; 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.51" = type { ptr }
%"class.SimTKIpopt::SmartPtr.39" = type { ptr }
%"class.SimTKIpopt::SmartPtr.40" = type { ptr }
%"class.std::vector.53" = type { %"struct.std::_Vector_base.54" }
%"struct.std::_Vector_base.54" = type { %"struct.std::_Vector_base<const SimTKIpopt::TaggedObject *, std::allocator<const SimTKIpopt::TaggedObject *>>::_Vector_impl" }
%"struct.std::_Vector_base<const SimTKIpopt::TaggedObject *, std::allocator<const SimTKIpopt::TaggedObject *>>::_Vector_impl" = type { %"struct.std::_Vector_base<const SimTKIpopt::TaggedObject *, std::allocator<const SimTKIpopt::TaggedObject *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<const SimTKIpopt::TaggedObject *, std::allocator<const SimTKIpopt::TaggedObject *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::allocator.55" = type { i8 }
%"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.18 = external hidden unnamed_addr constant [104 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.31 = external hidden unnamed_addr constant [85 x i8], align 1
@.str.32 = external hidden unnamed_addr constant [30 x i8], align 1
@__PRETTY_FUNCTION__._ZN10SimTKIpopt17PDFullSpaceSolver9SolveOnceEbbRKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorERSA_ = external hidden unnamed_addr constant [391 x i8], align 1
@.str.33 = external hidden unnamed_addr constant [37 x i8], align 1
@.str.34 = external hidden unnamed_addr constant [43 x i8], align 1
@.str.35 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.36 = external hidden unnamed_addr constant [58 x i8], align 1
@.str.37 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.38 = external hidden unnamed_addr constant [69 x i8], align 1
@.str.39 = external hidden unnamed_addr constant [46 x i8], align 1
@.str.40 = external hidden unnamed_addr constant [95 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 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(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; 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 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_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) 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)) #2 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 @_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

; Function Attrs: mustprogress uwtable
define 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) %0, i1 noundef zeroext %1, i1 noundef zeroext %2, ptr noundef nonnull align 8 dereferenceable(80) %3, ptr noundef nonnull align 8 dereferenceable(69) %4, ptr noundef nonnull align 8 dereferenceable(69) %5, ptr noundef nonnull align 8 dereferenceable(69) %6, ptr noundef nonnull align 8 dereferenceable(69) %7, ptr noundef nonnull align 8 dereferenceable(69) %8, ptr noundef nonnull align 8 dereferenceable(69) %9, ptr noundef nonnull align 8 dereferenceable(205) %10, ptr noundef nonnull align 8 dereferenceable(205) %11, ptr noundef nonnull align 8 dereferenceable(205) %12, ptr noundef nonnull align 8 dereferenceable(205) %13, ptr noundef nonnull align 8 dereferenceable(205) %14, ptr noundef nonnull align 8 dereferenceable(205) %15, ptr noundef nonnull align 8 dereferenceable(205) %16, ptr noundef nonnull align 8 dereferenceable(205) %17, ptr noundef nonnull align 8 dereferenceable(205) %18, ptr noundef nonnull align 8 dereferenceable(205) %19, double noundef %20, double noundef %21, ptr noundef nonnull align 8 dereferenceable(280) %22, ptr noundef nonnull align 8 dereferenceable(280) %23) #2 align 2 personality ptr @__gxx_personality_v0 {
  %25 = alloca i1, align 1
  %26 = alloca ptr, align 8
  %27 = alloca i8, align 1
  %28 = alloca i8, align 1
  %29 = alloca ptr, align 8
  %30 = alloca ptr, align 8
  %31 = alloca ptr, align 8
  %32 = alloca ptr, align 8
  %33 = alloca ptr, align 8
  %34 = alloca ptr, align 8
  %35 = alloca ptr, align 8
  %36 = alloca ptr, align 8
  %37 = alloca ptr, align 8
  %38 = alloca ptr, align 8
  %39 = alloca ptr, align 8
  %40 = alloca ptr, align 8
  %41 = alloca ptr, align 8
  %42 = alloca ptr, align 8
  %43 = alloca ptr, align 8
  %44 = alloca ptr, align 8
  %45 = alloca ptr, align 8
  %46 = alloca double, align 8
  %47 = alloca double, align 8
  %48 = alloca ptr, align 8
  %49 = alloca ptr, align 8
  %50 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %51 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %52 = alloca ptr, align 8
  %53 = alloca i32, align 4
  %54 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %55 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %56 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %57 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %58 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %59 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %60 = alloca %"class.SimTKIpopt::SmartPtr.40", align 8
  %61 = alloca %"class.std::vector.53", align 8
  %62 = alloca %"class.std::allocator.55", align 1
  %63 = alloca ptr, align 8
  %64 = alloca i8, align 1
  %65 = alloca i32, align 4
  %66 = alloca double, align 8
  %67 = alloca double, align 8
  %68 = alloca double, align 8
  %69 = alloca double, align 8
  %70 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %71 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %72 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %73 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %74 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %75 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %76 = alloca i32, align 4
  %77 = alloca i32, align 4
  %78 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %79 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %80 = alloca i32, align 4
  %81 = alloca double, align 8
  %82 = alloca double, align 8
  %83 = alloca double, align 8
  %84 = alloca double, align 8
  %85 = alloca i8, align 1
  %86 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %87 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %88 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %89 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %90 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %91 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %92 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %93 = alloca i1, align 1
  %94 = alloca i1, align 1
  %95 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %96 = alloca i1, align 1
  %97 = alloca i1, align 1
  %98 = alloca i8, align 1
  %99 = alloca i8, align 1
  %100 = alloca %"class.std::__cxx11::basic_string", align 8
  %101 = alloca %"class.std::allocator.14", align 1
  %102 = alloca i8, align 1
  %103 = alloca %"class.std::__cxx11::basic_string", align 8
  %104 = alloca %"class.std::allocator.14", align 1
  %105 = alloca i8, align 1
  %106 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %107 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %108 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %109 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %110 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %111 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %112 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %113 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %114 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %115 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %116 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %117 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  store ptr %0, ptr %26, align 8, !tbaa !5
  %118 = zext i1 %1 to i8
  store i8 %118, ptr %27, align 1, !tbaa !9
  %119 = zext i1 %2 to i8
  store i8 %119, ptr %28, align 1, !tbaa !9
  store ptr %3, ptr %29, align 8, !tbaa !5
  store ptr %4, ptr %30, align 8, !tbaa !5
  store ptr %5, ptr %31, align 8, !tbaa !5
  store ptr %6, ptr %32, align 8, !tbaa !5
  store ptr %7, ptr %33, align 8, !tbaa !5
  store ptr %8, ptr %34, align 8, !tbaa !5
  store ptr %9, ptr %35, align 8, !tbaa !5
  store ptr %10, ptr %36, align 8, !tbaa !5
  store ptr %11, ptr %37, align 8, !tbaa !5
  store ptr %12, ptr %38, align 8, !tbaa !5
  store ptr %13, ptr %39, align 8, !tbaa !5
  store ptr %14, ptr %40, align 8, !tbaa !5
  store ptr %15, ptr %41, align 8, !tbaa !5
  store ptr %16, ptr %42, align 8, !tbaa !5
  store ptr %17, ptr %43, align 8, !tbaa !5
  store ptr %18, ptr %44, align 8, !tbaa !5
  store ptr %19, ptr %45, align 8, !tbaa !5
  store double %20, ptr %46, align 8, !tbaa !11
  store double %21, ptr %47, align 8, !tbaa !11
  store ptr %22, ptr %48, align 8, !tbaa !5
  store ptr %23, ptr %49, align 8, !tbaa !5
  %120 = load ptr, ptr %26, align 8
  %121 = call noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
  %122 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %121)
  %123 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics23PDSystemSolverSolveOnceEv(ptr noundef nonnull align 8 dereferenceable(664) %122)
  call void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %123)
  call void @llvm.lifetime.start.p0(i64 8, ptr %50) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %51) #6
  %124 = load ptr, ptr %48, align 8, !tbaa !5
  call void @_ZNK10SimTKIpopt14IteratesVector1xEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %51, ptr noundef nonnull align 8 dereferenceable(280) %124)
  %125 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %51)
          to label %126 unwind label %212

126:                                              ; preds = %24
  %127 = invoke noundef ptr @_ZNK10SimTKIpopt6Vector11MakeNewCopyEv(ptr noundef nonnull align 8 dereferenceable(205) %125)
          to label %128 unwind label %212

128:                                              ; preds = %126
  invoke void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8) %50, ptr noundef %127)
          to label %129 unwind label %212

129:                                              ; preds = %128
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %51) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #6
  %130 = load ptr, ptr %32, align 8, !tbaa !5
  %131 = load ptr, ptr %40, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %54) #6
  %132 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3z_LEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %54, ptr noundef nonnull align 8 dereferenceable(280) %132)
          to label %133 unwind label %216

133:                                              ; preds = %129
  %134 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %54)
          to label %135 unwind label %220

135:                                              ; preds = %133
  %136 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %50)
          to label %137 unwind label %220

137:                                              ; preds = %135
  invoke void @_ZNK10SimTKIpopt6Matrix9AddMSinvZEdRKNS_6VectorES3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %130, double noundef 1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %131, ptr noundef nonnull align 8 dereferenceable(205) %134, ptr noundef nonnull align 8 dereferenceable(205) %136)
          to label %138 unwind label %220

138:                                              ; preds = %137
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %54) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #6
  %139 = load ptr, ptr %33, align 8, !tbaa !5
  %140 = load ptr, ptr %41, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %55) #6
  %141 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3z_UEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %55, ptr noundef nonnull align 8 dereferenceable(280) %141)
          to label %142 unwind label %225

142:                                              ; preds = %138
  %143 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %55)
          to label %144 unwind label %229

144:                                              ; preds = %142
  %145 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %50)
          to label %146 unwind label %229

146:                                              ; preds = %144
  invoke void @_ZNK10SimTKIpopt6Matrix9AddMSinvZEdRKNS_6VectorES3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %139, double noundef -1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %140, ptr noundef nonnull align 8 dereferenceable(205) %143, ptr noundef nonnull align 8 dereferenceable(205) %145)
          to label %147 unwind label %229

147:                                              ; preds = %146
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %55) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %56) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %57) #6
  %148 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector1sEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %57, ptr noundef nonnull align 8 dereferenceable(280) %148)
          to label %149 unwind label %234

149:                                              ; preds = %147
  %150 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %57)
          to label %151 unwind label %238

151:                                              ; preds = %149
  %152 = invoke noundef ptr @_ZNK10SimTKIpopt6Vector11MakeNewCopyEv(ptr noundef nonnull align 8 dereferenceable(205) %150)
          to label %153 unwind label %238

153:                                              ; preds = %151
  invoke void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8) %56, ptr noundef %152)
          to label %154 unwind label %238

154:                                              ; preds = %153
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %57) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #6
  %155 = load ptr, ptr %34, align 8, !tbaa !5
  %156 = load ptr, ptr %42, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %58) #6
  %157 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3v_LEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %58, ptr noundef nonnull align 8 dereferenceable(280) %157)
          to label %158 unwind label %243

158:                                              ; preds = %154
  %159 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %58)
          to label %160 unwind label %247

160:                                              ; preds = %158
  %161 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %56)
          to label %162 unwind label %247

162:                                              ; preds = %160
  invoke void @_ZNK10SimTKIpopt6Matrix9AddMSinvZEdRKNS_6VectorES3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %155, double noundef 1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %156, ptr noundef nonnull align 8 dereferenceable(205) %159, ptr noundef nonnull align 8 dereferenceable(205) %161)
          to label %163 unwind label %247

163:                                              ; preds = %162
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %58) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %58) #6
  %164 = load ptr, ptr %35, align 8, !tbaa !5
  %165 = load ptr, ptr %43, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %59) #6
  %166 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3v_UEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %59, ptr noundef nonnull align 8 dereferenceable(280) %166)
          to label %167 unwind label %252

167:                                              ; preds = %163
  %168 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %59)
          to label %169 unwind label %256

169:                                              ; preds = %167
  %170 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %56)
          to label %171 unwind label %256

171:                                              ; preds = %169
  invoke void @_ZNK10SimTKIpopt6Matrix9AddMSinvZEdRKNS_6VectorES3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %164, double noundef -1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %165, ptr noundef nonnull align 8 dereferenceable(205) %168, ptr noundef nonnull align 8 dereferenceable(205) %170)
          to label %172 unwind label %256

172:                                              ; preds = %171
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %59) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %59) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %60) #6
  %173 = load ptr, ptr %49, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector21MakeNewIteratesVectorEb(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.40") align 8 %60, ptr noundef nonnull align 8 dereferenceable(280) %173, i1 noundef zeroext true)
          to label %174 unwind label %261

174:                                              ; preds = %172
  call void @llvm.lifetime.start.p0(i64 24, ptr %61) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %62) #6
  call void @_ZNSaIPKN10SimTKIpopt12TaggedObjectEEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %62) #6
  invoke void @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEC2EmRKS4_(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 13, ptr noundef nonnull align 1 dereferenceable(1) %62)
          to label %175 unwind label %265

175:                                              ; preds = %174
  call void @_ZNSt15__new_allocatorIPKN10SimTKIpopt12TaggedObjectEED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %62) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %62) #6
  %176 = load ptr, ptr %29, align 8, !tbaa !5
  %177 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 0) #6
  store ptr %176, ptr %177, align 8, !tbaa !5
  %178 = load ptr, ptr %30, align 8, !tbaa !5
  %179 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 1) #6
  store ptr %178, ptr %179, align 8, !tbaa !5
  %180 = load ptr, ptr %31, align 8, !tbaa !5
  %181 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 2) #6
  store ptr %180, ptr %181, align 8, !tbaa !5
  %182 = load ptr, ptr %36, align 8, !tbaa !5
  %183 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 3) #6
  store ptr %182, ptr %183, align 8, !tbaa !5
  %184 = load ptr, ptr %37, align 8, !tbaa !5
  %185 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 4) #6
  store ptr %184, ptr %185, align 8, !tbaa !5
  %186 = load ptr, ptr %38, align 8, !tbaa !5
  %187 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 5) #6
  store ptr %186, ptr %187, align 8, !tbaa !5
  %188 = load ptr, ptr %39, align 8, !tbaa !5
  %189 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 6) #6
  store ptr %188, ptr %189, align 8, !tbaa !5
  %190 = load ptr, ptr %40, align 8, !tbaa !5
  %191 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 7) #6
  store ptr %190, ptr %191, align 8, !tbaa !5
  %192 = load ptr, ptr %41, align 8, !tbaa !5
  %193 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 8) #6
  store ptr %192, ptr %193, align 8, !tbaa !5
  %194 = load ptr, ptr %42, align 8, !tbaa !5
  %195 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 9) #6
  store ptr %194, ptr %195, align 8, !tbaa !5
  %196 = load ptr, ptr %43, align 8, !tbaa !5
  %197 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 10) #6
  store ptr %196, ptr %197, align 8, !tbaa !5
  %198 = load ptr, ptr %44, align 8, !tbaa !5
  %199 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 11) #6
  store ptr %198, ptr %199, align 8, !tbaa !5
  %200 = load ptr, ptr %45, align 8, !tbaa !5
  %201 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %61, i64 noundef 12) #6
  store ptr %200, ptr %201, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %63) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %64) #6
  %202 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 3
  %203 = invoke noundef zeroext i1 @_ZNK10SimTKIpopt13CachedResultsIPvE15GetCachedResultERS1_RKSt6vectorIPKNS_12TaggedObjectESaIS7_EE(ptr noundef nonnull align 8 dereferenceable(24) %202, ptr noundef nonnull align 8 dereferenceable(8) %63, ptr noundef nonnull align 8 dereferenceable(24) %61)
          to label %204 unwind label %269

204:                                              ; preds = %175
  %205 = zext i1 %203 to i8
  store i8 %205, ptr %64, align 1, !tbaa !9
  %206 = load i8, ptr %64, align 1, !tbaa !9, !range !13, !noundef !14
  %207 = trunc i8 %206 to i1
  br i1 %207, label %273, label %208

208:                                              ; preds = %204
  %209 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 3
  invoke void @_ZN10SimTKIpopt13CachedResultsIPvE15AddCachedResultERKS1_RKSt6vectorIPKNS_12TaggedObjectESaIS8_EE(ptr noundef nonnull align 8 dereferenceable(24) %209, ptr noundef nonnull align 8 dereferenceable(8) %63, ptr noundef nonnull align 8 dereferenceable(24) %61)
          to label %210 unwind label %269

210:                                              ; preds = %208
  %211 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 4
  store i8 0, ptr %211, align 8, !tbaa !15
  br label %273

212:                                              ; preds = %128, %126, %24
  %213 = landingpad { ptr, i32 }
          cleanup
  %214 = extractvalue { ptr, i32 } %213, 0
  store ptr %214, ptr %52, align 8
  %215 = extractvalue { ptr, i32 } %213, 1
  store i32 %215, ptr %53, align 4
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %51) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #6
  br label %1067

216:                                              ; preds = %129
  %217 = landingpad { ptr, i32 }
          cleanup
  %218 = extractvalue { ptr, i32 } %217, 0
  store ptr %218, ptr %52, align 8
  %219 = extractvalue { ptr, i32 } %217, 1
  store i32 %219, ptr %53, align 4
  br label %224

220:                                              ; preds = %137, %135, %133
  %221 = landingpad { ptr, i32 }
          cleanup
  %222 = extractvalue { ptr, i32 } %221, 0
  store ptr %222, ptr %52, align 8
  %223 = extractvalue { ptr, i32 } %221, 1
  store i32 %223, ptr %53, align 4
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %54) #6
  br label %224

224:                                              ; preds = %220, %216
  call void @llvm.lifetime.end.p0(i64 8, ptr %54) #6
  br label %1066

225:                                              ; preds = %138
  %226 = landingpad { ptr, i32 }
          cleanup
  %227 = extractvalue { ptr, i32 } %226, 0
  store ptr %227, ptr %52, align 8
  %228 = extractvalue { ptr, i32 } %226, 1
  store i32 %228, ptr %53, align 4
  br label %233

229:                                              ; preds = %146, %144, %142
  %230 = landingpad { ptr, i32 }
          cleanup
  %231 = extractvalue { ptr, i32 } %230, 0
  store ptr %231, ptr %52, align 8
  %232 = extractvalue { ptr, i32 } %230, 1
  store i32 %232, ptr %53, align 4
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %55) #6
  br label %233

233:                                              ; preds = %229, %225
  call void @llvm.lifetime.end.p0(i64 8, ptr %55) #6
  br label %1066

234:                                              ; preds = %147
  %235 = landingpad { ptr, i32 }
          cleanup
  %236 = extractvalue { ptr, i32 } %235, 0
  store ptr %236, ptr %52, align 8
  %237 = extractvalue { ptr, i32 } %235, 1
  store i32 %237, ptr %53, align 4
  br label %242

238:                                              ; preds = %153, %151, %149
  %239 = landingpad { ptr, i32 }
          cleanup
  %240 = extractvalue { ptr, i32 } %239, 0
  store ptr %240, ptr %52, align 8
  %241 = extractvalue { ptr, i32 } %239, 1
  store i32 %241, ptr %53, align 4
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %57) #6
  br label %242

242:                                              ; preds = %238, %234
  call void @llvm.lifetime.end.p0(i64 8, ptr %57) #6
  br label %1065

243:                                              ; preds = %154
  %244 = landingpad { ptr, i32 }
          cleanup
  %245 = extractvalue { ptr, i32 } %244, 0
  store ptr %245, ptr %52, align 8
  %246 = extractvalue { ptr, i32 } %244, 1
  store i32 %246, ptr %53, align 4
  br label %251

