 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %24 = alloca %"class.SimTKIpopt::SmartPtr.32", align 8
  %25 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %26 = alloca %"class.SimTKIpopt::SmartPtr.32", align 8
  %27 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %28 = alloca %"class.SimTKIpopt::SmartPtr.32", align 8
  %29 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %30 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %31 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %32 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %33 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %34 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %35 = alloca %"class.SimTKIpopt::SmartPtr.40", align 8
  %36 = alloca %"class.std::__cxx11::basic_string", align 8
  %37 = alloca %"class.std::allocator.14", align 1
  %38 = alloca %"class.std::__cxx11::basic_string", align 8
  %39 = alloca %"class.std::__cxx11::basic_string", align 8
  %40 = alloca %"class.std::allocator.14", align 1
  %41 = alloca %"class.std::__cxx11::basic_string", align 8
  %42 = alloca %"class.std::allocator.14", align 1
  %43 = alloca %"class.std::__cxx11::basic_string", align 8
  %44 = alloca %"class.std::allocator.14", align 1
  %45 = alloca %"class.std::__cxx11::basic_string", align 8
  %46 = alloca %"class.std::allocator.14", align 1
  %47 = tail call noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
  %48 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %47)
  %49 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics19PDSystemSolverTotalEv(ptr noundef nonnull align 8 dereferenceable(664) %48)
  tail call void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %49)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %8) #5
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8) %8)
  %50 = fcmp une double %2, 0.000000e+00
  br i1 %50, label %51, label %60

51:                                               ; preds = %7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %9) #5
  invoke void @_ZNK10SimTKIpopt14IteratesVector25MakeNewIteratesVectorCopyEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.40") align 8 %9, ptr noundef nonnull align 8 dereferenceable(280) %4)
          to label %52 unwind label %55

52:                                               ; preds = %51
  %53 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef nonnull align 8 dereferenceable(8) %9)
          to label %54 unwind label %57

54:                                               ; preds = %52
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %9) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #5
  br label %60

55:                                               ; preds = %51
  %56 = landingpad { ptr, i32 }
          cleanup
  br label %59

57:                                               ; preds = %52
  %58 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %9) #5
  br label %59

59:                                               ; preds = %57, %55
  %.pn = phi { ptr, i32 } [ %58, %57 ], [ %56, %55 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %9) #5
  br label %439

60:                                               ; preds = %54, %7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %10) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %11) #5
  %61 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %62 unwind label %170

62:                                               ; preds = %60
  invoke void @_ZNK10SimTKIpopt9IpoptData4currEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.32") align 8 %11, ptr noundef nonnull align 8 dereferenceable(864) %61)
          to label %63 unwind label %170

63:                                               ; preds = %62
  %64 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %11)
  invoke void @_ZNK10SimTKIpopt14IteratesVector1xEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %10, ptr noundef nonnull align 8 dereferenceable(280) %64)
          to label %65 unwind label %172

65:                                               ; preds = %63
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %11) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %12) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #5
  %66 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %67 unwind label %175

67:                                               ; preds = %65
  invoke void @_ZNK10SimTKIpopt9IpoptData4currEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.32") align 8 %13, ptr noundef nonnull align 8 dereferenceable(864) %66)
          to label %68 unwind label %175

68:                                               ; preds = %67
  %69 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %13)
  invoke void @_ZNK10SimTKIpopt14IteratesVector1sEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %12, ptr noundef nonnull align 8 dereferenceable(280) %69)
          to label %70 unwind label %177

70:                                               ; preds = %68
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %13) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #5
  %71 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %72 unwind label %180

72:                                               ; preds = %70
  invoke void @_ZN10SimTKIpopt9IpoptData1WEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.33") align 8 %14, ptr noundef nonnull align 8 dereferenceable(864) %71)
          to label %73 unwind label %180

73:                                               ; preds = %72
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %15) #5
  %74 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %75 unwind label %182

75:                                               ; preds = %73
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities10curr_jac_cEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8 %15, ptr noundef nonnull align 8 dereferenceable(2025) %74)
          to label %76 unwind label %182

76:                                               ; preds = %75
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %16) #5
  %77 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %78 unwind label %184

78:                                               ; preds = %76
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities10curr_jac_dEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8 %16, ptr noundef nonnull align 8 dereferenceable(2025) %77)
          to label %79 unwind label %184

79:                                               ; preds = %78
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #5
  %80 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5IpNLPEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %81 unwind label %186

81:                                               ; preds = %79
  %82 = load ptr, ptr %80, align 8, !tbaa !5
  %83 = getelementptr inbounds i8, ptr %82, i64 104
  %84 = load ptr, ptr %83, align 8
  invoke void %84(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8 %17, ptr noundef nonnull align 8 dereferenceable(24) %80)
          to label %85 unwind label %186

85:                                               ; preds = %81
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %18) #5
  %86 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5IpNLPEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %87 unwind label %188

87:                                               ; preds = %85
  %88 = load ptr, ptr %86, align 8, !tbaa !5
  %89 = getelementptr inbounds i8, ptr %88, i64 120
  %90 = load ptr, ptr %89, align 8
  invoke void %90(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8 %18, ptr noundef nonnull align 8 dereferenceable(24) %86)
          to label %91 unwind label %188

91:                                               ; preds = %87
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #5
  %92 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5IpNLPEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %93 unwind label %190

93:                                               ; preds = %91
  %94 = load ptr, ptr %92, align 8, !tbaa !5
  %95 = getelementptr inbounds i8, ptr %94, i64 136
  %96 = load ptr, ptr %95, align 8
  invoke void %96(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8 %19, ptr noundef nonnull align 8 dereferenceable(24) %92)
          to label %97 unwind label %190

97:                                               ; preds = %93
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %20) #5
  %98 = invoke noundef nonnull align 8 dereferenceable(24) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5IpNLPEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %99 unwind label %192

99:                                               ; preds = %97
  %100 = load ptr, ptr %98, align 8, !tbaa !5
  %101 = getelementptr inbounds i8, ptr %100, i64 152
  %102 = load ptr, ptr %101, align 8
  invoke void %102(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8 %20, ptr noundef nonnull align 8 dereferenceable(24) %98)
          to label %103 unwind label %192

