; LLVM IR from Zhefan-Xu/Intent-MPC :: trajectory_planner/include/trajectory_planner/mpc_solver (acado_solver)

; 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"

; Function Attrs: nounwind uwtable
define dso_local void @acado_multQ1Gu(ptr noundef %0, ptr noundef %1) #0 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %5 = load ptr, ptr %3, align 8, !tbaa !5
  %6 = getelementptr inbounds double, ptr %5, i64 0
  %7 = load double, ptr %6, align 8, !tbaa !9
  %8 = fmul double 1.000000e+01, %7
  %9 = load ptr, ptr %4, align 8, !tbaa !5
  %10 = getelementptr inbounds double, ptr %9, i64 0
  store double %8, ptr %10, align 8, !tbaa !9
  %11 = load ptr, ptr %3, align 8, !tbaa !5
  %12 = getelementptr inbounds double, ptr %11, i64 1
  %13 = load double, ptr %12, align 8, !tbaa !9
  %14 = fmul double 1.000000e+01, %13
  %15 = load ptr, ptr %4, align 8, !tbaa !5
  %16 = getelementptr inbounds double, ptr %15, i64 1
  store double %14, ptr %16, align 8, !tbaa !9
  %17 = load ptr, ptr %3, align 8, !tbaa !5
  %18 = getelementptr inbounds double, ptr %17, i64 2
  %19 = load double, ptr %18, align 8, !tbaa !9
  %20 = fmul double 1.000000e+01, %19
  %21 = load ptr, ptr %4, align 8, !tbaa !5
  %22 = getelementptr inbounds double, ptr %21, i64 2
  store double %20, ptr %22, align 8, !tbaa !9
  %23 = load ptr, ptr %3, align 8, !tbaa !5
  %24 = getelementptr inbounds double, ptr %23, i64 3
  %25 = load double, ptr %24, align 8, !tbaa !9
  %26 = fmul double 1.000000e+01, %25
  %27 = load ptr, ptr %4, align 8, !tbaa !5
  %28 = getelementptr inbounds double, ptr %27, i64 3
  store double %26, ptr %28, align 8, !tbaa !9
  %29 = load ptr, ptr %3, align 8, !tbaa !5
  %30 = getelementptr inbounds double, ptr %29, i64 4
  %31 = load double, ptr %30, align 8, !tbaa !9
  %32 = fmul double 1.000000e+01, %31
  %33 = load ptr, ptr %4, align 8, !tbaa !5
  %34 = getelementptr inbounds double, ptr %33, i64 4
  store double %32, ptr %34, align 8, !tbaa !9
  %35 = load ptr, ptr %3, align 8, !tbaa !5
  %36 = getelementptr inbounds double, ptr %35, i64 5
  %37 = load double, ptr %36, align 8, !tbaa !9
  %38 = fmul double 1.000000e+01, %37
  %39 = load ptr, ptr %4, align 8, !tbaa !5
  %40 = getelementptr inbounds double, ptr %39, i64 5
  store double %38, ptr %40, align 8, !tbaa !9
  %41 = load ptr, ptr %3, align 8, !tbaa !5
  %42 = getelementptr inbounds double, ptr %41, i64 6
  %43 = load double, ptr %42, align 8, !tbaa !9
  %44 = fmul double 1.000000e+01, %43
  %45 = load ptr, ptr %4, align 8, !tbaa !5
  %46 = getelementptr inbounds double, ptr %45, i64 6
  store double %44, ptr %46, align 8, !tbaa !9
  %47 = load ptr, ptr %3, align 8, !tbaa !5
  %48 = getelementptr inbounds double, ptr %47, i64 7
  %49 = load double, ptr %48, align 8, !tbaa !9
  %50 = fmul double 1.000000e+01, %49
  %51 = load ptr, ptr %4, align 8, !tbaa !5
  %52 = getelementptr inbounds double, ptr %51, i64 7
  store double %50, ptr %52, align 8, !tbaa !9
  %53 = load ptr, ptr %3, align 8, !tbaa !5
  %54 = getelementptr inbounds double, ptr %53, i64 8
  %55 = load double, ptr %54, align 8, !tbaa !9
  %56 = fmul double 1.000000e+01, %55
  %57 = load ptr, ptr %4, align 8, !tbaa !5
  %58 = getelementptr inbounds double, ptr %57, i64 8
  store double %56, ptr %58, align 8, !tbaa !9