247:                                              ; preds = %162, %160, %158
  %248 = landingpad { ptr, i32 }
          cleanup
  %249 = extractvalue { ptr, i32 } %248, 0
  store ptr %249, ptr %52, align 8
  %250 = extractvalue { ptr, i32 } %248, 1
  store i32 %250, ptr %53, align 4
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %58) #6
  br label %251

251:                                              ; preds = %247, %243
  call void @llvm.lifetime.end.p0(i64 8, ptr %58) #6
  br label %1064

252:                                              ; preds = %163
  %253 = landingpad { ptr, i32 }
          cleanup
  %254 = extractvalue { ptr, i32 } %253, 0
  store ptr %254, ptr %52, align 8
  %255 = extractvalue { ptr, i32 } %253, 1
  store i32 %255, ptr %53, align 4
  br label %260

256:                                              ; preds = %171, %169, %167
  %257 = landingpad { ptr, i32 }
          cleanup
  %258 = extractvalue { ptr, i32 } %257, 0
  store ptr %258, ptr %52, align 8
  %259 = extractvalue { ptr, i32 } %257, 1
  store i32 %259, ptr %53, align 4
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %59) #6
  br label %260

260:                                              ; preds = %256, %252
  call void @llvm.lifetime.end.p0(i64 8, ptr %59) #6
  br label %1064

261:                                              ; preds = %172
  %262 = landingpad { ptr, i32 }
          cleanup
  %263 = extractvalue { ptr, i32 } %262, 0
  store ptr %263, ptr %52, align 8
  %264 = extractvalue { ptr, i32 } %262, 1
  store i32 %264, ptr %53, align 4
  br label %1063

265:                                              ; preds = %174
  %266 = landingpad { ptr, i32 }
          cleanup
  %267 = extractvalue { ptr, i32 } %266, 0
  store ptr %267, ptr %52, align 8
  %268 = extractvalue { ptr, i32 } %266, 1
  store i32 %268, ptr %53, align 4
  call void @_ZNSt15__new_allocatorIPKN10SimTKIpopt12TaggedObjectEED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %62) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %62) #6
  br label %1062

269:                                              ; preds = %208, %175
  %270 = landingpad { ptr, i32 }
          cleanup
  %271 = extractvalue { ptr, i32 } %270, 0
  store ptr %271, ptr %52, align 8
  %272 = extractvalue { ptr, i32 } %270, 1
  store i32 %272, ptr %53, align 4
  br label %1061

273:                                              ; preds = %210, %204
  call void @llvm.lifetime.start.p0(i64 4, ptr %65) #6
  %274 = load i8, ptr %64, align 1, !tbaa !9, !range !13, !noundef !14
  %275 = trunc i8 %274 to i1
  br i1 %275, label %276, label %411

276:                                              ; preds = %273
  %277 = load i8, ptr %28, align 1, !tbaa !9, !range !13, !noundef !14
  %278 = trunc i8 %277 to i1
  br i1 %278, label %411, label %279

279:                                              ; preds = %276
  call void @llvm.lifetime.start.p0(i64 8, ptr %66) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %67) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %68) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %69) #6
  %280 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 2
  %281 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %280)
          to label %282 unwind label %343

282:                                              ; preds = %279
  invoke void @_ZN10SimTKIpopt21PDPerturbationHandler19CurrentPerturbationERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216) %281, ptr noundef nonnull align 8 dereferenceable(8) %66, ptr noundef nonnull align 8 dereferenceable(8) %67, ptr noundef nonnull align 8 dereferenceable(8) %68, ptr noundef nonnull align 8 dereferenceable(8) %69)
          to label %283 unwind label %343

283:                                              ; preds = %282
  %284 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 1
  %285 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_15AugSystemSolverEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %284)
          to label %286 unwind label %343

286:                                              ; preds = %283
  %287 = load ptr, ptr %29, align 8, !tbaa !5
  %288 = load ptr, ptr %44, align 8, !tbaa !5
  %289 = load double, ptr %66, align 8, !tbaa !11
  %290 = load ptr, ptr %45, align 8, !tbaa !5
  %291 = load double, ptr %67, align 8, !tbaa !11
  %292 = load ptr, ptr %30, align 8, !tbaa !5
  %293 = load double, ptr %68, align 8, !tbaa !11
  %294 = load ptr, ptr %31, align 8, !tbaa !5
  %295 = load double, ptr %69, align 8, !tbaa !11
  %296 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %50)
          to label %297 unwind label %343

297:                                              ; preds = %286
  %298 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %56)
          to label %299 unwind label %343

299:                                              ; preds = %297
  call void @llvm.lifetime.start.p0(i64 8, ptr %70) #6
  %300 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_cEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %70, ptr noundef nonnull align 8 dereferenceable(280) %300)
          to label %301 unwind label %347

301:                                              ; preds = %299
  %302 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %70)
          to label %303 unwind label %351

303:                                              ; preds = %301
  call void @llvm.lifetime.start.p0(i64 8, ptr %71) #6
  %304 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_dEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %71, ptr noundef nonnull align 8 dereferenceable(280) %304)
          to label %305 unwind label %355

305:                                              ; preds = %303
  %306 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %71)
          to label %307 unwind label %359

307:                                              ; preds = %305
  call void @llvm.lifetime.start.p0(i64 8, ptr %72) #6
  %308 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %309 unwind label %363

309:                                              ; preds = %307
  invoke void @_ZN10SimTKIpopt14IteratesVector10x_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %72, ptr noundef nonnull align 8 dereferenceable(280) %308)
          to label %310 unwind label %363

310:                                              ; preds = %309
  %311 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %72)
          to label %312 unwind label %367

312:                                              ; preds = %310
  call void @llvm.lifetime.start.p0(i64 8, ptr %73) #6
  %313 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %314 unwind label %371

314:                                              ; preds = %312
  invoke void @_ZN10SimTKIpopt14IteratesVector10s_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %73, ptr noundef nonnull align 8 dereferenceable(280) %313)
          to label %315 unwind label %371

315:                                              ; preds = %314
  %316 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %73)
          to label %317 unwind label %375

317:                                              ; preds = %315
  call void @llvm.lifetime.start.p0(i64 8, ptr %74) #6
  %318 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %319 unwind label %379

319:                                              ; preds = %317
  invoke void @_ZN10SimTKIpopt14IteratesVector12y_c_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %74, ptr noundef nonnull align 8 dereferenceable(280) %318)
          to label %320 unwind label %379

320:                                              ; preds = %319
  %321 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %74)
          to label %322 unwind label %383

322:                                              ; preds = %320
  call void @llvm.lifetime.start.p0(i64 8, ptr %75) #6
  %323 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %324 unwind label %387

324:                                              ; preds = %322
  invoke void @_ZN10SimTKIpopt14IteratesVector12y_d_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %75, ptr noundef nonnull align 8 dereferenceable(280) %323)
          to label %325 unwind label %387

325:                                              ; preds = %324
  %326 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %75)
          to label %327 unwind label %391

327:                                              ; preds = %325
  %328 = load ptr, ptr %285, align 8, !tbaa !28
  %329 = getelementptr inbounds ptr, ptr %328, i64 3
  %330 = load ptr, ptr %329, align 8
  %331 = invoke noundef i32 %330(ptr noundef nonnull align 8 dereferenceable(49) %285, ptr noundef %287, double noundef 1.000000e+00, ptr noundef %288, double noundef %289, ptr noundef %290, double noundef %291, ptr noundef %292, ptr noundef null, double noundef %293, ptr noundef %294, ptr noundef null, double noundef %295, ptr noundef nonnull align 8 dereferenceable(205) %296, ptr noundef nonnull align 8 dereferenceable(205) %298, ptr noundef nonnull align 8 dereferenceable(205) %302, ptr noundef nonnull align 8 dereferenceable(205) %306, ptr noundef nonnull align 8 dereferenceable(205) %311, ptr noundef nonnull align 8 dereferenceable(205) %316, ptr noundef nonnull align 8 dereferenceable(205) %321, ptr noundef nonnull align 8 dereferenceable(205) %326, i1 noundef zeroext false, i32 noundef 0)
          to label %332 unwind label %391

332:                                              ; preds = %327
  store i32 %331, ptr %65, align 4, !tbaa !30
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %75) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %75) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %74) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %74) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %73) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %73) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %72) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %72) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %71) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %71) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %70) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %70) #6
  %333 = load i32, ptr %65, align 4, !tbaa !30
  %334 = icmp ne i32 %333, 0
  br i1 %334, label %335, label %406

335:                                              ; preds = %332
  %336 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %337 unwind label %343

337:                                              ; preds = %335
  %338 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %336)
          to label %339 unwind label %343

339:                                              ; preds = %337
  %340 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics23PDSystemSolverSolveOnceEv(ptr noundef nonnull align 8 dereferenceable(664) %338)
          to label %341 unwind label %343

341:                                              ; preds = %339
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %340)
          to label %342 unwind label %343

342:                                              ; preds = %341
  store i1 false, ptr %25, align 1
  store i32 1, ptr %76, align 4
  br label %407

343:                                              ; preds = %341, %339, %337, %335, %297, %286, %283, %282, %279
  %344 = landingpad { ptr, i32 }
          cleanup
  %345 = extractvalue { ptr, i32 } %344, 0
  store ptr %345, ptr %52, align 8
  %346 = extractvalue { ptr, i32 } %344, 1
  store i32 %346, ptr %53, align 4
  br label %410

347:                                              ; preds = %299
  %348 = landingpad { ptr, i32 }
          cleanup
  %349 = extractvalue { ptr, i32 } %348, 0
  store ptr %349, ptr %52, align 8
  %350 = extractvalue { ptr, i32 } %348, 1
  store i32 %350, ptr %53, align 4
  br label %405

351:                                              ; preds = %301
  %352 = landingpad { ptr, i32 }
          cleanup
  %353 = extractvalue { ptr, i32 } %352, 0
  store ptr %353, ptr %52, align 8
  %354 = extractvalue { ptr, i32 } %352, 1
  store i32 %354, ptr %53, align 4
  br label %404

355:                                              ; preds = %303
  %356 = landingpad { ptr, i32 }
          cleanup
  %357 = extractvalue { ptr, i32 } %356, 0
  store ptr %357, ptr %52, align 8
  %358 = extractvalue { ptr, i32 } %356, 1
  store i32 %358, ptr %53, align 4
  br label %403

359:                                              ; preds = %305
  %360 = landingpad { ptr, i32 }
          cleanup
  %361 = extractvalue { ptr, i32 } %360, 0
  store ptr %361, ptr %52, align 8
  %362 = extractvalue { ptr, i32 } %360, 1
  store i32 %362, ptr %53, align 4
  br label %402

363:                                              ; preds = %309, %307
  %364 = landingpad { ptr, i32 }
          cleanup
  %365 = extractvalue { ptr, i32 } %364, 0
  store ptr %365, ptr %52, align 8
  %366 = extractvalue { ptr, i32 } %364, 1
  store i32 %366, ptr %53, align 4
  br label %401

367:                                              ; preds = %310
  %368 = landingpad { ptr, i32 }
          cleanup
  %369 = extractvalue { ptr, i32 } %368, 0
  store ptr %369, ptr %52, align 8
  %370 = extractvalue { ptr, i32 } %368, 1
  store i32 %370, ptr %53, align 4
  br label %400

371:                                              ; preds = %314, %312
  %372 = landingpad { ptr, i32 }
          cleanup
  %373 = extractvalue { ptr, i32 } %372, 0
  store ptr %373, ptr %52, align 8
  %374 = extractvalue { ptr, i32 } %372, 1
  store i32 %374, ptr %53, align 4
  br label %399

375:                                              ; preds = %315
  %376 = landingpad { ptr, i32 }
          cleanup
  %377 = extractvalue { ptr, i32 } %376, 0
  store ptr %377, ptr %52, align 8
  %378 = extractvalue { ptr, i32 } %376, 1
  store i32 %378, ptr %53, align 4
  br label %398

379:                                              ; preds = %319, %317
  %380 = landingpad { ptr, i32 }
          cleanup
  %381 = extractvalue { ptr, i32 } %380, 0
  store ptr %381, ptr %52, align 8
  %382 = extractvalue { ptr, i32 } %380, 1
  store i32 %382, ptr %53, align 4
  br label %397

383:                                              ; preds = %320
  %384 = landingpad { ptr, i32 }
          cleanup
  %385 = extractvalue { ptr, i32 } %384, 0
  store ptr %385, ptr %52, align 8
  %386 = extractvalue { ptr, i32 } %384, 1
  store i32 %386, ptr %53, align 4
  br label %396

387:                                              ; preds = %324, %322
  %388 = landingpad { ptr, i32 }
          cleanup
  %389 = extractvalue { ptr, i32 } %388, 0
  store ptr %389, ptr %52, align 8
  %390 = extractvalue { ptr, i32 } %388, 1
  store i32 %390, ptr %53, align 4
  br label %395

391:                                              ; preds = %327, %325
  %392 = landingpad { ptr, i32 }
          cleanup
  %393 = extractvalue { ptr, i32 } %392, 0
  store ptr %393, ptr %52, align 8
  %394 = extractvalue { ptr, i32 } %392, 1
  store i32 %394, ptr %53, align 4
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %75) #6
  br label %395

395:                                              ; preds = %391, %387
  call void @llvm.lifetime.end.p0(i64 8, ptr %75) #6
  br label %396

396:                                              ; preds = %395, %383
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %74) #6
  br label %397

397:                                              ; preds = %396, %379
  call void @llvm.lifetime.end.p0(i64 8, ptr %74) #6
  br label %398

398:                                              ; preds = %397, %375
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %73) #6
  br label %399

399:                                              ; preds = %398, %371
  call void @llvm.lifetime.end.p0(i64 8, ptr %73) #6
  br label %400

400:                                              ; preds = %399, %367
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %72) #6
  br label %401

401:                                              ; preds = %400, %363
  call void @llvm.lifetime.end.p0(i64 8, ptr %72) #6
  br label %402

402:                                              ; preds = %401, %359
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %71) #6
  br label %403

403:                                              ; preds = %402, %355
  call void @llvm.lifetime.end.p0(i64 8, ptr %71) #6
  br label %404

404:                                              ; preds = %403, %351
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %70) #6
  br label %405

405:                                              ; preds = %404, %347
  call void @llvm.lifetime.end.p0(i64 8, ptr %70) #6
  br label %410

406:                                              ; preds = %332
  store i32 0, ptr %76, align 4
  br label %407

407:                                              ; preds = %406, %342
  call void @llvm.lifetime.end.p0(i64 8, ptr %69) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %68) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %67) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %66) #6
  %408 = load i32, ptr %76, align 4
  switch i32 %408, label %1058 [
    i32 0, label %409
  ]

409:                                              ; preds = %407
  br label %852

410:                                              ; preds = %405, %343
  call void @llvm.lifetime.end.p0(i64 8, ptr %69) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %68) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %67) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %66) #6
  br label %1060

411:                                              ; preds = %276, %273
  call void @llvm.lifetime.start.p0(i64 4, ptr %77) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %78) #6
  %412 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_cEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %78, ptr noundef nonnull align 8 dereferenceable(280) %412)
          to label %413 unwind label %443

413:                                              ; preds = %411
  %414 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %78)
          to label %415 unwind label %447

415:                                              ; preds = %413
  %416 = invoke noundef i32 @_ZNK10SimTKIpopt6Vector3DimEv(ptr noundef nonnull align 8 dereferenceable(205) %414)
          to label %417 unwind label %447

417:                                              ; preds = %415
  call void @llvm.lifetime.start.p0(i64 8, ptr %79) #6
  %418 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_dEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %79, ptr noundef nonnull align 8 dereferenceable(280) %418)
          to label %419 unwind label %451

419:                                              ; preds = %417
  %420 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %79)
          to label %421 unwind label %455

421:                                              ; preds = %419
  %422 = invoke noundef i32 @_ZNK10SimTKIpopt6Vector3DimEv(ptr noundef nonnull align 8 dereferenceable(205) %420)
          to label %423 unwind label %455

423:                                              ; preds = %421
  %424 = add nsw i32 %416, %422
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %79) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %79) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %78) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %78) #6
  store i32 %424, ptr %77, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 4, ptr %80) #6
  store i32 0, ptr %80, align 4, !tbaa !32
  call void @llvm.lifetime.start.p0(i64 8, ptr %81) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %82) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %83) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr %84) #6
  %425 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 2
  %426 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %425)
          to label %427 unwind label %462

427:                                              ; preds = %423
  %428 = invoke noundef zeroext i1 @_ZN10SimTKIpopt21PDPerturbationHandler17ConsiderNewSystemERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216) %426, ptr noundef nonnull align 8 dereferenceable(8) %81, ptr noundef nonnull align 8 dereferenceable(8) %82, ptr noundef nonnull align 8 dereferenceable(8) %83, ptr noundef nonnull align 8 dereferenceable(8) %84)
          to label %429 unwind label %462

429:                                              ; preds = %427
  store i32 1, ptr %65, align 4, !tbaa !30
  call void @llvm.lifetime.start.p0(i64 1, ptr %85) #6
  store i8 0, ptr %85, align 1, !tbaa !9
  br label %430

430:                                              ; preds = %833, %429
  %431 = load i32, ptr %65, align 4, !tbaa !30
  %432 = icmp ne i32 %431, 0
  br i1 %432, label %433, label %437

433:                                              ; preds = %430
  %434 = load i8, ptr %85, align 1, !tbaa !9, !range !13, !noundef !14
  %435 = trunc i8 %434 to i1
  %436 = xor i1 %435, true
  br label %437

437:                                              ; preds = %433, %430
  %438 = phi i1 [ false, %430 ], [ %436, %433 ]
  br i1 %438, label %439, label %834

439:                                              ; preds = %437
  %440 = load i8, ptr %28, align 1, !tbaa !9, !range !13, !noundef !14
  %441 = trunc i8 %440 to i1
  br i1 %441, label %442, label %466

442:                                              ; preds = %439
  store i32 1, ptr %65, align 4, !tbaa !30
  store i8 0, ptr %28, align 1, !tbaa !9
  br label %589

443:                                              ; preds = %411
  %444 = landingpad { ptr, i32 }
          cleanup
  %445 = extractvalue { ptr, i32 } %444, 0
  store ptr %445, ptr %52, align 8
  %446 = extractvalue { ptr, i32 } %444, 1
  store i32 %446, ptr %53, align 4
  br label %461

447:                                              ; preds = %415, %413
  %448 = landingpad { ptr, i32 }
          cleanup
  %449 = extractvalue { ptr, i32 } %448, 0
  store ptr %449, ptr %52, align 8
  %450 = extractvalue { ptr, i32 } %448, 1
  store i32 %450, ptr %53, align 4
  br label %460

451:                                              ; preds = %417
  %452 = landingpad { ptr, i32 }
          cleanup
  %453 = extractvalue { ptr, i32 } %452, 0
  store ptr %453, ptr %52, align 8
  %454 = extractvalue { ptr, i32 } %452, 1
  store i32 %454, ptr %53, align 4
  br label %459

455:                                              ; preds = %421, %419
  %456 = landingpad { ptr, i32 }
          cleanup
  %457 = extractvalue { ptr, i32 } %456, 0
  store ptr %457, ptr %52, align 8
  %458 = extractvalue { ptr, i32 } %456, 1
  store i32 %458, ptr %53, align 4
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %79) #6
  br label %459

459:                                              ; preds = %455, %451
  call void @llvm.lifetime.end.p0(i64 8, ptr %79) #6
  br label %460