103:                                              ; preds = %99
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %21) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %22) #5
  %104 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %105 unwind label %194

105:                                              ; preds = %103
  invoke void @_ZNK10SimTKIpopt9IpoptData4currEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.32") align 8 %22, ptr noundef nonnull align 8 dereferenceable(864) %104)
          to label %106 unwind label %194

106:                                              ; preds = %105
  %107 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %22)
  invoke void @_ZNK10SimTKIpopt14IteratesVector3z_LEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %21, ptr noundef nonnull align 8 dereferenceable(280) %107)
          to label %108 unwind label %196

108:                                              ; preds = %106
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %22) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %23) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %24) #5
  %109 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %110 unwind label %199

110:                                              ; preds = %108
  invoke void @_ZNK10SimTKIpopt9IpoptData4currEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.32") align 8 %24, ptr noundef nonnull align 8 dereferenceable(864) %109)
          to label %111 unwind label %199

111:                                              ; preds = %110
  %112 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %24)
  invoke void @_ZNK10SimTKIpopt14IteratesVector3z_UEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %23, ptr noundef nonnull align 8 dereferenceable(280) %112)
          to label %113 unwind label %201

113:                                              ; preds = %111
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %24) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %24) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #5
  %114 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %115 unwind label %204

115:                                              ; preds = %113
  invoke void @_ZNK10SimTKIpopt9IpoptData4currEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.32") align 8 %26, ptr noundef nonnull align 8 dereferenceable(864) %114)
          to label %116 unwind label %204

116:                                              ; preds = %115
  %117 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %26)
  invoke void @_ZNK10SimTKIpopt14IteratesVector3v_LEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %25, ptr noundef nonnull align 8 dereferenceable(280) %117)
          to label %118 unwind label %206

118:                                              ; preds = %116
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %26) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %27) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %28) #5
  %119 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %120 unwind label %209

120:                                              ; preds = %118
  invoke void @_ZNK10SimTKIpopt9IpoptData4currEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.32") align 8 %28, ptr noundef nonnull align 8 dereferenceable(864) %119)
          to label %121 unwind label %209

121:                                              ; preds = %120
  %122 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %28)
  invoke void @_ZNK10SimTKIpopt14IteratesVector3v_UEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %27, ptr noundef nonnull align 8 dereferenceable(280) %122)
          to label %123 unwind label %211

123:                                              ; preds = %121
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %28) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %29) #5
  %124 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %125 unwind label %214

125:                                              ; preds = %123
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_x_LEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %29, ptr noundef nonnull align 8 dereferenceable(2025) %124)
          to label %126 unwind label %214

126:                                              ; preds = %125
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %30) #5
  %127 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %128 unwind label %216

128:                                              ; preds = %126
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_x_UEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %30, ptr noundef nonnull align 8 dereferenceable(2025) %127)
          to label %129 unwind label %216

129:                                              ; preds = %128
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %31) #5
  %130 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %131 unwind label %218

131:                                              ; preds = %129
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_s_LEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %31, ptr noundef nonnull align 8 dereferenceable(2025) %130)
          to label %132 unwind label %218

132:                                              ; preds = %131
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %32) #5
  %133 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %134 unwind label %220

134:                                              ; preds = %132
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_s_UEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %32, ptr noundef nonnull align 8 dereferenceable(2025) %133)
          to label %135 unwind label %220

135:                                              ; preds = %134
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %33) #5
  %136 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %137 unwind label %222

137:                                              ; preds = %135
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities12curr_sigma_xEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %33, ptr noundef nonnull align 8 dereferenceable(2025) %136)
          to label %138 unwind label %222

138:                                              ; preds = %137
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %34) #5
  %139 = invoke noundef nonnull align 8 dereferenceable(2025) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject4IpCqEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %140 unwind label %224

140:                                              ; preds = %138
  invoke void @_ZN10SimTKIpopt25IpoptCalculatedQuantities12curr_sigma_sEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %34, ptr noundef nonnull align 8 dereferenceable(2025) %139)
          to label %.preheader216 unwind label %224

.preheader216:                                    ; preds = %140
  %141 = getelementptr inbounds i8, ptr %0, i64 100
  %142 = getelementptr inbounds i8, ptr %0, i64 112
  %143 = getelementptr inbounds i8, ptr %0, i64 104
  %144 = getelementptr inbounds i8, ptr %0, i64 128
  %145 = getelementptr inbounds i8, ptr %0, i64 96
  %146 = getelementptr inbounds i8, ptr %0, i64 56
  %147 = getelementptr inbounds i8, ptr %0, i64 120
  br label %148

148:                                              ; preds = %.preheader216, %.thread251
  %.066250 = phi i8 [ 0, %.preheader216 ], [ %.167.lcssa, %.thread251 ]
  %.069249 = phi i8 [ 0, %.preheader216 ], [ %.271.lcssa, %.thread251 ]
  %.073248 = phi i8 [ 0, %.preheader216 ], [ %.275.lcssa, %.thread251 ]
  %.0127247 = phi i1 [ %6, %.preheader216 ], [ false, %.thread251 ]
  br i1 %.0127247, label %.thread, label %149