460:                                              ; preds = %459, %447
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %78) #6
  br label %461

461:                                              ; preds = %460, %443
  call void @llvm.lifetime.end.p0(i64 8, ptr %78) #6
  br label %851

462:                                              ; preds = %427, %423
  %463 = landingpad { ptr, i32 }
          cleanup
  %464 = extractvalue { ptr, i32 } %463, 0
  store ptr %464, ptr %52, align 8
  %465 = extractvalue { ptr, i32 } %463, 1
  store i32 %465, ptr %53, align 4
  br label %850

466:                                              ; preds = %439
  %467 = load i32, ptr %80, align 4, !tbaa !32
  %468 = add nsw i32 %467, 1
  store i32 %468, ptr %80, align 4, !tbaa !32
  %469 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %470 unwind label %526

470:                                              ; preds = %466
  %471 = load double, ptr %81, align 8, !tbaa !11
  %472 = load double, ptr %82, align 8, !tbaa !11
  %473 = load double, ptr %83, align 8, !tbaa !11
  %474 = load double, ptr %84, align 8, !tbaa !11
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %469, i32 noundef 6, i32 noundef 7, ptr noundef @.str.31, double noundef %471, double noundef %472, double noundef %473, double noundef %474)
          to label %475 unwind label %526

475:                                              ; preds = %470
  %476 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 1
  %477 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_15AugSystemSolverEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %476)
          to label %478 unwind label %526

478:                                              ; preds = %475
  %479 = load ptr, ptr %29, align 8, !tbaa !5
  %480 = load ptr, ptr %44, align 8, !tbaa !5
  %481 = load double, ptr %81, align 8, !tbaa !11
  %482 = load ptr, ptr %45, align 8, !tbaa !5
  %483 = load double, ptr %82, align 8, !tbaa !11
  %484 = load ptr, ptr %30, align 8, !tbaa !5
  %485 = load double, ptr %83, align 8, !tbaa !11
  %486 = load ptr, ptr %31, align 8, !tbaa !5
  %487 = load double, ptr %84, align 8, !tbaa !11
  %488 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %50)
          to label %489 unwind label %526

489:                                              ; preds = %478
  %490 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %56)
          to label %491 unwind label %526

491:                                              ; preds = %489
  call void @llvm.lifetime.start.p0(i64 8, ptr %86) #6
  %492 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_cEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %86, ptr noundef nonnull align 8 dereferenceable(280) %492)
          to label %493 unwind label %530

493:                                              ; preds = %491
  %494 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %86)
          to label %495 unwind label %534

495:                                              ; preds = %493
  call void @llvm.lifetime.start.p0(i64 8, ptr %87) #6
  %496 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_dEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %87, ptr noundef nonnull align 8 dereferenceable(280) %496)
          to label %497 unwind label %538

497:                                              ; preds = %495
  %498 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %87)
          to label %499 unwind label %542

499:                                              ; preds = %497
  call void @llvm.lifetime.start.p0(i64 8, ptr %88) #6
  %500 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %501 unwind label %546

501:                                              ; preds = %499
  invoke void @_ZN10SimTKIpopt14IteratesVector10x_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %88, ptr noundef nonnull align 8 dereferenceable(280) %500)
          to label %502 unwind label %546

502:                                              ; preds = %501
  %503 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %88)
          to label %504 unwind label %550

504:                                              ; preds = %502
  call void @llvm.lifetime.start.p0(i64 8, ptr %89) #6
  %505 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %506 unwind label %554

506:                                              ; preds = %504
  invoke void @_ZN10SimTKIpopt14IteratesVector10s_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %89, ptr noundef nonnull align 8 dereferenceable(280) %505)
          to label %507 unwind label %554

507:                                              ; preds = %506
  %508 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %89)
          to label %509 unwind label %558

509:                                              ; preds = %507
  call void @llvm.lifetime.start.p0(i64 8, ptr %90) #6
  %510 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %511 unwind label %562

511:                                              ; preds = %509
  invoke void @_ZN10SimTKIpopt14IteratesVector12y_c_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %90, ptr noundef nonnull align 8 dereferenceable(280) %510)
          to label %512 unwind label %562

512:                                              ; preds = %511
  %513 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %90)
          to label %514 unwind label %566

514:                                              ; preds = %512
  call void @llvm.lifetime.start.p0(i64 8, ptr %91) #6
  %515 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %516 unwind label %570

516:                                              ; preds = %514
  invoke void @_ZN10SimTKIpopt14IteratesVector12y_d_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %91, ptr noundef nonnull align 8 dereferenceable(280) %515)
          to label %517 unwind label %570

517:                                              ; preds = %516
  %518 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %91)
          to label %519 unwind label %574

519:                                              ; preds = %517
  %520 = load i32, ptr %77, align 4, !tbaa !32
  %521 = load ptr, ptr %477, align 8, !tbaa !28
  %522 = getelementptr inbounds ptr, ptr %521, i64 3
  %523 = load ptr, ptr %522, align 8
  %524 = invoke noundef i32 %523(ptr noundef nonnull align 8 dereferenceable(49) %477, ptr noundef %479, double noundef 1.000000e+00, ptr noundef %480, double noundef %481, ptr noundef %482, double noundef %483, ptr noundef %484, ptr noundef null, double noundef %485, ptr noundef %486, ptr noundef null, double noundef %487, ptr noundef nonnull align 8 dereferenceable(205) %488, ptr noundef nonnull align 8 dereferenceable(205) %490, ptr noundef nonnull align 8 dereferenceable(205) %494, ptr noundef nonnull align 8 dereferenceable(205) %498, ptr noundef nonnull align 8 dereferenceable(205) %503, ptr noundef nonnull align 8 dereferenceable(205) %508, ptr noundef nonnull align 8 dereferenceable(205) %513, ptr noundef nonnull align 8 dereferenceable(205) %518, i1 noundef zeroext true, i32 noundef %520)
          to label %525 unwind label %574

525:                                              ; preds = %519
  store i32 %524, ptr %65, align 4, !tbaa !30
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %91) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %91) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %90) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %90) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %89) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %89) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %88) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %88) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %87) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %87) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %86) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %86) #6
  br label %589

526:                                              ; preds = %840, %838, %836, %834, %702, %700, %692, %689, %489, %478, %475, %470, %466
  %527 = landingpad { ptr, i32 }
          cleanup
  %528 = extractvalue { ptr, i32 } %527, 0
  store ptr %528, ptr %52, align 8
  %529 = extractvalue { ptr, i32 } %527, 1
  store i32 %529, ptr %53, align 4
  br label %849

530:                                              ; preds = %491
  %531 = landingpad { ptr, i32 }
          cleanup
  %532 = extractvalue { ptr, i32 } %531, 0
  store ptr %532, ptr %52, align 8
  %533 = extractvalue { ptr, i32 } %531, 1
  store i32 %533, ptr %53, align 4
  br label %588

534:                                              ; preds = %493
  %535 = landingpad { ptr, i32 }
          cleanup
  %536 = extractvalue { ptr, i32 } %535, 0
  store ptr %536, ptr %52, align 8
  %537 = extractvalue { ptr, i32 } %535, 1
  store i32 %537, ptr %53, align 4
  br label %587

538:                                              ; preds = %495
  %539 = landingpad { ptr, i32 }
          cleanup
  %540 = extractvalue { ptr, i32 } %539, 0
  store ptr %540, ptr %52, align 8
  %541 = extractvalue { ptr, i32 } %539, 1
  store i32 %541, ptr %53, align 4
  br label %586

542:                                              ; preds = %497
  %543 = landingpad { ptr, i32 }
          cleanup
  %544 = extractvalue { ptr, i32 } %543, 0
  store ptr %544, ptr %52, align 8
  %545 = extractvalue { ptr, i32 } %543, 1
  store i32 %545, ptr %53, align 4
  br label %585

546:                                              ; preds = %501, %499
  %547 = landingpad { ptr, i32 }
          cleanup
  %548 = extractvalue { ptr, i32 } %547, 0
  store ptr %548, ptr %52, align 8
  %549 = extractvalue { ptr, i32 } %547, 1
  store i32 %549, ptr %53, align 4
  br label %584

550:                                              ; preds = %502
  %551 = landingpad { ptr, i32 }
          cleanup
  %552 = extractvalue { ptr, i32 } %551, 0
  store ptr %552, ptr %52, align 8
  %553 = extractvalue { ptr, i32 } %551, 1
  store i32 %553, ptr %53, align 4
  br label %583

554:                                              ; preds = %506, %504
  %555 = landingpad { ptr, i32 }
          cleanup
  %556 = extractvalue { ptr, i32 } %555, 0
  store ptr %556, ptr %52, align 8
  %557 = extractvalue { ptr, i32 } %555, 1
  store i32 %557, ptr %53, align 4
  br label %582

558:                                              ; preds = %507
  %559 = landingpad { ptr, i32 }
          cleanup
  %560 = extractvalue { ptr, i32 } %559, 0
  store ptr %560, ptr %52, align 8
  %561 = extractvalue { ptr, i32 } %559, 1
  store i32 %561, ptr %53, align 4
  br label %581

562:                                              ; preds = %511, %509
  %563 = landingpad { ptr, i32 }
          cleanup
  %564 = extractvalue { ptr, i32 } %563, 0
  store ptr %564, ptr %52, align 8
  %565 = extractvalue { ptr, i32 } %563, 1
  store i32 %565, ptr %53, align 4
  br label %580

566:                                              ; preds = %512
  %567 = landingpad { ptr, i32 }
          cleanup
  %568 = extractvalue { ptr, i32 } %567, 0
  store ptr %568, ptr %52, align 8
  %569 = extractvalue { ptr, i32 } %567, 1
  store i32 %569, ptr %53, align 4
  br label %579

570:                                              ; preds = %516, %514
  %571 = landingpad { ptr, i32 }
          cleanup
  %572 = extractvalue { ptr, i32 } %571, 0
  store ptr %572, ptr %52, align 8
  %573 = extractvalue { ptr, i32 } %571, 1
  store i32 %573, ptr %53, align 4
  br label %578

574:                                              ; preds = %519, %517
  %575 = landingpad { ptr, i32 }
          cleanup
  %576 = extractvalue { ptr, i32 } %575, 0
  store ptr %576, ptr %52, align 8
  %577 = extractvalue { ptr, i32 } %575, 1
  store i32 %577, ptr %53, align 4
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %91) #6
  br label %578

578:                                              ; preds = %574, %570
  call void @llvm.lifetime.end.p0(i64 8, ptr %91) #6
  br label %579

579:                                              ; preds = %578, %566
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %90) #6
  br label %580

580:                                              ; preds = %579, %562
  call void @llvm.lifetime.end.p0(i64 8, ptr %90) #6
  br label %581

581:                                              ; preds = %580, %558
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %89) #6
  br label %582

582:                                              ; preds = %581, %554
  call void @llvm.lifetime.end.p0(i64 8, ptr %89) #6
  br label %583

583:                                              ; preds = %582, %550
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %88) #6
  br label %584

584:                                              ; preds = %583, %546
  call void @llvm.lifetime.end.p0(i64 8, ptr %88) #6
  br label %585

585:                                              ; preds = %584, %542
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %87) #6
  br label %586

586:                                              ; preds = %585, %538
  call void @llvm.lifetime.end.p0(i64 8, ptr %87) #6
  br label %587

587:                                              ; preds = %586, %534
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %86) #6
  br label %588

588:                                              ; preds = %587, %530
  call void @llvm.lifetime.end.p0(i64 8, ptr %86) #6
  br label %849

589:                                              ; preds = %525, %442
  %590 = load i32, ptr %65, align 4, !tbaa !30
  %591 = icmp ne i32 %590, 4
  br i1 %591, label %592, label %593

592:                                              ; preds = %589
  br label %595

593:                                              ; preds = %589
  call void @__assert_fail(ptr noundef @.str.32, ptr noundef @.str.18, i32 noundef 481, ptr noundef @__PRETTY_FUNCTION__._ZN10SimTKIpopt17PDFullSpaceSolver9SolveOnceEbbRKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorERSA_) #7
  unreachable

594:                                              ; No predecessors!
  br label %595

595:                                              ; preds = %594, %592
  %596 = load i32, ptr %65, align 4, !tbaa !30
  %597 = icmp eq i32 %596, 1
  store i1 false, ptr %93, align 1
  store i1 false, ptr %94, align 1
  store i1 false, ptr %96, align 1
  store i1 false, ptr %97, align 1
  br i1 %597, label %598, label %613

598:                                              ; preds = %595
  call void @llvm.lifetime.start.p0(i64 8, ptr %92) #6
  store i1 true, ptr %93, align 1
  %599 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_cEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %92, ptr noundef nonnull align 8 dereferenceable(280) %599)
          to label %600 unwind label %647

600:                                              ; preds = %598
  store i1 true, ptr %94, align 1
  %601 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %92)
          to label %602 unwind label %651

602:                                              ; preds = %600
  %603 = invoke noundef i32 @_ZNK10SimTKIpopt6Vector3DimEv(ptr noundef nonnull align 8 dereferenceable(205) %601)
          to label %604 unwind label %651

604:                                              ; preds = %602
  call void @llvm.lifetime.start.p0(i64 8, ptr %95) #6
  store i1 true, ptr %96, align 1
  %605 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_dEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %95, ptr noundef nonnull align 8 dereferenceable(280) %605)
          to label %606 unwind label %655

606:                                              ; preds = %604
  store i1 true, ptr %97, align 1
  %607 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %95)
          to label %608 unwind label %659

608:                                              ; preds = %606
  %609 = invoke noundef i32 @_ZNK10SimTKIpopt6Vector3DimEv(ptr noundef nonnull align 8 dereferenceable(205) %607)
          to label %610 unwind label %659

610:                                              ; preds = %608
  %611 = add nsw i32 %603, %609
  %612 = icmp sgt i32 %611, 0
  br label %613

613:                                              ; preds = %610, %595
  %614 = phi i1 [ false, %595 ], [ %612, %610 ]
  %615 = load i1, ptr %97, align 1
  br i1 %615, label %616, label %617

616:                                              ; preds = %613
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %95) #6
  br label %617

617:                                              ; preds = %616, %613
  %618 = load i1, ptr %96, align 1
  br i1 %618, label %619, label %620

619:                                              ; preds = %617
  call void @llvm.lifetime.end.p0(i64 8, ptr %95) #6
  br label %620

620:                                              ; preds = %619, %617
  %621 = load i1, ptr %94, align 1
  br i1 %621, label %622, label %623

622:                                              ; preds = %620
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %92) #6
  br label %623

623:                                              ; preds = %622, %620
  %624 = load i1, ptr %93, align 1
  br i1 %624, label %625, label %626

625:                                              ; preds = %623
  call void @llvm.lifetime.end.p0(i64 8, ptr %92) #6
  br label %626

626:                                              ; preds = %625, %623
  br i1 %614, label %627, label %686

627:                                              ; preds = %626
  call void @llvm.lifetime.start.p0(i64 1, ptr %98) #6
  %628 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 2
  %629 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %628)
          to label %630 unwind label %678

630:                                              ; preds = %627
  %631 = invoke noundef zeroext i1 @_ZN10SimTKIpopt21PDPerturbationHandler21PerturbForSingularityERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216) %629, ptr noundef nonnull align 8 dereferenceable(8) %81, ptr noundef nonnull align 8 dereferenceable(8) %82, ptr noundef nonnull align 8 dereferenceable(8) %83, ptr noundef nonnull align 8 dereferenceable(8) %84)
          to label %632 unwind label %678

632:                                              ; preds = %630
  %633 = zext i1 %631 to i8
  store i8 %633, ptr %98, align 1, !tbaa !9
  %634 = load i8, ptr %98, align 1, !tbaa !9, !range !13, !noundef !14
  %635 = trunc i8 %634 to i1
  br i1 %635, label %682, label %636

636:                                              ; preds = %632
  %637 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %638 unwind label %678

638:                                              ; preds = %636
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %637, i32 noundef 5, i32 noundef 7, ptr noundef @.str.33)
          to label %639 unwind label %678

639:                                              ; preds = %638
  %640 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %641 unwind label %678

641:                                              ; preds = %639
  %642 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %640)
          to label %643 unwind label %678

643:                                              ; preds = %641
  %644 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics23PDSystemSolverSolveOnceEv(ptr noundef nonnull align 8 dereferenceable(664) %642)
          to label %645 unwind label %678

645:                                              ; preds = %643
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %644)
          to label %646 unwind label %678

646:                                              ; preds = %645
  store i1 false, ptr %25, align 1
  store i32 1, ptr %76, align 4
  br label %683

647:                                              ; preds = %598
  %648 = landingpad { ptr, i32 }
          cleanup
  %649 = extractvalue { ptr, i32 } %648, 0
  store ptr %649, ptr %52, align 8
  %650 = extractvalue { ptr, i32 } %648, 1
  store i32 %650, ptr %53, align 4
  br label %674

651:                                              ; preds = %602, %600
  %652 = landingpad { ptr, i32 }
          cleanup
  %653 = extractvalue { ptr, i32 } %652, 0
  store ptr %653, ptr %52, align 8
  %654 = extractvalue { ptr, i32 } %652, 1
  store i32 %654, ptr %53, align 4
  br label %670

655:                                              ; preds = %604
  %656 = landingpad { ptr, i32 }
          cleanup
  %657 = extractvalue { ptr, i32 } %656, 0
  store ptr %657, ptr %52, align 8
  %658 = extractvalue { ptr, i32 } %656, 1
  store i32 %658, ptr %53, align 4
  br label %666

659:                                              ; preds = %608, %606
  %660 = landingpad { ptr, i32 }
          cleanup
  %661 = extractvalue { ptr, i32 } %660, 0
  store ptr %661, ptr %52, align 8
  %662 = extractvalue { ptr, i32 } %660, 1
  store i32 %662, ptr %53, align 4
  %663 = load i1, ptr %97, align 1
  br i1 %663, label %664, label %665

664:                                              ; preds = %659
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %95) #6
  br label %665

665:                                              ; preds = %664, %659
  br label %666

666:                                              ; preds = %665, %655
  %667 = load i1, ptr %96, align 1
  br i1 %667, label %668, label %669

668:                                              ; preds = %666
  call void @llvm.lifetime.end.p0(i64 8, ptr %95) #6
  br label %669

669:                                              ; preds = %668, %666
  br label %670

670:                                              ; preds = %669, %651
  %671 = load i1, ptr %94, align 1
  br i1 %671, label %672, label %673

672:                                              ; preds = %670
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %92) #6
  br label %673

673:                                              ; preds = %672, %670
  br label %674

674:                                              ; preds = %673, %647
  %675 = load i1, ptr %93, align 1
  br i1 %675, label %676, label %677

676:                                              ; preds = %674
  call void @llvm.lifetime.end.p0(i64 8, ptr %92) #6
  br label %677

677:                                              ; preds = %676, %674
  br label %849

678:                                              ; preds = %645, %643, %641, %639, %638, %636, %630, %627
  %679 = landingpad { ptr, i32 }
          cleanup
  %680 = extractvalue { ptr, i32 } %679, 0
  store ptr %680, ptr %52, align 8
  %681 = extractvalue { ptr, i32 } %679, 1
  store i32 %681, ptr %53, align 4
  call void @llvm.lifetime.end.p0(i64 1, ptr %98) #6
  br label %849

682:                                              ; preds = %632
  store i32 0, ptr %76, align 4
  br label %683

683:                                              ; preds = %682, %646
  call void @llvm.lifetime.end.p0(i64 1, ptr %98) #6
  %684 = load i32, ptr %76, align 4
  switch i32 %684, label %846 [
    i32 0, label %685
  ]