149:                                              ; preds = %148
  %150 = trunc nuw i8 %.073248 to i1
  %151 = trunc nuw i8 %.069249 to i1
  %152 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_9SymMatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %14)
  %153 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %15)
  %154 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %16)
  %155 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %17)
  %156 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %18)
  %157 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %19)
  %158 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %20)
  %159 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %21)
  %160 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
  %161 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %25)
  %162 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27)
  %163 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %29)
  %164 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %30)
  %165 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %31)
  %166 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %32)
  %167 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  %168 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %34)
  %169 = invoke noundef zeroext i1 @_ZN10SimTKIpopt17PDFullSpaceSolver9SolveOnceEbbRKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorERSA_(ptr noundef nonnull align 8 dereferenceable(136) %0, i1 noundef zeroext %150, i1 noundef zeroext %151, ptr noundef nonnull align 8 dereferenceable(80) %152, ptr noundef nonnull align 8 dereferenceable(69) %153, ptr noundef nonnull align 8 dereferenceable(69) %154, ptr noundef nonnull align 8 dereferenceable(69) %155, ptr noundef nonnull align 8 dereferenceable(69) %156, ptr noundef nonnull align 8 dereferenceable(69) %157, ptr noundef nonnull align 8 dereferenceable(69) %158, ptr noundef nonnull align 8 dereferenceable(205) %159, ptr noundef nonnull align 8 dereferenceable(205) %160, ptr noundef nonnull align 8 dereferenceable(205) %161, ptr noundef nonnull align 8 dereferenceable(205) %162, ptr noundef nonnull align 8 dereferenceable(205) %163, ptr noundef nonnull align 8 dereferenceable(205) %164, ptr noundef nonnull align 8 dereferenceable(205) %165, ptr noundef nonnull align 8 dereferenceable(205) %166, ptr noundef nonnull align 8 dereferenceable(205) %167, ptr noundef nonnull align 8 dereferenceable(205) %168, double noundef 1.000000e+00, double noundef 0.000000e+00, ptr noundef nonnull align 8 dereferenceable(280) %3, ptr noundef nonnull align 8 dereferenceable(280) %4)
          to label %226 unwind label %.loopexit

170:                                              ; preds = %62, %60
  %171 = landingpad { ptr, i32 }
          cleanup
  br label %174

172:                                              ; preds = %63
  %173 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %11) #5
  br label %174

174:                                              ; preds = %172, %170
  %.pn136 = phi { ptr, i32 } [ %173, %172 ], [ %171, %170 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %11) #5
  br label %438

175:                                              ; preds = %67, %65
  %176 = landingpad { ptr, i32 }
          cleanup
  br label %179

177:                                              ; preds = %68
  %178 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %13) #5
  br label %179

179:                                              ; preds = %177, %175
  %.pn138 = phi { ptr, i32 } [ %178, %177 ], [ %176, %175 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #5
  br label %437

180:                                              ; preds = %72, %70
  %181 = landingpad { ptr, i32 }
          cleanup
  br label %436

182:                                              ; preds = %75, %73
  %183 = landingpad { ptr, i32 }
          cleanup
  br label %435

184:                                              ; preds = %78, %76
  %185 = landingpad { ptr, i32 }
          cleanup
  br label %434

186:                                              ; preds = %81, %79
  %187 = landingpad { ptr, i32 }
          cleanup
  br label %433

188:                                              ; preds = %87, %85
  %189 = landingpad { ptr, i32 }
          cleanup
  br label %432

190:                                              ; preds = %93, %91
  %191 = landingpad { ptr, i32 }
          cleanup
  br label %431

192:                                              ; preds = %99, %97
  %193 = landingpad { ptr, i32 }
          cleanup
  br label %430

194:                                              ; preds = %105, %103
  %195 = landingpad { ptr, i32 }
          cleanup
  br label %198

196:                                              ; preds = %106
  %197 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %22) #5
  br label %198

198:                                              ; preds = %196, %194
  %.pn140 = phi { ptr, i32 } [ %197, %196 ], [ %195, %194 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #5
  br label %429

199:                                              ; preds = %110, %108
  %200 = landingpad { ptr, i32 }
          cleanup
  br label %203

201:                                              ; preds = %111
  %202 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %24) #5
  br label %203

203:                                              ; preds = %201, %199
  %.pn142 = phi { ptr, i32 } [ %202, %201 ], [ %200, %199 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %24) #5
  br label %428

204:                                              ; preds = %115, %113
  %205 = landingpad { ptr, i32 }
          cleanup
  br label %208

206:                                              ; preds = %116
  %207 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %26) #5
  br label %208

208:                                              ; preds = %206, %204
  %.pn144 = phi { ptr, i32 } [ %207, %206 ], [ %205, %204 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #5
  br label %427

209:                                              ; preds = %120, %118
  %210 = landingpad { ptr, i32 }
          cleanup
  br label %213

211:                                              ; preds = %121
  %212 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %28) #5
  br label %213

213:                                              ; preds = %211, %209
  %.pn146 = phi { ptr, i32 } [ %212, %211 ], [ %210, %209 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #5
  br label %426

214:                                              ; preds = %125, %123
  %215 = landingpad { ptr, i32 }
          cleanup
  br label %425

216:                                              ; preds = %128, %126
  %217 = landingpad { ptr, i32 }
          cleanup
  br label %424

218:                                              ; preds = %131, %129
  %219 = landingpad { ptr, i32 }
          cleanup
  br label %423

220:                                              ; preds = %134, %132
  %221 = landingpad { ptr, i32 }
          cleanup
  br label %422

222:                                              ; preds = %137, %135
  %223 = landingpad { ptr, i32 }
          cleanup
  br label %421

224:                                              ; preds = %140, %138
  %225 = landingpad { ptr, i32 }
          cleanup
  br label %420

.loopexit:                                        ; preds = %149
  %lpad.loopexit = landingpad { ptr, i32 }
          cleanup
  br label %419

.loopexit.split-lp:                               ; preds = %227
  %lpad.loopexit.split-lp = landingpad { ptr, i32 }
          cleanup
  br label %419

226:                                              ; preds = %149
  br i1 %169, label %.thread, label %227

227:                                              ; preds = %226
  %228 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %.thread204 unwind label %.loopexit.split-lp

.thread:                                          ; preds = %148, %226
  %.170194 = phi i8 [ 0, %226 ], [ %.069249, %148 ]
  %.174193 = phi i8 [ 0, %226 ], [ %.073248, %148 ]
  br i1 %5, label %.thread210, label %229

229:                                              ; preds = %.thread
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %35) #5
  invoke void @_ZNK10SimTKIpopt14IteratesVector21MakeNewIteratesVectorEb(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.40") align 8 %35, ptr noundef nonnull align 8 dereferenceable(280) %4, i1 noundef zeroext true)
          to label %230 unwind label %290