685:                                              ; preds = %683
  br label %833

686:                                              ; preds = %626
  %687 = load i32, ptr %65, align 4, !tbaa !30
  %688 = icmp eq i32 %687, 2
  br i1 %688, label %689, label %797

689:                                              ; preds = %686
  %690 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 1
  %691 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_15AugSystemSolverEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %690)
          to label %692 unwind label %526

692:                                              ; preds = %689
  %693 = load ptr, ptr %691, align 8, !tbaa !28
  %694 = getelementptr inbounds ptr, ptr %693, i64 5
  %695 = load ptr, ptr %694, align 8
  %696 = invoke noundef i32 %695(ptr noundef nonnull align 8 dereferenceable(49) %691)
          to label %697 unwind label %526

697:                                              ; preds = %692
  %698 = load i32, ptr %77, align 4, !tbaa !32
  %699 = icmp slt i32 %696, %698
  br i1 %699, label %700, label %797

700:                                              ; preds = %697
  %701 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %702 unwind label %526

702:                                              ; preds = %700
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %701, i32 noundef 5, i32 noundef 7, ptr noundef @.str.34)
          to label %703 unwind label %526

703:                                              ; preds = %702
  call void @llvm.lifetime.start.p0(i64 1, ptr %99) #6
  store i8 1, ptr %99, align 1, !tbaa !9
  %704 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 4
  %705 = load i8, ptr %704, align 8, !tbaa !15, !range !13, !noundef !14
  %706 = trunc i8 %705 to i1
  br i1 %706, label %747, label %707

707:                                              ; preds = %703
  %708 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %709 unwind label %729

709:                                              ; preds = %707
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %708, i32 noundef 5, i32 noundef 7, ptr noundef @.str.25)
          to label %710 unwind label %729

710:                                              ; preds = %709
  %711 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 1
  %712 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_15AugSystemSolverEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %711)
          to label %713 unwind label %729

713:                                              ; preds = %710
  %714 = load ptr, ptr %712, align 8, !tbaa !28
  %715 = getelementptr inbounds ptr, ptr %714, i64 7
  %716 = load ptr, ptr %715, align 8
  %717 = invoke noundef zeroext i1 %716(ptr noundef nonnull align 8 dereferenceable(49) %712)
          to label %718 unwind label %729

718:                                              ; preds = %713
  %719 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 4
  %720 = zext i1 %717 to i8
  store i8 %720, ptr %719, align 8, !tbaa !15
  %721 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 4
  %722 = load i8, ptr %721, align 8, !tbaa !15, !range !13, !noundef !14
  %723 = trunc i8 %722 to i1
  br i1 %723, label %724, label %742

724:                                              ; preds = %718
  %725 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %726 unwind label %729

726:                                              ; preds = %724
  call void @llvm.lifetime.start.p0(i64 32, ptr %100) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %101) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %101) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %100, ptr noundef @.str.26, ptr noundef nonnull align 1 dereferenceable(1) %101)
          to label %727 unwind label %733

727:                                              ; preds = %726
  invoke void @_ZN10SimTKIpopt9IpoptData18Append_info_stringERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(864) %725, ptr noundef nonnull align 8 dereferenceable(32) %100)
          to label %728 unwind label %737

728:                                              ; preds = %727
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %100) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %101) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %101) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %100) #6
  store i8 1, ptr %27, align 1, !tbaa !9
  store i8 0, ptr %99, align 1, !tbaa !9
  br label %746

729:                                              ; preds = %744, %742, %724, %713, %710, %709, %707
  %730 = landingpad { ptr, i32 }
          cleanup
  %731 = extractvalue { ptr, i32 } %730, 0
  store ptr %731, ptr %52, align 8
  %732 = extractvalue { ptr, i32 } %730, 1
  store i32 %732, ptr %53, align 4
  br label %796

733:                                              ; preds = %726
  %734 = landingpad { ptr, i32 }
          cleanup
  %735 = extractvalue { ptr, i32 } %734, 0
  store ptr %735, ptr %52, align 8
  %736 = extractvalue { ptr, i32 } %734, 1
  store i32 %736, ptr %53, align 4
  br label %741

737:                                              ; preds = %727
  %738 = landingpad { ptr, i32 }
          cleanup
  %739 = extractvalue { ptr, i32 } %738, 0
  store ptr %739, ptr %52, align 8
  %740 = extractvalue { ptr, i32 } %738, 1
  store i32 %740, ptr %53, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %100) #6
  br label %741

741:                                              ; preds = %737, %733
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %101) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %101) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %100) #6
  br label %796

742:                                              ; preds = %718
  %743 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %744 unwind label %729

744:                                              ; preds = %742
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %743, i32 noundef 5, i32 noundef 7, ptr noundef @.str.35)
          to label %745 unwind label %729

745:                                              ; preds = %744
  br label %746

746:                                              ; preds = %745, %728
  br label %747

747:                                              ; preds = %746, %703
  %748 = load i8, ptr %99, align 1, !tbaa !9, !range !13, !noundef !14
  %749 = trunc i8 %748 to i1
  br i1 %749, label %750, label %792

750:                                              ; preds = %747
  call void @llvm.lifetime.start.p0(i64 1, ptr %102) #6
  %751 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 2
  %752 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %751)
          to label %753 unwind label %770

753:                                              ; preds = %750
  %754 = invoke noundef zeroext i1 @_ZN10SimTKIpopt21PDPerturbationHandler21PerturbForSingularityERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216) %752, ptr noundef nonnull align 8 dereferenceable(8) %81, ptr noundef nonnull align 8 dereferenceable(8) %82, ptr noundef nonnull align 8 dereferenceable(8) %83, ptr noundef nonnull align 8 dereferenceable(8) %84)
          to label %755 unwind label %770

755:                                              ; preds = %753
  %756 = zext i1 %754 to i8
  store i8 %756, ptr %102, align 1, !tbaa !9
  %757 = load i8, ptr %102, align 1, !tbaa !9, !range !13, !noundef !14
  %758 = trunc i8 %757 to i1
  br i1 %758, label %774, label %759

759:                                              ; preds = %755
  %760 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %761 unwind label %770

761:                                              ; preds = %759
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %760, i32 noundef 5, i32 noundef 7, ptr noundef @.str.36)
          to label %762 unwind label %770

762:                                              ; preds = %761
  %763 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %764 unwind label %770

764:                                              ; preds = %762
  %765 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %763)
          to label %766 unwind label %770

766:                                              ; preds = %764
  %767 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics23PDSystemSolverSolveOnceEv(ptr noundef nonnull align 8 dereferenceable(664) %765)
          to label %768 unwind label %770

768:                                              ; preds = %766
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %767)
          to label %769 unwind label %770

769:                                              ; preds = %768
  store i1 false, ptr %25, align 1
  store i32 1, ptr %76, align 4
  br label %779

770:                                              ; preds = %774, %768, %766, %764, %762, %761, %759, %753, %750
  %771 = landingpad { ptr, i32 }
          cleanup
  %772 = extractvalue { ptr, i32 } %771, 0
  store ptr %772, ptr %52, align 8
  %773 = extractvalue { ptr, i32 } %771, 1
  store i32 %773, ptr %53, align 4
  br label %791

774:                                              ; preds = %755
  %775 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %776 unwind label %770

776:                                              ; preds = %774
  call void @llvm.lifetime.start.p0(i64 32, ptr %103) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr %104) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %104) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %103, ptr noundef @.str.37, ptr noundef nonnull align 1 dereferenceable(1) %104)
          to label %777 unwind label %782

777:                                              ; preds = %776
  invoke void @_ZN10SimTKIpopt9IpoptData18Append_info_stringERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(864) %775, ptr noundef nonnull align 8 dereferenceable(32) %103)
          to label %778 unwind label %786

778:                                              ; preds = %777
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %103) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %104) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %104) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %103) #6
  store i32 0, ptr %76, align 4
  br label %779

779:                                              ; preds = %778, %769
  call void @llvm.lifetime.end.p0(i64 1, ptr %102) #6
  %780 = load i32, ptr %76, align 4
  switch i32 %780, label %793 [
    i32 0, label %781
  ]

781:                                              ; preds = %779
  br label %792

782:                                              ; preds = %776
  %783 = landingpad { ptr, i32 }
          cleanup
  %784 = extractvalue { ptr, i32 } %783, 0
  store ptr %784, ptr %52, align 8
  %785 = extractvalue { ptr, i32 } %783, 1
  store i32 %785, ptr %53, align 4
  br label %790

786:                                              ; preds = %777
  %787 = landingpad { ptr, i32 }
          cleanup
  %788 = extractvalue { ptr, i32 } %787, 0
  store ptr %788, ptr %52, align 8
  %789 = extractvalue { ptr, i32 } %787, 1
  store i32 %789, ptr %53, align 4
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %103) #6
  br label %790

790:                                              ; preds = %786, %782
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %104) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %104) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr %103) #6
  br label %791

791:                                              ; preds = %790, %770
  call void @llvm.lifetime.end.p0(i64 1, ptr %102) #6
  br label %796

792:                                              ; preds = %781, %747
  store i32 0, ptr %76, align 4
  br label %793

793:                                              ; preds = %792, %779
  call void @llvm.lifetime.end.p0(i64 1, ptr %99) #6
  %794 = load i32, ptr %76, align 4
  switch i32 %794, label %846 [
    i32 0, label %795
  ]

795:                                              ; preds = %793
  br label %832

796:                                              ; preds = %791, %741, %729
  call void @llvm.lifetime.end.p0(i64 1, ptr %99) #6
  br label %849

797:                                              ; preds = %697, %686
  %798 = load i32, ptr %65, align 4, !tbaa !30
  %799 = icmp eq i32 %798, 2
  br i1 %799, label %803, label %800

800:                                              ; preds = %797
  %801 = load i32, ptr %65, align 4, !tbaa !30
  %802 = icmp eq i32 %801, 1
  br i1 %802, label %803, label %831

803:                                              ; preds = %800, %797
  call void @llvm.lifetime.start.p0(i64 1, ptr %105) #6
  %804 = getelementptr inbounds %"class.SimTKIpopt::PDFullSpaceSolver", ptr %120, i32 0, i32 2
  %805 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %804)
          to label %806 unwind label %823

806:                                              ; preds = %803
  %807 = invoke noundef zeroext i1 @_ZN10SimTKIpopt21PDPerturbationHandler22PerturbForWrongInertiaERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216) %805, ptr noundef nonnull align 8 dereferenceable(8) %81, ptr noundef nonnull align 8 dereferenceable(8) %82, ptr noundef nonnull align 8 dereferenceable(8) %83, ptr noundef nonnull align 8 dereferenceable(8) %84)
          to label %808 unwind label %823

808:                                              ; preds = %806
  %809 = zext i1 %807 to i8
  store i8 %809, ptr %105, align 1, !tbaa !9
  %810 = load i8, ptr %105, align 1, !tbaa !9, !range !13, !noundef !14
  %811 = trunc i8 %810 to i1
  br i1 %811, label %827, label %812

812:                                              ; preds = %808
  %813 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %814 unwind label %823

814:                                              ; preds = %812
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %813, i32 noundef 5, i32 noundef 7, ptr noundef @.str.38)
          to label %815 unwind label %823

815:                                              ; preds = %814
  %816 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %817 unwind label %823

817:                                              ; preds = %815
  %818 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %816)
          to label %819 unwind label %823

819:                                              ; preds = %817
  %820 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics23PDSystemSolverSolveOnceEv(ptr noundef nonnull align 8 dereferenceable(664) %818)
          to label %821 unwind label %823

821:                                              ; preds = %819
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %820)
          to label %822 unwind label %823

822:                                              ; preds = %821
  store i1 false, ptr %25, align 1
  store i32 1, ptr %76, align 4
  br label %828

823:                                              ; preds = %821, %819, %817, %815, %814, %812, %806, %803
  %824 = landingpad { ptr, i32 }
          cleanup
  %825 = extractvalue { ptr, i32 } %824, 0
  store ptr %825, ptr %52, align 8
  %826 = extractvalue { ptr, i32 } %824, 1
  store i32 %826, ptr %53, align 4
  call void @llvm.lifetime.end.p0(i64 1, ptr %105) #6
  br label %849

827:                                              ; preds = %808
  store i32 0, ptr %76, align 4
  br label %828

828:                                              ; preds = %827, %822
  call void @llvm.lifetime.end.p0(i64 1, ptr %105) #6
  %829 = load i32, ptr %76, align 4
  switch i32 %829, label %846 [
    i32 0, label %830
  ]

830:                                              ; preds = %828
  br label %831

831:                                              ; preds = %830, %800
  br label %832

832:                                              ; preds = %831, %795
  br label %833

833:                                              ; preds = %832, %685
  br label %430, !llvm.loop !33

834:                                              ; preds = %437
  %835 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %836 unwind label %526

836:                                              ; preds = %834
  %837 = load i32, ptr %80, align 4, !tbaa !32
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %835, i32 noundef 5, i32 noundef 7, ptr noundef @.str.39, i32 noundef %837)
          to label %838 unwind label %526

838:                                              ; preds = %836
  %839 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %840 unwind label %526

840:                                              ; preds = %838
  %841 = load double, ptr %81, align 8, !tbaa !11
  %842 = load double, ptr %82, align 8, !tbaa !11
  %843 = load double, ptr %83, align 8, !tbaa !11
  %844 = load double, ptr %84, align 8, !tbaa !11
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %839, i32 noundef 5, i32 noundef 7, ptr noundef @.str.40, double noundef %841, double noundef %842, double noundef %843, double noundef %844)
          to label %845 unwind label %526

845:                                              ; preds = %840
  store i32 0, ptr %76, align 4
  br label %846

846:                                              ; preds = %845, %828, %793, %683
  call void @llvm.lifetime.end.p0(i64 1, ptr %85) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %84) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %83) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %82) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %81) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %80) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %77) #6
  %847 = load i32, ptr %76, align 4
  switch i32 %847, label %1058 [
    i32 0, label %848
  ]

848:                                              ; preds = %846
  br label %852

849:                                              ; preds = %823, %796, %678, %677, %588, %526
  call void @llvm.lifetime.end.p0(i64 1, ptr %85) #6
  br label %850

850:                                              ; preds = %849, %462
  call void @llvm.lifetime.end.p0(i64 8, ptr %84) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %83) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %82) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %81) #6
  call void @llvm.lifetime.end.p0(i64 4, ptr %80) #6
  br label %851

851:                                              ; preds = %850, %461
  call void @llvm.lifetime.end.p0(i64 4, ptr %77) #6
  br label %1060

852:                                              ; preds = %848, %409
  %853 = load ptr, ptr %32, align 8, !tbaa !5
  %854 = load ptr, ptr %40, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %106) #6
  %855 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3z_LEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %106, ptr noundef nonnull align 8 dereferenceable(280) %855)
          to label %856 unwind label %938

856:                                              ; preds = %852
  %857 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %106)
          to label %858 unwind label %942

858:                                              ; preds = %856
  %859 = load ptr, ptr %36, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %107) #6
  %860 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %861 unwind label %946

861:                                              ; preds = %858
  invoke void @_ZN10SimTKIpopt14IteratesVector10x_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %107, ptr noundef nonnull align 8 dereferenceable(280) %860)
          to label %862 unwind label %946

862:                                              ; preds = %861
  %863 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %107)
          to label %864 unwind label %950

864:                                              ; preds = %862
  call void @llvm.lifetime.start.p0(i64 8, ptr %108) #6
  %865 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %866 unwind label %954

866:                                              ; preds = %864
  invoke void @_ZN10SimTKIpopt14IteratesVector12z_L_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %108, ptr noundef nonnull align 8 dereferenceable(280) %865)
          to label %867 unwind label %954

867:                                              ; preds = %866
  %868 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %108)
          to label %869 unwind label %958

869:                                              ; preds = %867
  invoke void @_ZNK10SimTKIpopt6Matrix14SinvBlrmZMTdBrEdRKNS_6VectorES3_S3_S3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %853, double noundef -1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %854, ptr noundef nonnull align 8 dereferenceable(205) %857, ptr noundef nonnull align 8 dereferenceable(205) %859, ptr noundef nonnull align 8 dereferenceable(205) %863, ptr noundef nonnull align 8 dereferenceable(205) %868)
          to label %870 unwind label %958

870:                                              ; preds = %869
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %108) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %108) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %107) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %107) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %106) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %106) #6
  %871 = load ptr, ptr %33, align 8, !tbaa !5
  %872 = load ptr, ptr %41, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %109) #6
  %873 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3z_UEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %109, ptr noundef nonnull align 8 dereferenceable(280) %873)
          to label %874 unwind label %967

874:                                              ; preds = %870
  %875 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %109)
          to label %876 unwind label %971

876:                                              ; preds = %874
  %877 = load ptr, ptr %37, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %110) #6
  %878 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %879 unwind label %975

879:                                              ; preds = %876
  invoke void @_ZN10SimTKIpopt14IteratesVector10x_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %110, ptr noundef nonnull align 8 dereferenceable(280) %878)
          to label %880 unwind label %975

880:                                              ; preds = %879
  %881 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %110)
          to label %882 unwind label %979

882:                                              ; preds = %880
  call void @llvm.lifetime.start.p0(i64 8, ptr %111) #6
  %883 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %884 unwind label %983

884:                                              ; preds = %882
  invoke void @_ZN10SimTKIpopt14IteratesVector12z_U_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %111, ptr noundef nonnull align 8 dereferenceable(280) %883)
          to label %885 unwind label %983

885:                                              ; preds = %884
  %886 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %111)
          to label %887 unwind label %987

887:                                              ; preds = %885
  invoke void @_ZNK10SimTKIpopt6Matrix14SinvBlrmZMTdBrEdRKNS_6VectorES3_S3_S3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %871, double noundef 1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %872, ptr noundef nonnull align 8 dereferenceable(205) %875, ptr noundef nonnull align 8 dereferenceable(205) %877, ptr noundef nonnull align 8 dereferenceable(205) %881, ptr noundef nonnull align 8 dereferenceable(205) %886)
          to label %888 unwind label %987

888:                                              ; preds = %887
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %111) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %111) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %110) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %110) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %109) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %109) #6
  %889 = load ptr, ptr %34, align 8, !tbaa !5
  %890 = load ptr, ptr %42, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %112) #6
  %891 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3v_LEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %112, ptr noundef nonnull align 8 dereferenceable(280) %891)
          to label %892 unwind label %996

892:                                              ; preds = %888
  %893 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %112)
          to label %894 unwind label %1000

894:                                              ; preds = %892
  %895 = load ptr, ptr %38, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %113) #6
  %896 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %897 unwind label %1004

897:                                              ; preds = %894
  invoke void @_ZN10SimTKIpopt14IteratesVector10s_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %113, ptr noundef nonnull align 8 dereferenceable(280) %896)
          to label %898 unwind label %1004

898:                                              ; preds = %897
  %899 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %113)
          to label %900 unwind label %1008

900:                                              ; preds = %898
  call void @llvm.lifetime.start.p0(i64 8, ptr %114) #6
  %901 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %902 unwind label %1012

902:                                              ; preds = %900
  invoke void @_ZN10SimTKIpopt14IteratesVector12v_L_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %114, ptr noundef nonnull align 8 dereferenceable(280) %901)
          to label %903 unwind label %1012

903:                                              ; preds = %902
  %904 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %114)
          to label %905 unwind label %1016

905:                                              ; preds = %903
  invoke void @_ZNK10SimTKIpopt6Matrix14SinvBlrmZMTdBrEdRKNS_6VectorES3_S3_S3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %889, double noundef -1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %890, ptr noundef nonnull align 8 dereferenceable(205) %893, ptr noundef nonnull align 8 dereferenceable(205) %895, ptr noundef nonnull align 8 dereferenceable(205) %899, ptr noundef nonnull align 8 dereferenceable(205) %904)
          to label %906 unwind label %1016

906:                                              ; preds = %905
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %114) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %114) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %113) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %113) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %112) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %112) #6
  %907 = load ptr, ptr %35, align 8, !tbaa !5
  %908 = load ptr, ptr %43, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %115) #6
  %909 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_ZNK10SimTKIpopt14IteratesVector3v_UEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %115, ptr noundef nonnull align 8 dereferenceable(280) %909)
          to label %910 unwind label %1025

910:                                              ; preds = %906
  %911 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %115)
          to label %912 unwind label %1029

912:                                              ; preds = %910
  %913 = load ptr, ptr %39, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %116) #6
  %914 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %915 unwind label %1033

915:                                              ; preds = %912
  invoke void @_ZN10SimTKIpopt14IteratesVector10s_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %116, ptr noundef nonnull align 8 dereferenceable(280) %914)
          to label %916 unwind label %1033

916:                                              ; preds = %915
  %917 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %116)
          to label %918 unwind label %1037

918:                                              ; preds = %916
  call void @llvm.lifetime.start.p0(i64 8, ptr %117) #6
  %919 = invoke noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %920 unwind label %1041

920:                                              ; preds = %918
  invoke void @_ZN10SimTKIpopt14IteratesVector12v_U_NonConstEv(ptr dead_on_unwind writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %117, ptr noundef nonnull align 8 dereferenceable(280) %919)
          to label %921 unwind label %1041

921:                                              ; preds = %920
  %922 = invoke noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %117)
          to label %923 unwind label %1045

923:                                              ; preds = %921
  invoke void @_ZNK10SimTKIpopt6Matrix14SinvBlrmZMTdBrEdRKNS_6VectorES3_S3_S3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %907, double noundef 1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %908, ptr noundef nonnull align 8 dereferenceable(205) %911, ptr noundef nonnull align 8 dereferenceable(205) %913, ptr noundef nonnull align 8 dereferenceable(205) %917, ptr noundef nonnull align 8 dereferenceable(205) %922)
          to label %924 unwind label %1045

924:                                              ; preds = %923
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %117) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %117) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %116) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %116) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %115) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %115) #6
  %925 = load ptr, ptr %49, align 8, !tbaa !5
  %926 = load double, ptr %46, align 8, !tbaa !11
  %927 = invoke noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
          to label %928 unwind label %1054

928:                                              ; preds = %924
  %929 = load double, ptr %47, align 8, !tbaa !11
  invoke void @_ZN10SimTKIpopt6Vector12AddOneVectorEdRKS0_d(ptr noundef nonnull align 8 dereferenceable(205) %925, double noundef %926, ptr noundef nonnull align 8 dereferenceable(205) %927, double noundef %929)
          to label %930 unwind label %1054

930:                                              ; preds = %928
  %931 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %120)
          to label %932 unwind label %1054

932:                                              ; preds = %930
  %933 = invoke noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %931)
          to label %934 unwind label %1054

934:                                              ; preds = %932
  %935 = invoke noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics23PDSystemSolverSolveOnceEv(ptr noundef nonnull align 8 dereferenceable(664) %933)
          to label %936 unwind label %1054

936:                                              ; preds = %934
  invoke void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %935)
          to label %937 unwind label %1054

937:                                              ; preds = %936
  store i1 true, ptr %25, align 1
  store i32 1, ptr %76, align 4
  br label %1058

938:                                              ; preds = %852
  %939 = landingpad { ptr, i32 }
          cleanup
  %940 = extractvalue { ptr, i32 } %939, 0
  store ptr %940, ptr %52, align 8
  %941 = extractvalue { ptr, i32 } %939, 1
  store i32 %941, ptr %53, align 4
  br label %966

942:                                              ; preds = %856
  %943 = landingpad { ptr, i32 }
          cleanup
  %944 = extractvalue { ptr, i32 } %943, 0
  store ptr %944, ptr %52, align 8
  %945 = extractvalue { ptr, i32 } %943, 1
  store i32 %945, ptr %53, align 4
  br label %965

946:                                              ; preds = %861, %858
  %947 = landingpad { ptr, i32 }
          cleanup
  %948 = extractvalue { ptr, i32 } %947, 0
  store ptr %948, ptr %52, align 8
  %949 = extractvalue { ptr, i32 } %947, 1
  store i32 %949, ptr %53, align 4
  br label %964

950:                                              ; preds = %862
  %951 = landingpad { ptr, i32 }
          cleanup
  %952 = extractvalue { ptr, i32 } %951, 0
  store ptr %952, ptr %52, align 8
  %953 = extractvalue { ptr, i32 } %951, 1
  store i32 %953, ptr %53, align 4
  br label %963

954:                                              ; preds = %866, %864
  %955 = landingpad { ptr, i32 }
          cleanup
  %956 = extractvalue { ptr, i32 } %955, 0
  store ptr %956, ptr %52, align 8
  %957 = extractvalue { ptr, i32 } %955, 1
  store i32 %957, ptr %53, align 4
  br label %962

958:                                              ; preds = %869, %867
  %959 = landingpad { ptr, i32 }
          cleanup
  %960 = extractvalue { ptr, i32 } %959, 0
  store ptr %960, ptr %52, align 8
  %961 = extractvalue { ptr, i32 } %959, 1
  store i32 %961, ptr %53, align 4
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %108) #6
  br label %962

962:                                              ; preds = %958, %954
  call void @llvm.lifetime.end.p0(i64 8, ptr %108) #6
  br label %963

963:                                              ; preds = %962, %950
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %107) #6
  br label %964

964:                                              ; preds = %963, %946
  call void @llvm.lifetime.end.p0(i64 8, ptr %107) #6
  br label %965

965:                                              ; preds = %964, %942
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %106) #6
  br label %966

966:                                              ; preds = %965, %938
  call void @llvm.lifetime.end.p0(i64 8, ptr %106) #6
  br label %1060

967:                                              ; preds = %870
  %968 = landingpad { ptr, i32 }
          cleanup
  %969 = extractvalue { ptr, i32 } %968, 0
  store ptr %969, ptr %52, align 8
  %970 = extractvalue { ptr, i32 } %968, 1
  store i32 %970, ptr %53, align 4
  br label %995

971:                                              ; preds = %874
  %972 = landingpad { ptr, i32 }
          cleanup
  %973 = extractvalue { ptr, i32 } %972, 0
  store ptr %973, ptr %52, align 8
  %974 = extractvalue { ptr, i32 } %972, 1
  store i32 %974, ptr %53, align 4
  br label %994

975:                                              ; preds = %879, %876
  %976 = landingpad { ptr, i32 }
          cleanup
  %977 = extractvalue { ptr, i32 } %976, 0
  store ptr %977, ptr %52, align 8
  %978 = extractvalue { ptr, i32 } %976, 1
  store i32 %978, ptr %53, align 4
  br label %993

979:                                              ; preds = %880
  %980 = landingpad { ptr, i32 }
          cleanup
  %981 = extractvalue { ptr, i32 } %980, 0
  store ptr %981, ptr %52, align 8
  %982 = extractvalue { ptr, i32 } %980, 1
  store i32 %982, ptr %53, align 4
  br label %992

983:                                              ; preds = %884, %882
  %984 = landingpad { ptr, i32 }
          cleanup
  %985 = extractvalue { ptr, i32 } %984, 0
  store ptr %985, ptr %52, align 8
  %986 = extractvalue { ptr, i32 } %984, 1
  store i32 %986, ptr %53, align 4
  br label %991

987:                                              ; preds = %887, %885
  %988 = landingpad { ptr, i32 }
          cleanup
  %989 = extractvalue { ptr, i32 } %988, 0
  store ptr %989, ptr %52, align 8
  %990 = extractvalue { ptr, i32 } %988, 1
  store i32 %990, ptr %53, align 4
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %111) #6
  br label %991

991:                                              ; preds = %987, %983
  call void @llvm.lifetime.end.p0(i64 8, ptr %111) #6
  br label %992

992:                                              ; preds = %991, %979
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %110) #6
  br label %993

993:                                              ; preds = %992, %975
  call void @llvm.lifetime.end.p0(i64 8, ptr %110) #6
  br label %994

994:                                              ; preds = %993, %971
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %109) #6
  br label %995

995:                                              ; preds = %994, %967
  call void @llvm.lifetime.end.p0(i64 8, ptr %109) #6
  br label %1060

996:                                              ; preds = %888
  %997 = landingpad { ptr, i32 }
          cleanup
  %998 = extractvalue { ptr, i32 } %997, 0
  store ptr %998, ptr %52, align 8
  %999 = extractvalue { ptr, i32 } %997, 1
  store i32 %999, ptr %53, align 4
  br label %1024

1000:                                             ; preds = %892
  %1001 = landingpad { ptr, i32 }
          cleanup
  %1002 = extractvalue { ptr, i32 } %1001, 0
  store ptr %1002, ptr %52, align 8
  %1003 = extractvalue { ptr, i32 } %1001, 1
  store i32 %1003, ptr %53, align 4
  br label %1023

1004:                                             ; preds = %897, %894
  %1005 = landingpad { ptr, i32 }
          cleanup
  %1006 = extractvalue { ptr, i32 } %1005, 0
  store ptr %1006, ptr %52, align 8
  %1007 = extractvalue { ptr, i32 } %1005, 1
  store i32 %1007, ptr %53, align 4
  br label %1022

1008:                                             ; preds = %898
  %1009 = landingpad { ptr, i32 }
          cleanup
  %1010 = extractvalue { ptr, i32 } %1009, 0
  store ptr %1010, ptr %52, align 8
  %1011 = extractvalue { ptr, i32 } %1009, 1
  store i32 %1011, ptr %53, align 4
  br label %1021

1012:                                             ; preds = %902, %900
  %1013 = landingpad { ptr, i32 }
          cleanup
  %1014 = extractvalue { ptr, i32 } %1013, 0
  store ptr %1014, ptr %52, align 8
  %1015 = extractvalue { ptr, i32 } %1013, 1
  store i32 %1015, ptr %53, align 4
  br label %1020

1016:                                             ; preds = %905, %903
  %1017 = landingpad { ptr, i32 }
          cleanup
  %1018 = extractvalue { ptr, i32 } %1017, 0
  store ptr %1018, ptr %52, align 8
  %1019 = extractvalue { ptr, i32 } %1017, 1
  store i32 %1019, ptr %53, align 4
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %114) #6
  br label %1020

1020:                                             ; preds = %1016, %1012
  call void @llvm.lifetime.end.p0(i64 8, ptr %114) #6
  br label %1021

1021:                                             ; preds = %1020, %1008
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %113) #6
  br label %1022

1022:                                             ; preds = %1021, %1004
  call void @llvm.lifetime.end.p0(i64 8, ptr %113) #6
  br label %1023

1023:                                             ; preds = %1022, %1000
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %112) #6
  br label %1024

1024:                                             ; preds = %1023, %996
  call void @llvm.lifetime.end.p0(i64 8, ptr %112) #6
  br label %1060

1025:                                             ; preds = %906
  %1026 = landingpad { ptr, i32 }
          cleanup
  %1027 = extractvalue { ptr, i32 } %1026, 0
  store ptr %1027, ptr %52, align 8
  %1028 = extractvalue { ptr, i32 } %1026, 1
  store i32 %1028, ptr %53, align 4
  br label %1053

1029:                                             ; preds = %910
  %1030 = landingpad { ptr, i32 }
          cleanup
  %1031 = extractvalue { ptr, i32 } %1030, 0
  store ptr %1031, ptr %52, align 8
  %1032 = extractvalue { ptr, i32 } %1030, 1
  store i32 %1032, ptr %53, align 4
  br label %1052

1033:                                             ; preds = %915, %912
  %1034 = landingpad { ptr, i32 }
          cleanup
  %1035 = extractvalue { ptr, i32 } %1034, 0
  store ptr %1035, ptr %52, align 8
  %1036 = extractvalue { ptr, i32 } %1034, 1
  store i32 %1036, ptr %53, align 4
  br label %1051

1037:                                             ; preds = %916
  %1038 = landingpad { ptr, i32 }
          cleanup
  %1039 = extractvalue { ptr, i32 } %1038, 0
  store ptr %1039, ptr %52, align 8
  %1040 = extractvalue { ptr, i32 } %1038, 1
  store i32 %1040, ptr %53, align 4
  br label %1050

1041:                                             ; preds = %920, %918
  %1042 = landingpad { ptr, i32 }
          cleanup
  %1043 = extractvalue { ptr, i32 } %1042, 0
  store ptr %1043, ptr %52, align 8
  %1044 = extractvalue { ptr, i32 } %1042, 1
  store i32 %1044, ptr %53, align 4
  br label %1049

1045:                                             ; preds = %923, %921
  %1046 = landingpad { ptr, i32 }
          cleanup
  %1047 = extractvalue { ptr, i32 } %1046, 0
  store ptr %1047, ptr %52, align 8
  %1048 = extractvalue { ptr, i32 } %1046, 1
  store i32 %1048, ptr %53, align 4
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %117) #6
  br label %1049

1049:                                             ; preds = %1045, %1041
  call void @llvm.lifetime.end.p0(i64 8, ptr %117) #6
  br label %1050

1050:                                             ; preds = %1049, %1037
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %116) #6
  br label %1051

1051:                                             ; preds = %1050, %1033
  call void @llvm.lifetime.end.p0(i64 8, ptr %116) #6
  br label %1052

1052:                                             ; preds = %1051, %1029
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %115) #6
  br label %1053

1053:                                             ; preds = %1052, %1025
  call void @llvm.lifetime.end.p0(i64 8, ptr %115) #6
  br label %1060

1054:                                             ; preds = %936, %934, %932, %930, %928, %924
  %1055 = landingpad { ptr, i32 }
          cleanup
  %1056 = extractvalue { ptr, i32 } %1055, 0
  store ptr %1056, ptr %52, align 8
  %1057 = extractvalue { ptr, i32 } %1055, 1
  store i32 %1057, ptr %53, align 4
  br label %1060

1058:                                             ; preds = %937, %846, %407
  call void @llvm.lifetime.end.p0(i64 4, ptr %65) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr %64) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %63) #6
  call void @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %61) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr %61) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %60) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %60) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %56) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %56) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %50) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #6
  %1059 = load i1, ptr %25, align 1
  ret i1 %1059

1060:                                             ; preds = %1054, %1053, %1024, %995, %966, %851, %410
  call void @llvm.lifetime.end.p0(i64 4, ptr %65) #6
  br label %1061

1061:                                             ; preds = %1060, %269
  call void @llvm.lifetime.end.p0(i64 1, ptr %64) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr %63) #6
  call void @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %61) #6
  br label %1062

1062:                                             ; preds = %1061, %265
  call void @llvm.lifetime.end.p0(i64 24, ptr %61) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %60) #6
  br label %1063

1063:                                             ; preds = %1062, %261
  call void @llvm.lifetime.end.p0(i64 8, ptr %60) #6
  br label %1064

1064:                                             ; preds = %1063, %260, %251
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %56) #6
  br label %1065

1065:                                             ; preds = %1064, %242
  call void @llvm.lifetime.end.p0(i64 8, ptr %56) #6
  br label %1066

1066:                                             ; preds = %1065, %233, %224
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %50) #6
  br label %1067

1067:                                             ; preds = %1066, %212
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #6
  br label %1068

1068:                                             ; preds = %1067
  %1069 = load ptr, ptr %52, align 8
  %1070 = load i32, ptr %53, align 4
  %1071 = insertvalue { ptr, i32 } poison, ptr %1069, 0
  %1072 = insertvalue { ptr, i32 } %1071, i32 %1070, 1
  resume { ptr, i32 } %1072
}

; 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) #3

; 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

declare void @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef, i32 noundef, ptr noundef, ...) #3

; 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

; 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 noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics23PDSystemSolverSolveOnceEv(ptr noundef nonnull align 8 dereferenceable(664)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef ptr @_ZNK10SimTKIpopt6Vector11MakeNewCopyEv(ptr noundef nonnull align 8 dereferenceable(205)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) unnamed_addr #1 align 2

declare void @_ZNK10SimTKIpopt6Matrix9AddMSinvZEdRKNS_6VectorES3_RS1_(ptr noundef nonnull align 8 dereferenceable(69), double noundef, ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205)) #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSaIPKN10SimTKIpopt12TaggedObjectEEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEC2EmRKS4_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK10SimTKIpopt13CachedResultsIPvE15GetCachedResultERS1_RKSt6vectorIPKNS_12TaggedObjectESaIS7_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt13CachedResultsIPvE15AddCachedResultERKS1_RKSt6vectorIPKNS_12TaggedObjectESaIS8_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(24)) #2 align 2

declare void @_ZN10SimTKIpopt21PDPerturbationHandler19CurrentPerturbationERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector3y_cEv(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 @_ZNK10SimTKIpopt14IteratesVector3y_dEv(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 noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector10x_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector10s_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector12y_c_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector12y_d_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK10SimTKIpopt6Vector3DimEv(ptr noundef nonnull align 8 dereferenceable(205)) #4 align 2

declare noundef zeroext i1 @_ZN10SimTKIpopt21PDPerturbationHandler17ConsiderNewSystemERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #3

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #5

declare noundef zeroext i1 @_ZN10SimTKIpopt21PDPerturbationHandler21PerturbForSingularityERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #3

declare noundef zeroext i1 @_ZN10SimTKIpopt21PDPerturbationHandler22PerturbForWrongInertiaERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) #3

declare void @_ZNK10SimTKIpopt6Matrix14SinvBlrmZMTdBrEdRKNS_6VectorES3_S3_S3_RS1_(ptr noundef nonnull align 8 dereferenceable(69), double noundef, 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)) #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector12z_L_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector12z_U_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector12v_L_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector12v_U_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt6Vector12AddOneVectorEdRKS0_d(ptr noundef nonnull align 8 dereferenceable(205), double noundef, ptr noundef nonnull align 8 dereferenceable(205), double noundef) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) 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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIPKN10SimTKIpopt12TaggedObjectEED2Ev(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 = { "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 = { 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 #5 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }
attributes #7 = { noreturn nounwind }

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

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"bool", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"double", !7, i64 0}
!13 = !{i8 0, i8 2}
!14 = !{}
!15 = !{!16, !10, i64 96}
!16 = !{!"_ZTSN10SimTKIpopt17PDFullSpaceSolverE", !17, i64 0, !25, i64 56, !26, i64 64, !27, i64 72, !10, i64 96, !20, i64 100, !20, i64 104, !12, i64 112, !12, i64 120, !12, i64 128}
!17 = !{!"_ZTSN10SimTKIpopt14PDSystemSolverE", !18, i64 0}
!18 = !{!"_ZTSN10SimTKIpopt23AlgorithmStrategyObjectE", !19, i64 0, !21, i64 16, !22, i64 24, !23, i64 32, !24, i64 40, !10, i64 48}
!19 = !{!"_ZTSN10SimTKIpopt16ReferencedObjectE", !20, i64 8}
!20 = !{!"int", !7, i64 0}
!21 = !{!"_ZTSN10SimTKIpopt8SmartPtrIKNS_10JournalistEEE", !6, i64 0}
!22 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_8IpoptNLPEEE", !6, i64 0}
!23 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_9IpoptDataEEE", !6, i64 0}
!24 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_25IpoptCalculatedQuantitiesEEE", !6, i64 0}
!25 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_15AugSystemSolverEEE", !6, i64 0}
!26 = !{!"_ZTSN10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEE", !6, i64 0}
!27 = !{!"_ZTSN10SimTKIpopt13CachedResultsIPvEE", !20, i64 8, !6, i64 16}
!28 = !{!29, !29, i64 0}
!29 = !{!"vtable pointer", !8, i64 0}
!30 = !{!31, !31, i64 0}
!31 = !{!"_ZTSN10SimTKIpopt16ESymSolverStatusE", !7, i64 0}
!32 = !{!20, !20, i64 0}
!33 = distinct !{!33, !34}
!34 = !{!"llvm.loop.mustprogress"}