230:                                              ; preds = %229
  %231 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_9SymMatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %14)
  %232 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %15)
  %233 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %16)
  %234 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %17)
  %235 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %18)
  %236 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %19)
  %237 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %20)
  %238 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %21)
  %239 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
  %240 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %25)
  %241 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27)
  %242 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %29)
  %243 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %30)
  %244 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %31)
  %245 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %32)
  %246 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  %247 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %34)
  %248 = call noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %35)
  invoke void @_ZN10SimTKIpopt17PDFullSpaceSolver16ComputeResidualsERKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorESC_RSA_(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(80) %231, ptr noundef nonnull align 8 dereferenceable(69) %232, ptr noundef nonnull align 8 dereferenceable(69) %233, ptr noundef nonnull align 8 dereferenceable(69) %234, ptr noundef nonnull align 8 dereferenceable(69) %235, ptr noundef nonnull align 8 dereferenceable(69) %236, ptr noundef nonnull align 8 dereferenceable(69) %237, ptr noundef nonnull align 8 dereferenceable(205) %238, ptr noundef nonnull align 8 dereferenceable(205) %239, ptr noundef nonnull align 8 dereferenceable(205) %240, ptr noundef nonnull align 8 dereferenceable(205) %241, ptr noundef nonnull align 8 dereferenceable(205) %242, ptr noundef nonnull align 8 dereferenceable(205) %243, ptr noundef nonnull align 8 dereferenceable(205) %244, ptr noundef nonnull align 8 dereferenceable(205) %245, ptr noundef nonnull align 8 dereferenceable(205) %246, ptr noundef nonnull align 8 dereferenceable(205) %247, double noundef %1, double noundef %2, ptr noundef nonnull align 8 dereferenceable(280) %3, ptr noundef nonnull align 8 dereferenceable(280) %4, ptr noundef nonnull align 8 dereferenceable(280) %248)
          to label %249 unwind label %292

249:                                              ; preds = %230
  %250 = call noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %35)
  %251 = invoke noundef double @_ZN10SimTKIpopt17PDFullSpaceSolver20ComputeResidualRatioERKNS_14IteratesVectorES3_S3_(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(280) %3, ptr noundef nonnull align 8 dereferenceable(280) %4, ptr noundef nonnull align 8 dereferenceable(280) %250)
          to label %252 unwind label %294

252:                                              ; preds = %249
  %253 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %254 unwind label %294

254:                                              ; preds = %252
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %253, i32 noundef 5, i32 noundef 7, ptr noundef nonnull @.str.21, double noundef %251)
          to label %.preheader.preheader unwind label %294

.preheader.preheader:                             ; preds = %254
  %255 = trunc nuw i8 %.174193 to i1
  %256 = load i32, ptr %141, align 4, !tbaa !8
  %257 = icmp sgt i32 %256, 0
  %258 = load double, ptr %142, align 8
  %259 = fcmp ogt double %251, %258
  %or.cond261 = select i1 %257, i1 true, i1 %259
  br i1 %or.cond261, label %.critedge2, label %.thread251

.critedge2:                                       ; preds = %.preheader.preheader, %.preheader
  %.062244263 = phi double [ %330, %.preheader ], [ %251, %.preheader.preheader ]
  %.061245262 = phi i32 [ %335, %.preheader ], [ 0, %.preheader.preheader ]
  %260 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_9SymMatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %14)
  %261 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %15)
  %262 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %16)
  %263 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %17)
  %264 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %18)
  %265 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %19)
  %266 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %20)
  %267 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %21)
  %268 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
  %269 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %25)
  %270 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27)
  %271 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %29)
  %272 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %30)
  %273 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %31)
  %274 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %32)
  %275 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  %276 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %34)
  %277 = call noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %35)
  %278 = invoke noundef zeroext i1 @_ZN10SimTKIpopt17PDFullSpaceSolver9SolveOnceEbbRKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorERSA_(ptr noundef nonnull align 8 dereferenceable(136) %0, i1 noundef zeroext %255, i1 noundef zeroext false, ptr noundef nonnull align 8 dereferenceable(80) %260, ptr noundef nonnull align 8 dereferenceable(69) %261, ptr noundef nonnull align 8 dereferenceable(69) %262, ptr noundef nonnull align 8 dereferenceable(69) %263, ptr noundef nonnull align 8 dereferenceable(69) %264, ptr noundef nonnull align 8 dereferenceable(69) %265, ptr noundef nonnull align 8 dereferenceable(69) %266, ptr noundef nonnull align 8 dereferenceable(205) %267, ptr noundef nonnull align 8 dereferenceable(205) %268, ptr noundef nonnull align 8 dereferenceable(205) %269, ptr noundef nonnull align 8 dereferenceable(205) %270, ptr noundef nonnull align 8 dereferenceable(205) %271, ptr noundef nonnull align 8 dereferenceable(205) %272, ptr noundef nonnull align 8 dereferenceable(205) %273, ptr noundef nonnull align 8 dereferenceable(205) %274, ptr noundef nonnull align 8 dereferenceable(205) %275, ptr noundef nonnull align 8 dereferenceable(205) %276, double noundef -1.000000e+00, double noundef 1.000000e+00, ptr noundef nonnull align 8 dereferenceable(280) %277, ptr noundef nonnull align 8 dereferenceable(280) %4)
          to label %279 unwind label %.loopexit256

279:                                              ; preds = %.critedge2
  br i1 %278, label %309, label %280

280:                                              ; preds = %279
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %36) #5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %37) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %37) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %36, ptr noundef nonnull @.str.22, ptr noundef nonnull align 1 dereferenceable(1) %37)
          to label %281 unwind label %296

281:                                              ; preds = %280
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %37) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %37) #5
  %282 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEpLEPKc(ptr noundef nonnull align 8 dereferenceable(32) %36, ptr noundef nonnull @.str.16)
          to label %283 unwind label %298

283:                                              ; preds = %281
  %284 = invoke noundef nonnull align 8 dereferenceable(32) ptr @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEpLEPKc(ptr noundef nonnull align 8 dereferenceable(32) %36, ptr noundef nonnull @.str.23)
          to label %285 unwind label %298

285:                                              ; preds = %283
  %286 = call ptr @__cxa_allocate_exception(i64 112) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2ERKS4_(ptr noundef nonnull align 8 dereferenceable(32) %38, ptr noundef nonnull align 8 dereferenceable(32) %36)
          to label %287 unwind label %.thread195

287:                                              ; preds = %285
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %40) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %40) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %39, ptr noundef nonnull @.str.18, ptr noundef nonnull align 1 dereferenceable(1) %40)
          to label %288 unwind label %301