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

%"class.SimTKIpopt::SmartPtr.51" = type { ptr }
%"class.SimTKIpopt::SmartPtr.39" = type { ptr }
%"class.SimTKIpopt::SmartPtr.40" = type { ptr }
%"class.std::vector.53" = type { %"struct.std::_Vector_base.54" }
%"struct.std::_Vector_base.54" = type { %"struct.std::_Vector_base<const SimTKIpopt::TaggedObject *, std::allocator<const SimTKIpopt::TaggedObject *>>::_Vector_impl" }
%"struct.std::_Vector_base<const SimTKIpopt::TaggedObject *, std::allocator<const SimTKIpopt::TaggedObject *>>::_Vector_impl" = type { %"struct.std::_Vector_base<const SimTKIpopt::TaggedObject *, std::allocator<const SimTKIpopt::TaggedObject *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<const SimTKIpopt::TaggedObject *, std::allocator<const SimTKIpopt::TaggedObject *>>::_Vector_impl_data" = type { ptr, ptr, ptr }
%"class.std::allocator.55" = type { i8 }
%"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.18 = external hidden unnamed_addr constant [104 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.31 = external hidden unnamed_addr constant [85 x i8], align 1
@.str.32 = external hidden unnamed_addr constant [30 x i8], align 1
@__PRETTY_FUNCTION__._ZN10SimTKIpopt17PDFullSpaceSolver9SolveOnceEbbRKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorERSA_ = external hidden unnamed_addr constant [391 x i8], align 1
@.str.33 = external hidden unnamed_addr constant [37 x i8], align 1
@.str.34 = external hidden unnamed_addr constant [43 x i8], align 1
@.str.35 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.36 = external hidden unnamed_addr constant [58 x i8], align 1
@.str.37 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.38 = external hidden unnamed_addr constant [69 x i8], align 1
@.str.39 = external hidden unnamed_addr constant [46 x i8], align 1
@.str.40 = external hidden unnamed_addr constant [95 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 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(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEptEv(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(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864)) 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_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) 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 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 @_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

; Function Attrs: mustprogress uwtable
define 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) %0, i1 noundef zeroext %1, i1 noundef zeroext %2, ptr noundef nonnull align 8 dereferenceable(80) %3, ptr noundef nonnull align 8 dereferenceable(69) %4, ptr noundef nonnull align 8 dereferenceable(69) %5, ptr noundef nonnull align 8 dereferenceable(69) %6, ptr noundef nonnull align 8 dereferenceable(69) %7, ptr noundef nonnull align 8 dereferenceable(69) %8, ptr noundef nonnull align 8 dereferenceable(69) %9, ptr noundef nonnull align 8 dereferenceable(205) %10, ptr noundef nonnull align 8 dereferenceable(205) %11, ptr noundef nonnull align 8 dereferenceable(205) %12, ptr noundef nonnull align 8 dereferenceable(205) %13, ptr noundef nonnull align 8 dereferenceable(205) %14, ptr noundef nonnull align 8 dereferenceable(205) %15, ptr noundef nonnull align 8 dereferenceable(205) %16, ptr noundef nonnull align 8 dereferenceable(205) %17, ptr noundef nonnull align 8 dereferenceable(205) %18, ptr noundef nonnull align 8 dereferenceable(205) %19, double noundef %20, double noundef %21, ptr noundef nonnull align 8 dereferenceable(280) %22, ptr noundef nonnull align 8 dereferenceable(280) %23) local_unnamed_addr #2 align 2 personality ptr @__gxx_personality_v0 {
  %25 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %26 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %27 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %28 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %29 = alloca %"class.SimTKIpopt::SmartPtr.39", 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.40", align 8
  %34 = alloca %"class.std::vector.53", align 8
  %35 = alloca %"class.std::allocator.55", align 1
  %36 = alloca ptr, align 8
  %37 = alloca double, align 8
  %38 = alloca double, align 8
  %39 = alloca double, align 8
  %40 = alloca double, align 8
  %41 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %42 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %43 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %44 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %45 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %46 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %47 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %48 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %49 = alloca double, align 8
  %50 = alloca double, align 8
  %51 = alloca double, align 8
  %52 = alloca double, align 8
  %53 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %54 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %55 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %56 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %57 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %58 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %59 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %60 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %61 = alloca %"class.std::__cxx11::basic_string", align 8
  %62 = alloca %"class.std::allocator.14", align 1
  %63 = alloca %"class.std::__cxx11::basic_string", align 8
  %64 = alloca %"class.std::allocator.14", align 1
  %65 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %66 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %67 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %68 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %69 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %70 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %71 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %72 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %73 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %74 = alloca %"class.SimTKIpopt::SmartPtr.51", align 8
  %75 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %76 = alloca %"class.SimTKIpopt::SmartPtr.39", align 8
  %77 = tail call noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
  %78 = tail call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %77)
  %79 = tail call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics23PDSystemSolverSolveOnceEv(ptr noundef nonnull align 8 dereferenceable(664) %78)
  tail call void @_ZN10SimTKIpopt9TimedTask5StartEv(ptr noundef nonnull align 8 dereferenceable(18) %79)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #6
  call void @_ZNK10SimTKIpopt14IteratesVector1xEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %26, ptr noundef nonnull align 8 dereferenceable(280) %22)
  %80 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %26)
  %81 = invoke noundef ptr @_ZNK10SimTKIpopt6Vector11MakeNewCopyEv(ptr noundef nonnull align 8 dereferenceable(205) %80)
          to label %82 unwind label %124

82:                                               ; preds = %24
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8) %25, ptr noundef %81)
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %26) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %27) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3z_LEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %27, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %83 unwind label %126

83:                                               ; preds = %82
  %84 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %27)
  %85 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %25)
  invoke void @_ZNK10SimTKIpopt6Matrix9AddMSinvZEdRKNS_6VectorES3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %6, double noundef 1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %14, ptr noundef nonnull align 8 dereferenceable(205) %84, ptr noundef nonnull align 8 dereferenceable(205) %85)
          to label %86 unwind label %128

86:                                               ; preds = %83
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %27) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %28) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3z_UEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %28, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %87 unwind label %131

87:                                               ; preds = %86
  %88 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %28)
  %89 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %25)
  invoke void @_ZNK10SimTKIpopt6Matrix9AddMSinvZEdRKNS_6VectorES3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %7, double noundef -1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %15, ptr noundef nonnull align 8 dereferenceable(205) %88, ptr noundef nonnull align 8 dereferenceable(205) %89)
          to label %90 unwind label %133

90:                                               ; preds = %87
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %28) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %29) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %30) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector1sEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %30, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %91 unwind label %136

91:                                               ; preds = %90
  %92 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %30)
  %93 = invoke noundef ptr @_ZNK10SimTKIpopt6Vector11MakeNewCopyEv(ptr noundef nonnull align 8 dereferenceable(205) %92)
          to label %94 unwind label %138

94:                                               ; preds = %91
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8) %29, ptr noundef %93)
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %30) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %30) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %31) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3v_LEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %31, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %95 unwind label %141

95:                                               ; preds = %94
  %96 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %31)
  %97 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %29)
  invoke void @_ZNK10SimTKIpopt6Matrix9AddMSinvZEdRKNS_6VectorES3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %8, double noundef 1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %16, ptr noundef nonnull align 8 dereferenceable(205) %96, ptr noundef nonnull align 8 dereferenceable(205) %97)
          to label %98 unwind label %143

98:                                               ; preds = %95
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %31) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %32) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3v_UEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %32, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %99 unwind label %146

99:                                               ; preds = %98
  %100 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %32)
  %101 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %29)
  invoke void @_ZNK10SimTKIpopt6Matrix9AddMSinvZEdRKNS_6VectorES3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %9, double noundef -1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %17, ptr noundef nonnull align 8 dereferenceable(205) %100, ptr noundef nonnull align 8 dereferenceable(205) %101)
          to label %102 unwind label %148

102:                                              ; preds = %99
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %32) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %32) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %33) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector21MakeNewIteratesVectorEb(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.40") align 8 %33, ptr noundef nonnull align 8 dereferenceable(280) %23, i1 noundef zeroext true)
          to label %103 unwind label %151

103:                                              ; preds = %102
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %34) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %35) #6
  call void @_ZNSaIPKN10SimTKIpopt12TaggedObjectEEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %35) #6
  invoke void @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEC2EmRKS4_(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 13, ptr noundef nonnull align 1 dereferenceable(1) %35)
          to label %104 unwind label %153

104:                                              ; preds = %103
  call void @_ZNSt15__new_allocatorIPKN10SimTKIpopt12TaggedObjectEED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %35) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %35) #6
  %105 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 0) #6
  store ptr %3, ptr %105, align 8, !tbaa !5
  %106 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 1) #6
  store ptr %4, ptr %106, align 8, !tbaa !5
  %107 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 2) #6
  store ptr %5, ptr %107, align 8, !tbaa !5
  %108 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 3) #6
  store ptr %10, ptr %108, align 8, !tbaa !5
  %109 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 4) #6
  store ptr %11, ptr %109, align 8, !tbaa !5
  %110 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 5) #6
  store ptr %12, ptr %110, align 8, !tbaa !5
  %111 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 6) #6
  store ptr %13, ptr %111, align 8, !tbaa !5
  %112 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 7) #6
  store ptr %14, ptr %112, align 8, !tbaa !5
  %113 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 8) #6
  store ptr %15, ptr %113, align 8, !tbaa !5
  %114 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 9) #6
  store ptr %16, ptr %114, align 8, !tbaa !5
  %115 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 10) #6
  store ptr %17, ptr %115, align 8, !tbaa !5
  %116 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 11) #6
  store ptr %18, ptr %116, align 8, !tbaa !5
  %117 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %34, i64 noundef 12) #6
  store ptr %19, ptr %117, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %36) #6
  %118 = getelementptr inbounds i8, ptr %0, i64 72
  %119 = invoke noundef zeroext i1 @_ZNK10SimTKIpopt13CachedResultsIPvE15GetCachedResultERS1_RKSt6vectorIPKNS_12TaggedObjectESaIS7_EE(ptr noundef nonnull align 8 dereferenceable(24) %118, ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef nonnull align 8 dereferenceable(24) %34)
          to label %120 unwind label %155

120:                                              ; preds = %104
  br i1 %119, label %.critedge, label %121

121:                                              ; preds = %120
  invoke void @_ZN10SimTKIpopt13CachedResultsIPvE15AddCachedResultERKS1_RKSt6vectorIPKNS_12TaggedObjectESaIS8_EE(ptr noundef nonnull align 8 dereferenceable(24) %118, ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef nonnull align 8 dereferenceable(24) %34)
          to label %122 unwind label %155

122:                                              ; preds = %121
  %123 = getelementptr inbounds i8, ptr %0, i64 96
  store i8 0, ptr %123, align 8, !tbaa !9
  br label %218

124:                                              ; preds = %24
  %125 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %26) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #6
  br label %509

126:                                              ; preds = %82
  %127 = landingpad { ptr, i32 }
          cleanup
  br label %130

128:                                              ; preds = %83
  %129 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %27) #6
  br label %130

130:                                              ; preds = %128, %126
  %.pn = phi { ptr, i32 } [ %129, %128 ], [ %127, %126 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %27) #6
  br label %508

131:                                              ; preds = %86
  %132 = landingpad { ptr, i32 }
          cleanup
  br label %135

133:                                              ; preds = %87
  %134 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %28) #6
  br label %135

135:                                              ; preds = %133, %131
  %.pn187 = phi { ptr, i32 } [ %134, %133 ], [ %132, %131 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #6
  br label %508

136:                                              ; preds = %90
  %137 = landingpad { ptr, i32 }
          cleanup
  br label %140

138:                                              ; preds = %91
  %139 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %30) #6
  br label %140

140:                                              ; preds = %138, %136
  %.pn189 = phi { ptr, i32 } [ %139, %138 ], [ %137, %136 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %30) #6
  br label %507

141:                                              ; preds = %94
  %142 = landingpad { ptr, i32 }
          cleanup
  br label %145

143:                                              ; preds = %95
  %144 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %31) #6
  br label %145

145:                                              ; preds = %143, %141
  %.pn191 = phi { ptr, i32 } [ %144, %143 ], [ %142, %141 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #6
  br label %506

146:                                              ; preds = %98
  %147 = landingpad { ptr, i32 }
          cleanup
  br label %150

148:                                              ; preds = %99
  %149 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %32) #6
  br label %150

150:                                              ; preds = %148, %146
  %.pn193 = phi { ptr, i32 } [ %149, %148 ], [ %147, %146 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %32) #6
  br label %506

151:                                              ; preds = %102
  %152 = landingpad { ptr, i32 }
          cleanup
  br label %505

153:                                              ; preds = %103
  %154 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt15__new_allocatorIPKN10SimTKIpopt12TaggedObjectEED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %35) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %35) #6
  br label %504

155:                                              ; preds = %121, %104
  %156 = landingpad { ptr, i32 }
          cleanup
  br label %503

.critedge:                                        ; preds = %120
  br i1 %2, label %218, label %157

157:                                              ; preds = %.critedge
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %37) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %38) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %39) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %40) #6
  %158 = getelementptr inbounds i8, ptr %0, i64 64
  %159 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %158)
  invoke void @_ZN10SimTKIpopt21PDPerturbationHandler19CurrentPerturbationERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216) %159, ptr noundef nonnull align 8 dereferenceable(8) %37, ptr noundef nonnull align 8 dereferenceable(8) %38, ptr noundef nonnull align 8 dereferenceable(8) %39, ptr noundef nonnull align 8 dereferenceable(8) %40)
          to label %160 unwind label %195

160:                                              ; preds = %157
  %161 = getelementptr inbounds i8, ptr %0, i64 56
  %162 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_15AugSystemSolverEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %161)
  %163 = load double, ptr %37, align 8, !tbaa !24
  %164 = load double, ptr %38, align 8, !tbaa !24
  %165 = load double, ptr %39, align 8, !tbaa !24
  %166 = load double, ptr %40, align 8, !tbaa !24
  %167 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %25)
  %168 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %29)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %41) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_cEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %41, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %169 unwind label %197

169:                                              ; preds = %160
  %170 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %41)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %42) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_dEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %42, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %171 unwind label %199

171:                                              ; preds = %169
  %172 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %42)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %43) #6
  %173 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector10x_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %43, ptr noundef nonnull align 8 dereferenceable(280) %173)
          to label %174 unwind label %201

174:                                              ; preds = %171
  %175 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %43)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %44) #6
  %176 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector10s_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %44, ptr noundef nonnull align 8 dereferenceable(280) %176)
          to label %177 unwind label %203

177:                                              ; preds = %174
  %178 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %44)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %45) #6
  %179 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector12y_c_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %45, ptr noundef nonnull align 8 dereferenceable(280) %179)
          to label %180 unwind label %205

180:                                              ; preds = %177
  %181 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %45)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %46) #6
  %182 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector12y_d_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %46, ptr noundef nonnull align 8 dereferenceable(280) %182)
          to label %183 unwind label %207

183:                                              ; preds = %180
  %184 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %46)
  %185 = load ptr, ptr %162, align 8, !tbaa !25
  %186 = getelementptr inbounds i8, ptr %185, i64 24
  %187 = load ptr, ptr %186, align 8
  %188 = invoke noundef i32 %187(ptr noundef nonnull align 8 dereferenceable(49) %162, ptr noundef nonnull %3, double noundef 1.000000e+00, ptr noundef nonnull %18, double noundef %163, ptr noundef nonnull %19, double noundef %164, ptr noundef nonnull %4, ptr noundef null, double noundef %165, ptr noundef nonnull %5, ptr noundef null, double noundef %166, ptr noundef nonnull align 8 dereferenceable(205) %167, ptr noundef nonnull align 8 dereferenceable(205) %168, ptr noundef nonnull align 8 dereferenceable(205) %170, ptr noundef nonnull align 8 dereferenceable(205) %172, ptr noundef nonnull align 8 dereferenceable(205) %175, ptr noundef nonnull align 8 dereferenceable(205) %178, ptr noundef nonnull align 8 dereferenceable(205) %181, ptr noundef nonnull align 8 dereferenceable(205) %184, i1 noundef zeroext false, i32 noundef 0)
          to label %189 unwind label %209

189:                                              ; preds = %183
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %46) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %46) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %45) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %45) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %44) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %44) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %43) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %43) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %42) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %42) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %41) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %41) #6
  %.not = icmp eq i32 %188, 0
  br i1 %.not, label %.critedge258, label %190

190:                                              ; preds = %189
  %191 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %192 unwind label %195

192:                                              ; preds = %190
  %193 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %191)
  %194 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics23PDSystemSolverSolveOnceEv(ptr noundef nonnull align 8 dereferenceable(664) %193)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %194)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %40) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %39) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %38) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %37) #6
  br label %502

195:                                              ; preds = %190, %157
  %196 = landingpad { ptr, i32 }
          cleanup
  br label %217

197:                                              ; preds = %160
  %198 = landingpad { ptr, i32 }
          cleanup
  br label %216

199:                                              ; preds = %169
  %200 = landingpad { ptr, i32 }
          cleanup
  br label %215

201:                                              ; preds = %171
  %202 = landingpad { ptr, i32 }
          cleanup
  br label %214

203:                                              ; preds = %174
  %204 = landingpad { ptr, i32 }
          cleanup
  br label %213

205:                                              ; preds = %177
  %206 = landingpad { ptr, i32 }
          cleanup
  br label %212

207:                                              ; preds = %180
  %208 = landingpad { ptr, i32 }
          cleanup
  br label %211

209:                                              ; preds = %183
  %210 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %46) #6
  br label %211

211:                                              ; preds = %209, %207
  %.pn195 = phi { ptr, i32 } [ %210, %209 ], [ %208, %207 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %46) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %45) #6
  br label %212

212:                                              ; preds = %211, %205
  %.pn195.pn = phi { ptr, i32 } [ %.pn195, %211 ], [ %206, %205 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %45) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %44) #6
  br label %213

213:                                              ; preds = %212, %203
  %.pn195.pn.pn = phi { ptr, i32 } [ %.pn195.pn, %212 ], [ %204, %203 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %44) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %43) #6
  br label %214

214:                                              ; preds = %213, %201
  %.pn195.pn.pn.pn = phi { ptr, i32 } [ %.pn195.pn.pn, %213 ], [ %202, %201 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %43) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %42) #6
  br label %215

215:                                              ; preds = %214, %199
  %.pn195.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn195.pn.pn.pn, %214 ], [ %200, %199 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %42) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %41) #6
  br label %216

216:                                              ; preds = %215, %197
  %.pn195.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn195.pn.pn.pn.pn, %215 ], [ %198, %197 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %41) #6
  br label %217

217:                                              ; preds = %216, %195
  %.pn202 = phi { ptr, i32 } [ %196, %195 ], [ %.pn195.pn.pn.pn.pn.pn, %216 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %40) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %39) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %38) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %37) #6
  br label %503

218:                                              ; preds = %122, %.critedge
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %47) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_cEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %47, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %219 unwind label %234

219:                                              ; preds = %218
  %220 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %47)
  %221 = invoke noundef i32 @_ZNK10SimTKIpopt6Vector3DimEv(ptr noundef nonnull align 8 dereferenceable(205) %220)
          to label %222 unwind label %236

222:                                              ; preds = %219
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %48) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_dEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %48, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %223 unwind label %238

223:                                              ; preds = %222
  %224 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %48)
  %225 = invoke noundef i32 @_ZNK10SimTKIpopt6Vector3DimEv(ptr noundef nonnull align 8 dereferenceable(205) %224)
          to label %226 unwind label %240

226:                                              ; preds = %223
  %227 = add nsw i32 %225, %221
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %48) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %48) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %47) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %47) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %49) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %50) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %51) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %52) #6
  %228 = getelementptr inbounds i8, ptr %0, i64 64
  %229 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %228)
  %230 = invoke noundef zeroext i1 @_ZN10SimTKIpopt21PDPerturbationHandler17ConsiderNewSystemERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216) %229, ptr noundef nonnull align 8 dereferenceable(8) %49, ptr noundef nonnull align 8 dereferenceable(8) %50, ptr noundef nonnull align 8 dereferenceable(8) %51, ptr noundef nonnull align 8 dereferenceable(8) %52)
          to label %.preheader unwind label %245

.preheader:                                       ; preds = %226
  %231 = getelementptr inbounds i8, ptr %0, i64 56
  %232 = getelementptr inbounds i8, ptr %0, i64 96
  br label %233

233:                                              ; preds = %.preheader, %.critedge264
  %.0109365 = phi i1 [ %2, %.preheader ], [ false, %.critedge264 ]
  %.0125364 = phi i32 [ 0, %.preheader ], [ %.1126276284294303, %.critedge264 ]
  br i1 %.0109365, label %.thread278, label %247

234:                                              ; preds = %218
  %235 = landingpad { ptr, i32 }
          cleanup
  br label %244

236:                                              ; preds = %219
  %237 = landingpad { ptr, i32 }
          cleanup
  br label %243

238:                                              ; preds = %222
  %239 = landingpad { ptr, i32 }
          cleanup
  br label %242

240:                                              ; preds = %223
  %241 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %48) #6
  br label %242

242:                                              ; preds = %240, %238
  %.pn204 = phi { ptr, i32 } [ %241, %240 ], [ %239, %238 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %48) #6
  br label %243

243:                                              ; preds = %242, %236
  %.pn204.pn = phi { ptr, i32 } [ %.pn204, %242 ], [ %237, %236 ]
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %47) #6
  br label %244

244:                                              ; preds = %243, %234
  %.pn204.pn.pn = phi { ptr, i32 } [ %.pn204.pn, %243 ], [ %235, %234 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %47) #6
  br label %503

245:                                              ; preds = %226
  %246 = landingpad { ptr, i32 }
          cleanup
  br label %412

247:                                              ; preds = %233
  %248 = add nsw i32 %.0125364, 1
  %249 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %250 unwind label %.loopexit

250:                                              ; preds = %247
  %251 = load double, ptr %49, align 8, !tbaa !24
  %252 = load double, ptr %50, align 8, !tbaa !24
  %253 = load double, ptr %51, align 8, !tbaa !24
  %254 = load double, ptr %52, align 8, !tbaa !24
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %249, i32 noundef 6, i32 noundef 7, ptr noundef nonnull @.str.31, double noundef %251, double noundef %252, double noundef %253, double noundef %254)
          to label %255 unwind label %.loopexit

255:                                              ; preds = %250
  %256 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_15AugSystemSolverEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %231)
  %257 = load double, ptr %49, align 8, !tbaa !24
  %258 = load double, ptr %50, align 8, !tbaa !24
  %259 = load double, ptr %51, align 8, !tbaa !24
  %260 = load double, ptr %52, align 8, !tbaa !24
  %261 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %25)
  %262 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %29)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %53) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_cEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %53, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %263 unwind label %283

263:                                              ; preds = %255
  %264 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %53)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %54) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_dEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %54, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %265 unwind label %285

265:                                              ; preds = %263
  %266 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %54)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %55) #6
  %267 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector10x_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %55, ptr noundef nonnull align 8 dereferenceable(280) %267)
          to label %268 unwind label %287

268:                                              ; preds = %265
  %269 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %55)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %56) #6
  %270 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector10s_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %56, ptr noundef nonnull align 8 dereferenceable(280) %270)
          to label %271 unwind label %289

271:                                              ; preds = %268
  %272 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %56)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %57) #6
  %273 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector12y_c_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %57, ptr noundef nonnull align 8 dereferenceable(280) %273)
          to label %274 unwind label %291

274:                                              ; preds = %271
  %275 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %57)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %58) #6
  %276 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector12y_d_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %58, ptr noundef nonnull align 8 dereferenceable(280) %276)
          to label %277 unwind label %293

277:                                              ; preds = %274
  %278 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %58)
  %279 = load ptr, ptr %256, align 8, !tbaa !25
  %280 = getelementptr inbounds i8, ptr %279, i64 24
  %281 = load ptr, ptr %280, align 8
  %282 = invoke noundef i32 %281(ptr noundef nonnull align 8 dereferenceable(49) %256, ptr noundef nonnull %3, double noundef 1.000000e+00, ptr noundef nonnull %18, double noundef %257, ptr noundef nonnull %19, double noundef %258, ptr noundef nonnull %4, ptr noundef null, double noundef %259, ptr noundef nonnull %5, ptr noundef null, double noundef %260, ptr noundef nonnull align 8 dereferenceable(205) %261, ptr noundef nonnull align 8 dereferenceable(205) %262, ptr noundef nonnull align 8 dereferenceable(205) %264, ptr noundef nonnull align 8 dereferenceable(205) %266, ptr noundef nonnull align 8 dereferenceable(205) %269, ptr noundef nonnull align 8 dereferenceable(205) %272, ptr noundef nonnull align 8 dereferenceable(205) %275, ptr noundef nonnull align 8 dereferenceable(205) %278, i1 noundef zeroext true, i32 noundef %227)
          to label %303 unwind label %295

.loopexit:                                        ; preds = %247, %250, %334, %342, %344
  %lpad.loopexit = landingpad { ptr, i32 }
          cleanup
  br label %412

.loopexit.split-lp:                               ; preds = %399, %401, %402, %404
  %lpad.loopexit.split-lp = landingpad { ptr, i32 }
          cleanup
  br label %412

283:                                              ; preds = %255
  %284 = landingpad { ptr, i32 }
          cleanup
  br label %302

285:                                              ; preds = %263
  %286 = landingpad { ptr, i32 }
          cleanup
  br label %301

287:                                              ; preds = %265
  %288 = landingpad { ptr, i32 }
          cleanup
  br label %300

289:                                              ; preds = %268
  %290 = landingpad { ptr, i32 }
          cleanup
  br label %299

291:                                              ; preds = %271
  %292 = landingpad { ptr, i32 }
          cleanup
  br label %298

293:                                              ; preds = %274
  %294 = landingpad { ptr, i32 }
          cleanup
  br label %297

295:                                              ; preds = %277
  %296 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %58) #6
  br label %297

297:                                              ; preds = %295, %293
  %.pn209 = phi { ptr, i32 } [ %296, %295 ], [ %294, %293 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %58) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %57) #6
  br label %298

298:                                              ; preds = %297, %291
  %.pn209.pn = phi { ptr, i32 } [ %.pn209, %297 ], [ %292, %291 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %57) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %56) #6
  br label %299

299:                                              ; preds = %298, %289
  %.pn209.pn.pn = phi { ptr, i32 } [ %.pn209.pn, %298 ], [ %290, %289 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %56) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %55) #6
  br label %300

300:                                              ; preds = %299, %287
  %.pn209.pn.pn.pn = phi { ptr, i32 } [ %.pn209.pn.pn, %299 ], [ %288, %287 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %55) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %54) #6
  br label %301

301:                                              ; preds = %300, %285
  %.pn209.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn209.pn.pn.pn, %300 ], [ %286, %285 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %54) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %53) #6
  br label %302

302:                                              ; preds = %301, %283
  %.pn209.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn209.pn.pn.pn.pn, %301 ], [ %284, %283 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %53) #6
  br label %412

303:                                              ; preds = %277
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %58) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %58) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %57) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %57) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %56) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %56) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %55) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %55) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %54) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %54) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %53) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %53) #6
  switch i32 %282, label %.critedge264 [
    i32 4, label %304
    i32 1, label %.thread278
    i32 2, label %334
  ]

304:                                              ; preds = %303
  call void @__assert_fail(ptr noundef nonnull @.str.32, ptr noundef nonnull @.str.18, i32 noundef 481, ptr noundef nonnull @__PRETTY_FUNCTION__._ZN10SimTKIpopt17PDFullSpaceSolver9SolveOnceEbbRKNS_9SymMatrixERKNS_6MatrixES6_S6_S6_S6_S6_RKNS_6VectorES9_S9_S9_S9_S9_S9_S9_S9_S9_ddRKNS_14IteratesVectorERSA_) #7
  unreachable

.thread278:                                       ; preds = %303, %233
  %.1126276285 = phi i32 [ %.0125364, %233 ], [ %248, %303 ]
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %59) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_cEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %59, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %305 unwind label %323

305:                                              ; preds = %.thread278
  %306 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %59)
  %307 = invoke noundef i32 @_ZNK10SimTKIpopt6Vector3DimEv(ptr noundef nonnull align 8 dereferenceable(205) %306)
          to label %308 unwind label %325

308:                                              ; preds = %305
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %60) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3y_dEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %60, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %309 unwind label %327

309:                                              ; preds = %308
  %310 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %60)
  %311 = invoke noundef i32 @_ZNK10SimTKIpopt6Vector3DimEv(ptr noundef nonnull align 8 dereferenceable(205) %310)
          to label %.critedge262 unwind label %329

.critedge262:                                     ; preds = %309
  %312 = add nsw i32 %311, %307
  %313 = icmp sgt i32 %312, 0
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %60) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %60) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %59) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %59) #6
  br i1 %313, label %314, label %.thread315

314:                                              ; preds = %.critedge262
  %315 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %228)
  %316 = invoke noundef zeroext i1 @_ZN10SimTKIpopt21PDPerturbationHandler21PerturbForSingularityERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216) %315, ptr noundef nonnull align 8 dereferenceable(8) %49, ptr noundef nonnull align 8 dereferenceable(8) %50, ptr noundef nonnull align 8 dereferenceable(8) %51, ptr noundef nonnull align 8 dereferenceable(8) %52)
          to label %317 unwind label %.loopexit335

317:                                              ; preds = %314
  br i1 %316, label %.critedge264, label %318

318:                                              ; preds = %317
  %319 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %320 unwind label %.loopexit.split-lp336

320:                                              ; preds = %318
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %319, i32 noundef 5, i32 noundef 7, ptr noundef nonnull @.str.33)
          to label %321 unwind label %.loopexit.split-lp336

321:                                              ; preds = %320
  %322 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %.thread324 unwind label %.loopexit.split-lp336

323:                                              ; preds = %.thread278
  %324 = landingpad { ptr, i32 }
          cleanup
  br label %333

325:                                              ; preds = %305
  %326 = landingpad { ptr, i32 }
          cleanup
  br label %332

327:                                              ; preds = %308
  %328 = landingpad { ptr, i32 }
          cleanup
  br label %331

329:                                              ; preds = %309
  %330 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %60) #6
  br label %331

331:                                              ; preds = %327, %329
  %.pn217 = phi { ptr, i32 } [ %330, %329 ], [ %328, %327 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %60) #6
  br label %332

332:                                              ; preds = %325, %331
  %.pn217.pn = phi { ptr, i32 } [ %.pn217, %331 ], [ %326, %325 ]
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %59) #6
  br label %333

333:                                              ; preds = %323, %332
  %.pn217.pn.pn = phi { ptr, i32 } [ %.pn217.pn, %332 ], [ %324, %323 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %59) #6
  br label %412

.loopexit335:                                     ; preds = %314
  %lpad.loopexit337 = landingpad { ptr, i32 }
          cleanup
  br label %412

.loopexit.split-lp336:                            ; preds = %318, %320, %321
  %lpad.loopexit.split-lp338 = landingpad { ptr, i32 }
          cleanup
  br label %412

334:                                              ; preds = %303
  %335 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_15AugSystemSolverEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %231)
  %336 = load ptr, ptr %335, align 8, !tbaa !25
  %337 = getelementptr inbounds i8, ptr %336, i64 40
  %338 = load ptr, ptr %337, align 8
  %339 = invoke noundef i32 %338(ptr noundef nonnull align 8 dereferenceable(49) %335)
          to label %340 unwind label %.loopexit

340:                                              ; preds = %334
  %341 = icmp slt i32 %339, %227
  br i1 %341, label %342, label %.thread315

342:                                              ; preds = %340
  %343 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %344 unwind label %.loopexit

344:                                              ; preds = %342
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %343, i32 noundef 5, i32 noundef 7, ptr noundef nonnull @.str.34)
          to label %345 unwind label %.loopexit

345:                                              ; preds = %344
  %346 = load i8, ptr %232, align 8, !tbaa !9, !range !27, !noundef !28
  %347 = trunc nuw i8 %346 to i1
  br i1 %347, label %.critedge266, label %348

348:                                              ; preds = %345
  %349 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %350 unwind label %364

350:                                              ; preds = %348
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %349, i32 noundef 5, i32 noundef 7, ptr noundef nonnull @.str.25)
          to label %351 unwind label %364

351:                                              ; preds = %350
  %352 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_15AugSystemSolverEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %231)
  %353 = load ptr, ptr %352, align 8, !tbaa !25
  %354 = getelementptr inbounds i8, ptr %353, i64 56
  %355 = load ptr, ptr %354, align 8
  %356 = invoke noundef zeroext i1 %355(ptr noundef nonnull align 8 dereferenceable(49) %352)
          to label %357 unwind label %364

357:                                              ; preds = %351
  %358 = zext i1 %356 to i8
  store i8 %358, ptr %232, align 8, !tbaa !9
  br i1 %356, label %359, label %371

359:                                              ; preds = %357
  %360 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %361 unwind label %364

361:                                              ; preds = %359
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %61) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %62) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %62) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %61, ptr noundef nonnull @.str.26, ptr noundef nonnull align 1 dereferenceable(1) %62)
          to label %362 unwind label %366

362:                                              ; preds = %361
  invoke void @_ZN10SimTKIpopt9IpoptData18Append_info_stringERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(864) %360, ptr noundef nonnull align 8 dereferenceable(32) %61)
          to label %363 unwind label %368

363:                                              ; preds = %362
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %61) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %62) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %62) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %61) #6
  br label %.critedge264

364:                                              ; preds = %373, %371, %359, %351, %350, %348
  %365 = landingpad { ptr, i32 }
          cleanup
  br label %412

366:                                              ; preds = %361
  %367 = landingpad { ptr, i32 }
          cleanup
  br label %370

368:                                              ; preds = %362
  %369 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %61) #6
  br label %370

370:                                              ; preds = %368, %366
  %.pn221 = phi { ptr, i32 } [ %369, %368 ], [ %367, %366 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %62) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %62) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %61) #6
  br label %412

371:                                              ; preds = %357
  %372 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %373 unwind label %364

373:                                              ; preds = %371
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %372, i32 noundef 5, i32 noundef 7, ptr noundef nonnull @.str.35)
          to label %.critedge266 unwind label %364

.critedge266:                                     ; preds = %373, %345
  %374 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %228)
  %375 = invoke noundef zeroext i1 @_ZN10SimTKIpopt21PDPerturbationHandler21PerturbForSingularityERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216) %374, ptr noundef nonnull align 8 dereferenceable(8) %49, ptr noundef nonnull align 8 dereferenceable(8) %50, ptr noundef nonnull align 8 dereferenceable(8) %51, ptr noundef nonnull align 8 dereferenceable(8) %52)
          to label %376 unwind label %.loopexit325

376:                                              ; preds = %.critedge266
  br i1 %375, label %382, label %377

377:                                              ; preds = %376
  %378 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %379 unwind label %.loopexit.split-lp326

379:                                              ; preds = %377
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %378, i32 noundef 5, i32 noundef 7, ptr noundef nonnull @.str.36)
          to label %380 unwind label %.loopexit.split-lp326

380:                                              ; preds = %379
  %381 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %.thread324 unwind label %.loopexit.split-lp326

.loopexit325:                                     ; preds = %.critedge266, %382
  %lpad.loopexit327 = landingpad { ptr, i32 }
          cleanup
  br label %412

.loopexit.split-lp326:                            ; preds = %377, %379, %380
  %lpad.loopexit.split-lp328 = landingpad { ptr, i32 }
          cleanup
  br label %412

382:                                              ; preds = %376
  %383 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %384 unwind label %.loopexit325

384:                                              ; preds = %382
  call void @llvm.lifetime.start.p0(i64 32, ptr nonnull %63) #6
  call void @llvm.lifetime.start.p0(i64 1, ptr nonnull %64) #6
  call void @_ZNSaIcEC2Ev(ptr noundef nonnull align 1 dereferenceable(1) %64) #6
  invoke void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEC2IS3_EEPKcRKS3_(ptr noundef nonnull align 8 dereferenceable(32) %63, ptr noundef nonnull @.str.37, ptr noundef nonnull align 1 dereferenceable(1) %64)
          to label %385 unwind label %386

385:                                              ; preds = %384
  invoke void @_ZN10SimTKIpopt9IpoptData18Append_info_stringERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE(ptr noundef nonnull align 8 dereferenceable(864) %383, ptr noundef nonnull align 8 dereferenceable(32) %63)
          to label %.thread314 unwind label %388

.thread314:                                       ; preds = %385
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %63) #6
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %64) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %64) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %63) #6
  br label %.critedge264

386:                                              ; preds = %384
  %387 = landingpad { ptr, i32 }
          cleanup
  br label %390

388:                                              ; preds = %385
  %389 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEED2Ev(ptr noundef nonnull align 8 dereferenceable(32) %63) #6
  br label %390

390:                                              ; preds = %388, %386
  %.pn223 = phi { ptr, i32 } [ %389, %388 ], [ %387, %386 ]
  call void @_ZNSt15__new_allocatorIcED2Ev(ptr noundef nonnull align 1 dereferenceable(1) %64) #6
  call void @llvm.lifetime.end.p0(i64 1, ptr nonnull %64) #6
  call void @llvm.lifetime.end.p0(i64 32, ptr nonnull %63) #6
  br label %412

.thread315:                                       ; preds = %.critedge262, %340
  %.1126276284294304312321 = phi i32 [ %248, %340 ], [ %.1126276285, %.critedge262 ]
  %391 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_21PDPerturbationHandlerEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %228)
  %392 = invoke noundef zeroext i1 @_ZN10SimTKIpopt21PDPerturbationHandler22PerturbForWrongInertiaERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216) %391, ptr noundef nonnull align 8 dereferenceable(8) %49, ptr noundef nonnull align 8 dereferenceable(8) %50, ptr noundef nonnull align 8 dereferenceable(8) %51, ptr noundef nonnull align 8 dereferenceable(8) %52)
          to label %393 unwind label %.loopexit330

393:                                              ; preds = %.thread315
  br i1 %392, label %.critedge264, label %394

394:                                              ; preds = %393
  %395 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %396 unwind label %.loopexit.split-lp331

396:                                              ; preds = %394
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %395, i32 noundef 5, i32 noundef 7, ptr noundef nonnull @.str.38)
          to label %397 unwind label %.loopexit.split-lp331

397:                                              ; preds = %396
  %398 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %.thread324 unwind label %.loopexit.split-lp331