288:                                              ; preds = %287
  invoke void @_ZN10SimTKIpopt14INTERNAL_ABORTC2ENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_i(ptr noundef nonnull align 8 dereferenceable(112) %286, ptr noundef nonnull %38, ptr noundef nonnull %39, i32 noundef 235)
          to label %289 unwind label %303

289:                                              ; preds = %288
  invoke void @__cxa_throw(ptr nonnull %286, ptr nonnull @_ZTIN10SimTKIpopt14INTERNAL_ABORTE, ptr nonnull @_ZN10SimTKIpopt14IpoptExceptionD2Ev) #6
          to label %440 unwind label %303

290:                                              ; preds = %229
  %291 = landingpad { ptr, i32 }
          cleanup
  br label %407

292:                                              ; preds = %230
  %293 = landingpad { ptr, i32 }
          cleanup
  br label %406

294:                                              ; preds = %254, %252, %249
  %295 = landingpad { ptr, i32 }
          cleanup
  br label %406

.loopexit256:                                     ; preds = %.critedge2, %309, %328, %331, %333
  %lpad.loopexit258 = landingpad { ptr, i32 }
          cleanup
  br label %406

.loopexit.split-lp257:                            ; preds = %343, %345, %351, %353, %354, %362, %375, %379, %381, %387, %391, %393
  %lpad.loopexit.split-lp259 = landingpad { ptr, i32 }
          cleanup
  br label %406

296:                                              ; preds = %280
  %297 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %37) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %37) #5
  br label %308

298:                                              ; preds = %283, %281
  %299 = landingpad { ptr, i32 }
          cleanup
  br label %307

.thread195:                                       ; preds = %285
  %300 = landingpad { ptr, i32 }
          cleanup
  br label %306

301:                                              ; preds = %287
  %302 = landingpad { ptr, i32 }
          cleanup
  br label %305

303:                                              ; preds = %289, %288
  %.0 = phi i1 [ false, %289 ], [ true, %288 ]
  %304 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %39) #5
  br label %305

305:                                              ; preds = %301, %303
  %.pn148 = phi { ptr, i32 } [ %304, %303 ], [ %302, %301 ]
  %.1 = phi i1 [ %.0, %303 ], [ true, %301 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %40) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %40) #5
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %38) #5
  br i1 %.1, label %306, label %307

306:                                              ; preds = %.thread195, %305
  %.pn148.pn198 = phi { ptr, i32 } [ %300, %.thread195 ], [ %.pn148, %305 ]
  call void @__cxa_free_exception(ptr %286) #5
  br label %307

307:                                              ; preds = %305, %306, %298
  %.pn148.pn.pn = phi { ptr, i32 } [ %.pn148.pn198, %306 ], [ %.pn148, %305 ], [ %299, %298 ]
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %36) #5
  br label %308

308:                                              ; preds = %307, %296
  %.pn148.pn.pn.pn = phi { ptr, i32 } [ %.pn148.pn.pn, %307 ], [ %297, %296 ]
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %36) #5
  br label %406

309:                                              ; preds = %279
  %310 = call noundef nonnull align 8 dereferenceable(80) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_9SymMatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %14)
  %311 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %15)
  %312 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %16)
  %313 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %17)
  %314 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %18)
  %315 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %19)
  %316 = call noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %20)
  %317 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %21)
  %318 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %23)
  %319 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %25)
  %320 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27)
  %321 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %29)
  %322 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %30)
  %323 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %31)
  %324 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %32)
  %325 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  %326 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %34)
  %327 = call noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %35)
  invoke void @_ZN10SimTKIpopt17PDFullSpaceSolver16ComputeResidualsERKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorESC_RSA_(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(80) %310, ptr noundef nonnull align 8 dereferenceable(69) %311, ptr noundef nonnull align 8 dereferenceable(69) %312, ptr noundef nonnull align 8 dereferenceable(69) %313, ptr noundef nonnull align 8 dereferenceable(69) %314, ptr noundef nonnull align 8 dereferenceable(69) %315, ptr noundef nonnull align 8 dereferenceable(69) %316, ptr noundef nonnull align 8 dereferenceable(205) %317, ptr noundef nonnull align 8 dereferenceable(205) %318, ptr noundef nonnull align 8 dereferenceable(205) %319, ptr noundef nonnull align 8 dereferenceable(205) %320, ptr noundef nonnull align 8 dereferenceable(205) %321, ptr noundef nonnull align 8 dereferenceable(205) %322, ptr noundef nonnull align 8 dereferenceable(205) %323, ptr noundef nonnull align 8 dereferenceable(205) %324, ptr noundef nonnull align 8 dereferenceable(205) %325, ptr noundef nonnull align 8 dereferenceable(205) %326, double noundef %1, double noundef %2, ptr noundef nonnull align 8 dereferenceable(280) %3, ptr noundef nonnull align 8 dereferenceable(280) %4, ptr noundef nonnull align 8 dereferenceable(280) %327)
          to label %328 unwind label %.loopexit256

328:                                              ; preds = %309
  %329 = call noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %35)
  %330 = invoke noundef double @_ZN10SimTKIpopt17PDFullSpaceSolver20ComputeResidualRatioERKNS_14IteratesVectorES3_S3_(ptr noundef nonnull align 8 dereferenceable(136) %0, ptr noundef nonnull align 8 dereferenceable(280) %3, ptr noundef nonnull align 8 dereferenceable(280) %4, ptr noundef nonnull align 8 dereferenceable(280) %329)
          to label %331 unwind label %.loopexit256

331:                                              ; preds = %328
  %332 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %333 unwind label %.loopexit256

333:                                              ; preds = %331
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %332, i32 noundef 5, i32 noundef 7, ptr noundef nonnull @.str.21, double noundef %330)
          to label %334 unwind label %.loopexit256

334:                                              ; preds = %333
  %335 = add nuw nsw i32 %.061245262, 1
  %336 = load i32, ptr %141, align 4, !tbaa !8
  %.not = icmp slt i32 %.061245262, %336
  br i1 %.not, label %.preheader, label %337

337:                                              ; preds = %334
  %338 = load i32, ptr %143, align 8, !tbaa !25
  %.not153 = icmp slt i32 %.061245262, %338
  br i1 %.not153, label %339, label %343