.loopexit330:                                     ; preds = %.thread315
  %lpad.loopexit332 = landingpad { ptr, i32 }
          cleanup
  br label %412

.loopexit.split-lp331:                            ; preds = %394, %396, %397
  %lpad.loopexit.split-lp333 = landingpad { ptr, i32 }
          cleanup
  br label %412

.critedge264:                                     ; preds = %303, %.thread314, %363, %393, %317
  %.1185275286292306 = phi i32 [ 2, %363 ], [ 2, %393 ], [ 2, %317 ], [ 2, %.thread314 ], [ %282, %303 ]
  %.1126276284294303 = phi i32 [ %248, %363 ], [ %.1126276284294304312321, %393 ], [ %.1126276285, %317 ], [ %248, %.thread314 ], [ %248, %303 ]
  %.not208 = icmp eq i32 %.1185275286292306, 0
  br i1 %.not208, label %399, label %233, !llvm.loop !29

399:                                              ; preds = %.critedge264
  %400 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %401 unwind label %.loopexit.split-lp

401:                                              ; preds = %399
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %400, i32 noundef 5, i32 noundef 7, ptr noundef nonnull @.str.39, i32 noundef %.1126276284294303)
          to label %402 unwind label %.loopexit.split-lp

402:                                              ; preds = %401
  %403 = invoke noundef nonnull align 8 dereferenceable(40) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject5JnlstEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %404 unwind label %.loopexit.split-lp

404:                                              ; preds = %402
  %405 = load double, ptr %49, align 8, !tbaa !24
  %406 = load double, ptr %50, align 8, !tbaa !24
  %407 = load double, ptr %51, align 8, !tbaa !24
  %408 = load double, ptr %52, align 8, !tbaa !24
  invoke void (ptr, i32, i32, ptr, ...) @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40) %403, i32 noundef 5, i32 noundef 7, ptr noundef nonnull @.str.40, double noundef %405, double noundef %406, double noundef %407, double noundef %408)
          to label %411 unwind label %.loopexit.split-lp

.thread324:                                       ; preds = %397, %380, %321
  %.sink = phi ptr [ %322, %321 ], [ %381, %380 ], [ %398, %397 ]
  %409 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %.sink)
  %410 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics23PDSystemSolverSolveOnceEv(ptr noundef nonnull align 8 dereferenceable(664) %409)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %410)
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %52) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %51) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %50) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %49) #6
  br label %502

411:                                              ; preds = %404
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %52) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %51) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %50) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %49) #6
  br label %413

412:                                              ; preds = %.loopexit330, %.loopexit.split-lp331, %.loopexit325, %.loopexit.split-lp326, %.loopexit335, %.loopexit.split-lp336, %.loopexit, %.loopexit.split-lp, %302, %333, %390, %370, %364, %245
  %.pn227.pn = phi { ptr, i32 } [ %246, %245 ], [ %.pn217.pn.pn, %333 ], [ %.pn209.pn.pn.pn.pn.pn, %302 ], [ %.pn221, %370 ], [ %365, %364 ], [ %.pn223, %390 ], [ %lpad.loopexit, %.loopexit ], [ %lpad.loopexit.split-lp, %.loopexit.split-lp ], [ %lpad.loopexit337, %.loopexit335 ], [ %lpad.loopexit.split-lp338, %.loopexit.split-lp336 ], [ %lpad.loopexit327, %.loopexit325 ], [ %lpad.loopexit.split-lp328, %.loopexit.split-lp326 ], [ %lpad.loopexit332, %.loopexit330 ], [ %lpad.loopexit.split-lp333, %.loopexit.split-lp331 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %52) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %51) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %50) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %49) #6
  br label %503

.critedge258:                                     ; preds = %189
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %40) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %39) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %38) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %37) #6
  br label %413

413:                                              ; preds = %411, %.critedge258
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %65) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3z_LEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %65, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %414 unwind label %456

414:                                              ; preds = %413
  %415 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %65)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %66) #6
  %416 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector10x_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %66, ptr noundef nonnull align 8 dereferenceable(280) %416)
          to label %417 unwind label %458

417:                                              ; preds = %414
  %418 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %66)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %67) #6
  %419 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector12z_L_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %67, ptr noundef nonnull align 8 dereferenceable(280) %419)
          to label %420 unwind label %460

420:                                              ; preds = %417
  %421 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %67)
  invoke void @_ZNK10SimTKIpopt6Matrix14SinvBlrmZMTdBrEdRKNS_6VectorES3_S3_S3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %6, double noundef -1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %14, ptr noundef nonnull align 8 dereferenceable(205) %415, ptr noundef nonnull align 8 dereferenceable(205) %10, ptr noundef nonnull align 8 dereferenceable(205) %418, ptr noundef nonnull align 8 dereferenceable(205) %421)
          to label %422 unwind label %462

422:                                              ; preds = %420
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %67) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %67) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %66) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %66) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %65) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %65) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %68) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3z_UEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %68, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %423 unwind label %467

423:                                              ; preds = %422
  %424 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %68)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %69) #6
  %425 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector10x_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %69, ptr noundef nonnull align 8 dereferenceable(280) %425)
          to label %426 unwind label %469

426:                                              ; preds = %423
  %427 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %69)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %70) #6
  %428 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector12z_U_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %70, ptr noundef nonnull align 8 dereferenceable(280) %428)
          to label %429 unwind label %471

429:                                              ; preds = %426
  %430 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %70)
  invoke void @_ZNK10SimTKIpopt6Matrix14SinvBlrmZMTdBrEdRKNS_6VectorES3_S3_S3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %7, double noundef 1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %15, ptr noundef nonnull align 8 dereferenceable(205) %424, ptr noundef nonnull align 8 dereferenceable(205) %11, ptr noundef nonnull align 8 dereferenceable(205) %427, ptr noundef nonnull align 8 dereferenceable(205) %430)
          to label %431 unwind label %473

431:                                              ; preds = %429
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %70) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %70) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %69) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %69) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %68) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %68) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %71) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3v_LEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %71, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %432 unwind label %478

432:                                              ; preds = %431
  %433 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %71)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %72) #6
  %434 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector10s_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %72, ptr noundef nonnull align 8 dereferenceable(280) %434)
          to label %435 unwind label %480

435:                                              ; preds = %432
  %436 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %72)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %73) #6
  %437 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector12v_L_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %73, ptr noundef nonnull align 8 dereferenceable(280) %437)
          to label %438 unwind label %482

438:                                              ; preds = %435
  %439 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %73)
  invoke void @_ZNK10SimTKIpopt6Matrix14SinvBlrmZMTdBrEdRKNS_6VectorES3_S3_S3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %8, double noundef -1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %16, ptr noundef nonnull align 8 dereferenceable(205) %433, ptr noundef nonnull align 8 dereferenceable(205) %12, ptr noundef nonnull align 8 dereferenceable(205) %436, ptr noundef nonnull align 8 dereferenceable(205) %439)
          to label %440 unwind label %484

440:                                              ; preds = %438
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %73) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %73) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %72) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %72) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %71) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %71) #6
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %74) #6
  invoke void @_ZNK10SimTKIpopt14IteratesVector3v_UEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.51") align 8 %74, ptr noundef nonnull align 8 dereferenceable(280) %22)
          to label %441 unwind label %489

441:                                              ; preds = %440
  %442 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %74)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %75) #6
  %443 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector10s_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %75, ptr noundef nonnull align 8 dereferenceable(280) %443)
          to label %444 unwind label %491

444:                                              ; preds = %441
  %445 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %75)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %76) #6
  %446 = call noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt14IteratesVector12v_U_NonConstEv(ptr dead_on_unwind nonnull writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8 %76, ptr noundef nonnull align 8 dereferenceable(280) %446)
          to label %447 unwind label %493

447:                                              ; preds = %444
  %448 = call noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %76)
  invoke void @_ZNK10SimTKIpopt6Matrix14SinvBlrmZMTdBrEdRKNS_6VectorES3_S3_S3_RS1_(ptr noundef nonnull align 8 dereferenceable(69) %9, double noundef 1.000000e+00, ptr noundef nonnull align 8 dereferenceable(205) %17, ptr noundef nonnull align 8 dereferenceable(205) %442, ptr noundef nonnull align 8 dereferenceable(205) %13, ptr noundef nonnull align 8 dereferenceable(205) %445, ptr noundef nonnull align 8 dereferenceable(205) %448)
          to label %449 unwind label %495

449:                                              ; preds = %447
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %76) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %76) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %75) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %75) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %74) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %74) #6
  %450 = call noundef nonnull align 8 dereferenceable(280) ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8) %33)
  invoke void @_ZN10SimTKIpopt6Vector12AddOneVectorEdRKS0_d(ptr noundef nonnull align 8 dereferenceable(205) %23, double noundef %20, ptr noundef nonnull align 8 dereferenceable(205) %450, double noundef %21)
          to label %451 unwind label %500

451:                                              ; preds = %449
  %452 = invoke noundef nonnull align 8 dereferenceable(864) ptr @_ZNK10SimTKIpopt23AlgorithmStrategyObject6IpDataEv(ptr noundef nonnull align 8 dereferenceable(49) %0)
          to label %453 unwind label %500

453:                                              ; preds = %451
  %454 = call noundef nonnull align 8 dereferenceable(664) ptr @_ZN10SimTKIpopt9IpoptData11TimingStatsEv(ptr noundef nonnull align 8 dereferenceable(864) %452)
  %455 = call noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics23PDSystemSolverSolveOnceEv(ptr noundef nonnull align 8 dereferenceable(664) %454)
  call void @_ZN10SimTKIpopt9TimedTask3EndEv(ptr noundef nonnull align 8 dereferenceable(18) %455)
  br label %502

456:                                              ; preds = %413
  %457 = landingpad { ptr, i32 }
          cleanup
  br label %466

458:                                              ; preds = %414
  %459 = landingpad { ptr, i32 }
          cleanup
  br label %465

460:                                              ; preds = %417
  %461 = landingpad { ptr, i32 }
          cleanup
  br label %464

462:                                              ; preds = %420
  %463 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %67) #6
  br label %464

464:                                              ; preds = %462, %460
  %.pn231 = phi { ptr, i32 } [ %463, %462 ], [ %461, %460 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %67) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %66) #6
  br label %465

465:                                              ; preds = %464, %458
  %.pn231.pn = phi { ptr, i32 } [ %.pn231, %464 ], [ %459, %458 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %66) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %65) #6
  br label %466

466:                                              ; preds = %465, %456
  %.pn231.pn.pn = phi { ptr, i32 } [ %.pn231.pn, %465 ], [ %457, %456 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %65) #6
  br label %503

467:                                              ; preds = %422
  %468 = landingpad { ptr, i32 }
          cleanup
  br label %477

469:                                              ; preds = %423
  %470 = landingpad { ptr, i32 }
          cleanup
  br label %476

471:                                              ; preds = %426
  %472 = landingpad { ptr, i32 }
          cleanup
  br label %475

473:                                              ; preds = %429
  %474 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %70) #6
  br label %475

475:                                              ; preds = %473, %471
  %.pn235 = phi { ptr, i32 } [ %474, %473 ], [ %472, %471 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %70) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %69) #6
  br label %476

476:                                              ; preds = %475, %469
  %.pn235.pn = phi { ptr, i32 } [ %.pn235, %475 ], [ %470, %469 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %69) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %68) #6
  br label %477

477:                                              ; preds = %476, %467
  %.pn235.pn.pn = phi { ptr, i32 } [ %.pn235.pn, %476 ], [ %468, %467 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %68) #6
  br label %503

478:                                              ; preds = %431
  %479 = landingpad { ptr, i32 }
          cleanup
  br label %488

480:                                              ; preds = %432
  %481 = landingpad { ptr, i32 }
          cleanup
  br label %487

482:                                              ; preds = %435
  %483 = landingpad { ptr, i32 }
          cleanup
  br label %486

484:                                              ; preds = %438
  %485 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %73) #6
  br label %486

486:                                              ; preds = %484, %482
  %.pn239 = phi { ptr, i32 } [ %485, %484 ], [ %483, %482 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %73) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %72) #6
  br label %487

487:                                              ; preds = %486, %480
  %.pn239.pn = phi { ptr, i32 } [ %.pn239, %486 ], [ %481, %480 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %72) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %71) #6
  br label %488

488:                                              ; preds = %487, %478
  %.pn239.pn.pn = phi { ptr, i32 } [ %.pn239.pn, %487 ], [ %479, %478 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %71) #6
  br label %503

489:                                              ; preds = %440
  %490 = landingpad { ptr, i32 }
          cleanup
  br label %499

491:                                              ; preds = %441
  %492 = landingpad { ptr, i32 }
          cleanup
  br label %498

493:                                              ; preds = %444
  %494 = landingpad { ptr, i32 }
          cleanup
  br label %497

495:                                              ; preds = %447
  %496 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %76) #6
  br label %497

497:                                              ; preds = %495, %493
  %.pn243 = phi { ptr, i32 } [ %496, %495 ], [ %494, %493 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %76) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %75) #6
  br label %498

498:                                              ; preds = %497, %491
  %.pn243.pn = phi { ptr, i32 } [ %.pn243, %497 ], [ %492, %491 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %75) #6
  call void @_ZN10SimTKIpopt8SmartPtrIKNS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %74) #6
  br label %499

499:                                              ; preds = %498, %489
  %.pn243.pn.pn = phi { ptr, i32 } [ %.pn243.pn, %498 ], [ %490, %489 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %74) #6
  br label %503

500:                                              ; preds = %451, %449
  %501 = landingpad { ptr, i32 }
          cleanup
  br label %503

502:                                              ; preds = %.thread324, %192, %453
  %.9 = phi i1 [ true, %453 ], [ false, %192 ], [ false, %.thread324 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %36) #6
  call void @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %34) #6
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %34) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %33) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %33) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %29) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %25) #6
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #6
  ret i1 %.9

503:                                              ; preds = %217, %466, %477, %488, %499, %500, %412, %244, %155
  %.pn247.pn = phi { ptr, i32 } [ %156, %155 ], [ %501, %500 ], [ %.pn243.pn.pn, %499 ], [ %.pn239.pn.pn, %488 ], [ %.pn235.pn.pn, %477 ], [ %.pn231.pn.pn, %466 ], [ %.pn202, %217 ], [ %.pn227.pn, %412 ], [ %.pn204.pn.pn, %244 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %36) #6
  call void @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %34) #6
  br label %504

504:                                              ; preds = %503, %153
  %.pn247.pn.pn = phi { ptr, i32 } [ %.pn247.pn, %503 ], [ %154, %153 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %34) #6
  call void @_ZN10SimTKIpopt8SmartPtrINS_14IteratesVectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %33) #6
  br label %505

505:                                              ; preds = %504, %151
  %.pn247.pn.pn.pn = phi { ptr, i32 } [ %.pn247.pn.pn, %504 ], [ %152, %151 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %33) #6
  br label %506

506:                                              ; preds = %505, %150, %145
  %.pn247.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn247.pn.pn.pn, %505 ], [ %.pn193, %150 ], [ %.pn191, %145 ]
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %29) #6
  br label %507

507:                                              ; preds = %506, %140
  %.pn247.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn247.pn.pn.pn.pn, %506 ], [ %.pn189, %140 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #6
  br label %508

508:                                              ; preds = %507, %135, %130
  %.pn247.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn247.pn.pn.pn.pn.pn, %507 ], [ %.pn187, %135 ], [ %.pn, %130 ]
  call void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8) %25) #6
  br label %509

509:                                              ; preds = %508, %124
  %.pn247.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn247.pn.pn.pn.pn.pn.pn, %508 ], [ %125, %124 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #6
  resume { ptr, i32 } %.pn247.pn.pn.pn.pn.pn.pn.pn
}

; 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 #3

; 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

declare void @_ZNK10SimTKIpopt10Journalist6PrintfENS_13EJournalLevelENS_16EJournalCategoryEPKcz(ptr noundef nonnull align 8 dereferenceable(40), i32 noundef, i32 noundef, ptr noundef, ...) local_unnamed_addr #3

; 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

; 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 noundef nonnull align 8 dereferenceable(18) ptr @_ZN10SimTKIpopt16TimingStatistics23PDSystemSolverSolveOnceEv(ptr noundef nonnull align 8 dereferenceable(664)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZNK10SimTKIpopt8SmartPtrIKNS_6VectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef ptr @_ZNK10SimTKIpopt6Vector11MakeNewCopyEv(ptr noundef nonnull align 8 dereferenceable(205)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEEC2EPS1_(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) unnamed_addr #1 align 2

declare void @_ZNK10SimTKIpopt6Matrix9AddMSinvZEdRKNS_6VectorES3_RS1_(ptr noundef nonnull align 8 dereferenceable(69), double noundef, ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205), ptr noundef nonnull align 8 dereferenceable(205)) local_unnamed_addr #3

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(205) ptr @_ZNK10SimTKIpopt8SmartPtrINS_6VectorEEdeEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSaIPKN10SimTKIpopt12TaggedObjectEEC2Ev(ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEC2EmRKS4_(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef, ptr noundef nonnull align 1 dereferenceable(1)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZNK10SimTKIpopt13CachedResultsIPvE15GetCachedResultERS1_RKSt6vectorIPKNS_12TaggedObjectESaIS7_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt13CachedResultsIPvE15AddCachedResultERKS1_RKSt6vectorIPKNS_12TaggedObjectESaIS8_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #2 align 2

declare void @_ZN10SimTKIpopt21PDPerturbationHandler19CurrentPerturbationERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNK10SimTKIpopt14IteratesVector3y_cEv(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 @_ZNK10SimTKIpopt14IteratesVector3y_dEv(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 noundef ptr @_ZNK10SimTKIpopt8SmartPtrINS_14IteratesVectorEEptEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector10x_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector10s_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector12y_c_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector12y_d_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN10SimTKIpopt8SmartPtrINS_6VectorEED2Ev(ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZNK10SimTKIpopt6Vector3DimEv(ptr noundef nonnull align 8 dereferenceable(205)) local_unnamed_addr #4 align 2

declare noundef zeroext i1 @_ZN10SimTKIpopt21PDPerturbationHandler17ConsiderNewSystemERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3

; Function Attrs: noreturn nounwind
declare void @__assert_fail(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #5

declare noundef zeroext i1 @_ZN10SimTKIpopt21PDPerturbationHandler21PerturbForSingularityERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3

declare noundef zeroext i1 @_ZN10SimTKIpopt21PDPerturbationHandler22PerturbForWrongInertiaERdS1_S1_S1_(ptr noundef nonnull align 8 dereferenceable(216), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3

declare void @_ZNK10SimTKIpopt6Matrix14SinvBlrmZMTdBrEdRKNS_6VectorES3_S3_S3_RS1_(ptr noundef nonnull align 8 dereferenceable(69), double noundef, 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)) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector12z_L_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector12z_U_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector12v_L_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt14IteratesVector12v_U_NonConstEv(ptr dead_on_unwind noalias writable sret(%"class.SimTKIpopt::SmartPtr.39") align 8, ptr noundef nonnull align 8 dereferenceable(280)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN10SimTKIpopt6Vector12AddOneVectorEdRKS0_d(ptr noundef nonnull align 8 dereferenceable(205), double noundef, ptr noundef nonnull align 8 dereferenceable(205), double noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIPKN10SimTKIpopt12TaggedObjectESaIS3_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) 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

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt15__new_allocatorIPKN10SimTKIpopt12TaggedObjectEED2Ev(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 = { "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 = { 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 #5 = { noreturn nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { nounwind }
attributes #7 = { noreturn nounwind }

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

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


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