339:                                              ; preds = %337
  %340 = load double, ptr %144, align 8, !tbaa !26
  %341 = fmul double %.062244263, %340
  %342 = fcmp ogt double %330, %341
  br i1 %342, label %343, label %.preheader

343:                                              ; preds = %339, %337
  %344 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %345 unwind label %.loopexit.split-lp257

345:                                              ; preds = %343
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %344, i32 noundef 5, i32 noundef 7, ptr noundef nonnull @.str.24, double noundef %330)
          to label %346 unwind label %.loopexit.split-lp257

346:                                              ; preds = %345
  %347 = trunc i8 %.066250 to i1
  br i1 %347, label %.thread251, label %348

348:                                              ; preds = %346
  %349 = load i8, ptr %145, align 8, !tbaa !27, !range !28, !noundef !29
  %350 = trunc nuw i8 %349 to i1
  br i1 %350, label %.thread199, label %351

351:                                              ; preds = %348
  %352 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %353 unwind label %.loopexit.split-lp257

353:                                              ; preds = %351
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %352, i32 noundef 5, i32 noundef 7, ptr noundef nonnull @.str.25)
          to label %354 unwind label %.loopexit.split-lp257

354:                                              ; preds = %353
  %355 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_15AugSystemSolverEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %146)
  %356 = load ptr, ptr %355, align 8, !tbaa !5
  %357 = getelementptr inbounds i8, ptr %356, i64 56
  %358 = load ptr, ptr %357, align 8
  %359 = invoke noundef zeroext i1 %358(ptr noundef nonnull align 8 dereferenceable(49) %355)
          to label %360 unwind label %.loopexit.split-lp257

360:                                              ; preds = %354
  %361 = zext i1 %359 to i8
  store i8 %361, ptr %145, align 8, !tbaa !27
  br i1 %359, label %362, label %.thread199

362:                                              ; preds = %360
  %363 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %364 unwind label %.loopexit.split-lp257

364:                                              ; preds = %362
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %41) #5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %42) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %42) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %41, ptr noundef nonnull @.str.26, ptr noundef nonnull align 1 dereferenceable(1) %42)
          to label %365 unwind label %366

365:                                              ; preds = %364
  invoke void @_ZN10SimTKIpopt9IpoptData18Append_info_stringERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(864) %363, ptr noundef nonnull align 8 dereferenceable(32) %41)
          to label %371 unwind label %368

366:                                              ; preds = %364
  %367 = landingpad { ptr, i32 }
          cleanup
  br label %370

368:                                              ; preds = %365
  %369 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %41) #5
  br label %370

370:                                              ; preds = %368, %366
  %.pn154 = phi { ptr, i32 } [ %369, %368 ], [ %367, %366 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %42) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %42) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %41) #5
  br label %406

371:                                              ; preds = %365
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %41) #5
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %42) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %42) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %41) #5
  %372 = trunc nuw i8 %.170194 to i1
  br i1 %372, label %.thread199, label %.thread251

.thread199:                                       ; preds = %348, %360, %371
  %.372203 = phi i8 [ %.170194, %371 ], [ 1, %360 ], [ 1, %348 ]
  %.376202 = phi i8 [ 1, %371 ], [ 0, %360 ], [ 0, %348 ]
  %373 = load double, ptr %147, align 8, !tbaa !30
  %374 = fcmp olt double %330, %373
  br i1 %374, label %375, label %387

375:                                              ; preds = %.thread199
  %376 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %377 unwind label %.loopexit.split-lp257

377:                                              ; preds = %375
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %43) #5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %44) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %44) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %43, ptr noundef nonnull @.str.27, ptr noundef nonnull align 1 dereferenceable(1) %44)
          to label %378 unwind label %382

378:                                              ; preds = %377
  invoke void @_ZN10SimTKIpopt9IpoptData18Append_info_stringERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(864) %376, ptr noundef nonnull align 8 dereferenceable(32) %43)
          to label %379 unwind label %384

379:                                              ; preds = %378
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %43) #5
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %44) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %44) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %43) #5
  %380 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %381 unwind label %.loopexit.split-lp257

381:                                              ; preds = %379
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %380, i32 noundef 5, i32 noundef 7, ptr noundef nonnull @.str.28)
          to label %.thread251 unwind label %.loopexit.split-lp257

382:                                              ; preds = %377
  %383 = landingpad { ptr, i32 }
          cleanup
  br label %386

384:                                              ; preds = %378
  %385 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %43) #5
  br label %386

386:                                              ; preds = %384, %382
  %.pn158 = phi { ptr, i32 } [ %385, %384 ], [ %383, %382 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %44) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %44) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %43) #5
  br label %406

387:                                              ; preds = %.thread199
  %388 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %389 unwind label %.loopexit.split-lp257

389:                                              ; preds = %387
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %45) #5
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %46) #5
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %46) #5
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %45, ptr noundef nonnull @.str.29, ptr noundef nonnull align 1 dereferenceable(1) %46)
          to label %390 unwind label %394

390:                                              ; preds = %389
  invoke void @_ZN10SimTKIpopt9IpoptData18Append_info_stringERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(864) %388, ptr noundef nonnull align 8 dereferenceable(32) %45)
          to label %391 unwind label %396

391:                                              ; preds = %390
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %45) #5
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %46) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %46) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %45) #5
  %392 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %393 unwind label %.loopexit.split-lp257

393:                                              ; preds = %391
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %392, i32 noundef 5, i32 noundef 7, ptr noundef nonnull @.str.30)
          to label %.thread251 unwind label %.loopexit.split-lp257

394:                                              ; preds = %389
  %395 = landingpad { ptr, i32 }
          cleanup
  br label %398

396:                                              ; preds = %390
  %397 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %45) #5
  br label %398

398:                                              ; preds = %396, %394
  %.pn156 = phi { ptr, i32 } [ %397, %396 ], [ %395, %394 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %46) #5
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %46) #5
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %45) #5
  br label %406

.preheader:                                       ; preds = %339, %334
  %399 = load i32, ptr %141, align 4, !tbaa !8
  %400 = icmp slt i32 %335, %399
  %401 = load double, ptr %142, align 8
  %402 = fcmp ogt double %330, %401
  %or.cond = select i1 %400, i1 true, i1 %402
  br i1 %or.cond, label %.critedge2, label %.thread251, !llvm.loop !31

.thread251:                                       ; preds = %.preheader, %.preheader.preheader, %346, %371, %393, %381
  %.275.lcssa = phi i8 [ 0, %346 ], [ 1, %371 ], [ %.376202, %393 ], [ %.376202, %381 ], [ %.174193, %.preheader.preheader ], [ %.174193, %.preheader ]
  %.271.lcssa = phi i8 [ 0, %346 ], [ %.170194, %371 ], [ %.372203, %393 ], [ 0, %381 ], [ %.170194, %.preheader.preheader ], [ %.170194, %.preheader ]
  %.167.lcssa = phi i8 [ %.066250, %346 ], [ %.170194, %371 ], [ %.372203, %393 ], [ %.372203, %381 ], [ %.066250, %.preheader.preheader ], [ %.066250, %.preheader ]
  %403 = trunc nuw i8 %.275.lcssa to i1
  %404 = trunc nuw i8 %.271.lcssa to i1
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %35) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %35) #5
  %405 = select i1 %403, i1 true, i1 %404
  br i1 %405, label %148, label %.thread210

406:                                              ; preds = %.loopexit256, %.loopexit.split-lp257, %294, %398, %386, %370, %308, %292
  %.pn160.pn.pn = phi { ptr, i32 } [ %293, %292 ], [ %295, %294 ], [ %.pn158, %386 ], [ %.pn156, %398 ], [ %.pn154, %370 ], [ %.pn148.pn.pn.pn, %308 ], [ %lpad.loopexit258, %.loopexit256 ], [ %lpad.loopexit.split-lp259, %.loopexit.split-lp257 ]
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %35) #5
  br label %407

407:                                              ; preds = %406, %290
  %.pn160.pn.pn.pn = phi { ptr, i32 } [ %.pn160.pn.pn, %406 ], [ %291, %290 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %35) #5
  br label %419

.thread210:                                       ; preds = %.thread, %.thread251
  %408 = fcmp une double %1, 0.000000e+00
  br i1 %408, label %409, label %412

409:                                              ; preds = %.thread210
  invoke void @_ZN10SimTKIpopt6Vector4ScalEd(ptr noundef nonnull align 8 dereferenceable(205) %4, double noundef %1)
          to label %412 unwind label %410

410:                                              ; preds = %415, %413, %409
  %411 = landingpad { ptr, i32 }
          cleanup
  br label %419

412:                                              ; preds = %409, %.thread210
  br i1 %50, label %413, label %415

413:                                              ; preds = %412
  %414 = call noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %8)
  invoke void @_ZN10SimTKIpopt6Vector4AxpyEdRKS0_(ptr noundef nonnull align 8 dereferenceable(205) %4, double noundef %2, ptr noundef nonnull align 8 dereferenceable(205) %414)
          to label %415 unwind label %410

415:                                              ; preds = %413, %412
  %416 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %.thread204 unwind label %410

.thread204:                                       ; preds = %415, %227
  %.sink = phi ptr [ %228, %227 ], [ %416, %415 ]
  %.2130 = phi i1 [ false, %227 ], [ true, %415 ]
  %417 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %.sink)
  %418 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics19PDSystemSolverTotalEv(ptr noundef nonnull align 8 dereferenceable(664) %417)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %418)
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %34) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %34) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %33) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %33) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %32) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %32) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %31) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %30) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %30) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %29) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %27) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %25) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %23) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %21) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %20) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %19) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %18) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %17) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %16) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %15) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_9SymMatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %14) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %12) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %10) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #5
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %8) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #5
  ret i1 %.2130

419:                                              ; preds = %.loopexit, %.loopexit.split-lp, %407, %410
  %.pn166 = phi { ptr, i32 } [ %411, %410 ], [ %.pn160.pn.pn.pn, %407 ], [ %lpad.loopexit, %.loopexit ], [ %lpad.loopexit.split-lp, %.loopexit.split-lp ]
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %34) #5
  br label %420

420:                                              ; preds = %419, %224
  %.pn166.pn = phi { ptr, i32 } [ %.pn166, %419 ], [ %225, %224 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %34) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %33) #5
  br label %421

421:                                              ; preds = %420, %222
  %.pn166.pn.pn = phi { ptr, i32 } [ %.pn166.pn, %420 ], [ %223, %222 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %33) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %32) #5
  br label %422

422:                                              ; preds = %421, %220
  %.pn166.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn, %421 ], [ %221, %220 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %32) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %31) #5
  br label %423

423:                                              ; preds = %422, %218
  %.pn166.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn, %422 ], [ %219, %218 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %30) #5
  br label %424

424:                                              ; preds = %423, %216
  %.pn166.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn, %423 ], [ %217, %216 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %30) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %29) #5
  br label %425

425:                                              ; preds = %424, %214
  %.pn166.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn, %424 ], [ %215, %214 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %27) #5
  br label %426

426:                                              ; preds = %425, %213
  %.pn166.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn.pn, %425 ], [ %.pn146, %213 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %25) #5
  br label %427

427:                                              ; preds = %426, %208
  %.pn166.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn.pn.pn, %426 ], [ %.pn144, %208 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %23) #5
  br label %428

428:                                              ; preds = %427, %203
  %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn.pn.pn.pn, %427 ], [ %.pn142, %203 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %21) #5
  br label %429

429:                                              ; preds = %428, %198
  %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn, %428 ], [ %.pn140, %198 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %21) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %20) #5
  br label %430

430:                                              ; preds = %429, %192
  %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn, %429 ], [ %193, %192 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %20) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %19) #5
  br label %431

431:                                              ; preds = %430, %190
  %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn, %430 ], [ %191, %190 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %18) #5
  br label %432

432:                                              ; preds = %431, %188
  %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn, %431 ], [ %189, %188 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %18) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %17) #5
  br label %433

433:                                              ; preds = %432, %186
  %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn, %432 ], [ %187, %186 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %16) #5
  br label %434

434:                                              ; preds = %433, %184
  %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn, %433 ], [ %185, %184 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %16) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %15) #5
  br label %435

435:                                              ; preds = %434, %182
  %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn, %434 ], [ %183, %182 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %15) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_9SymMatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %14) #5
  br label %436

436:                                              ; preds = %435, %180
  %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn, %435 ], [ %181, %180 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %12) #5
  br label %437

437:                                              ; preds = %436, %179
  %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn, %436 ], [ %.pn138, %179 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %12) #5
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %10) #5
  br label %438

438:                                              ; preds = %437, %174
  %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn, %437 ], [ %.pn136, %174 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %10) #5
  br label %439

439:                                              ; preds = %438, %59
  %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn, %438 ], [ %.pn, %59 ]
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %8) #5
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %8) #5
  resume { ptr, i32 } %.pn166.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn.pn

440:                                              ; preds = %289
  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 #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics19PDSystemSolverTotalEv(ptr noundef nonnull align 8 dereferenceable(664)) local_unnamed_addr #1 align 2

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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEEC2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector25MakeNewIteratesVectorCopyEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.40") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEEaSERKS2_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt9IpoptData4currEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.32") align 8, ptr noundef nonnull align 8 dereferenceable(864)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector1xEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrIKNS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector1sEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt9IpoptData1WEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.33") align 8, ptr noundef nonnull align 8 dereferenceable(864)) local_unnamed_addr #2 align 2

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities10curr_jac_cEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) local_unnamed_addr #4

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities10curr_jac_dEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.52") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector3z_LEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector3z_UEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector3v_LEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector3v_UEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_x_LEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) local_unnamed_addr #4

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_x_UEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) local_unnamed_addr #4

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_s_LEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) local_unnamed_addr #4

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities14curr_slack_s_UEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) local_unnamed_addr #4

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities12curr_sigma_xEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) local_unnamed_addr #4

declare void @_ZN10SimTKIpopt25IpoptCalculatedQuantities12curr_sigma_sEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8, ptr noundef nonnull align 8 dereferenceable(2025)) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN10SimTKIpopt17PDFullSpaceSolver9SolveOnceEbbRKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorERSA_(ptr noundef nonnull align 8 dereferenceable(136), i1 noundef zeroext, i1 noundef zeroext, ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(280), ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(80) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_9SymMatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(69) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6MatrixEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18)) local_unnamed_addr #1 align 2

declare void @_ZNK10SimTKIpopt14IteratesVector21MakeNewIteratesVectorEb(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.40") align 8, ptr noundef nonnull align 8 dereferenceable(280), i1 noundef zeroext) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt17PDFullSpaceSolver16ComputeResidualsERKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorESC_RSA_(ptr noundef nonnull align 8 dereferenceable(136), ptr noundef nonnull align 8 dereferenceable(80), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(69), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), double noundef, double noundef, ptr noundef nonnull align 8 dereferenceable(280), ptr noundef nonnull align 8 dereferenceable(280), ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef double @_ZN10SimTKIpopt17PDFullSpaceSolver20ComputeResidualRatioERKNS_14IteratesVectorES3_S3_(ptr noundef nonnull align 8 dereferenceable(136), ptr noundef nonnull align 8 dereferenceable(280), ptr noundef nonnull align 8 dereferenceable(280), ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 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 @_ZN10SimTKIpopt14INTERNAL_ABORTC2ENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_i(ptr noundef nonnull align 8 dereferenceable(112), ptr noundef, ptr noundef, i32 noundef) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt14IpoptExceptionD2Ev(ptr noundef nonnull align 8 dereferenceable(112)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt9IpoptData18Append_info_stringERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(864), ptr noundef nonnull align 8 dereferenceable(32)) local_unnamed_addr #2 align 2

declare void @_ZN10SimTKIpopt6Vector4ScalEd(ptr noundef nonnull align 8 dereferenceable(205), double noundef) local_unnamed_addr #4

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt6Vector4AxpyEdRKS0_(ptr noundef nonnull align 8 dereferenceable(205), double noundef, ptr noundef nonnull align 8 dereferenceable(205)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrIKNS_6MatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrIKNS_9SymMatrixEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

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

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { inlinehint mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { "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 }
attributes #6 = { noreturn }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"vtable pointer", !7, i64 0}
!7 = !{!"Simple C++ TBAA"}
!8 = !{!9, !13, i64 100}
!9 = !{!"_ZTSN10SimTKIpopt17PDFullSpaceSolverE", !10, i64 0, !21, i64 56, !22, i64 64, !23, i64 72, !20, i64 96, !13, i64 100, !13, i64 104, !24, i64 112, !24, i64 120, !24, i64 128}
!10 = !{!"_ZTSN10SimTKIpopt14PDSystemSolverE", !11, i64 0}
!11 = !{!"_ZTSN10SimTKIpopt23AlgorithmStrategyObjectE", !12, i64 0, !15, i64 16, !17, i64 24, !18, i64 32, !19, i64 40, !20, i64 48}
!12 = !{!"_ZTSN10SimTKIpopt16ReferencedObjectE", !13, i64 8}
!13 = !{!"int", !14, i64 0}
!14 = !{!"omnipotent char", !7, i64 0}
!15 = !{!"_ZTSN10SimTKIpopt8SmartPtrIKNS_10JournalistEEE", !16, i64 0}
!16 = !{!"any pointer", !14, i64 0}
!17 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_8IpoptNLPEEE", !16, i64 0}
!18 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_9IpoptDataEEE", !16, i64 0}
!19 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_25IpoptCalculatedQuantitiesEEE", !16, i64 0}
!20 = !{!"bool", !14, i64 0}
!21 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_15AugSystemSolverEEE", !16, i64 0}
!22 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEE", !16, i64 0}
!23 = !{!"_ZTSN10SimTKIpopt13CachedResultsIPvEE", !13, i64 8, !16, i64 16}
!24 = !{!"double", !14, i64 0}
!25 = !{!9, !13, i64 104}
!26 = !{!9, !24, i64 128}
!27 = !{!9, !20, i64 96}
!28 = !{i8 0, i8 2}
!29 = !{}
!30 = !{!9, !24, i64 120}
!31 = distinct !{!31, !32}
!32 = !{!"llvm.loop.mustprogress"}


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