  %59 = load ptr, ptr %3, align 8, !tbaa !5
  %60 = getelementptr inbounds double, ptr %59, i64 9
  %61 = load double, ptr %60, align 8, !tbaa !9
  %62 = fmul double 1.000000e+01, %61
  %63 = load ptr, ptr %4, align 8, !tbaa !5
  %64 = getelementptr inbounds double, ptr %63, i64 9
  store double %62, ptr %64, align 8, !tbaa !9
  %65 = load ptr, ptr %3, align 8, !tbaa !5
  %66 = getelementptr inbounds double, ptr %65, i64 10
  %67 = load double, ptr %66, align 8, !tbaa !9
  %68 = fmul double 1.000000e+01, %67
  %69 = load ptr, ptr %4, align 8, !tbaa !5
  %70 = getelementptr inbounds double, ptr %69, i64 10
  store double %68, ptr %70, align 8, !tbaa !9
  %71 = load ptr, ptr %3, align 8, !tbaa !5
  %72 = getelementptr inbounds double, ptr %71, i64 11
  %73 = load double, ptr %72, align 8, !tbaa !9
  %74 = fmul double 1.000000e+01, %73
  %75 = load ptr, ptr %4, align 8, !tbaa !5
  %76 = getelementptr inbounds double, ptr %75, i64 11
  store double %74, ptr %76, align 8, !tbaa !9
  %77 = load ptr, ptr %3, align 8, !tbaa !5
  %78 = getelementptr inbounds double, ptr %77, i64 12
  %79 = load double, ptr %78, align 8, !tbaa !9
  %80 = fmul double 1.000000e+01, %79
  %81 = load ptr, ptr %4, align 8, !tbaa !5
  %82 = getelementptr inbounds double, ptr %81, i64 12
  store double %80, ptr %82, align 8, !tbaa !9
  %83 = load ptr, ptr %3, align 8, !tbaa !5
  %84 = getelementptr inbounds double, ptr %83, i64 13
  %85 = load double, ptr %84, align 8, !tbaa !9
  %86 = fmul double 1.000000e+01, %85
  %87 = load ptr, ptr %4, align 8, !tbaa !5
  %88 = getelementptr inbounds double, ptr %87, i64 13
  store double %86, ptr %88, align 8, !tbaa !9
  %89 = load ptr, ptr %3, align 8, !tbaa !5
  %90 = getelementptr inbounds double, ptr %89, i64 14
  %91 = load double, ptr %90, align 8, !tbaa !9
  %92 = fmul double 1.000000e+01, %91
  %93 = load ptr, ptr %4, align 8, !tbaa !5
  %94 = getelementptr inbounds double, ptr %93, i64 14
  store double %92, ptr %94, align 8, !tbaa !9
  %95 = load ptr, ptr %4, align 8, !tbaa !5
  %96 = getelementptr inbounds double, ptr %95, i64 15
  store double 0.000000e+00, ptr %96, align 8, !tbaa !9
  %97 = load ptr, ptr %4, align 8, !tbaa !5
  %98 = getelementptr inbounds double, ptr %97, i64 16
  store double 0.000000e+00, ptr %98, align 8, !tbaa !9
  %99 = load ptr, ptr %4, align 8, !tbaa !5
  %100 = getelementptr inbounds double, ptr %99, i64 17
  store double 0.000000e+00, ptr %100, align 8, !tbaa !9
  %101 = load ptr, ptr %4, align 8, !tbaa !5
  %102 = getelementptr inbounds double, ptr %101, i64 18
  store double 0.000000e+00, ptr %102, align 8, !tbaa !9
  %103 = load ptr, ptr %4, align 8, !tbaa !5
  %104 = getelementptr inbounds double, ptr %103, i64 19
  store double 0.000000e+00, ptr %104, align 8, !tbaa !9
  %105 = load ptr, ptr %4, align 8, !tbaa !5
  %106 = getelementptr inbounds double, ptr %105, i64 20
  store double 0.000000e+00, ptr %106, align 8, !tbaa !9
  %107 = load ptr, ptr %4, align 8, !tbaa !5
  %108 = getelementptr inbounds double, ptr %107, i64 21
  store double 0.000000e+00, ptr %108, align 8, !tbaa !9
  %109 = load ptr, ptr %4, align 8, !tbaa !5
  %110 = getelementptr inbounds double, ptr %109, i64 22
  store double 0.000000e+00, ptr %110, align 8, !tbaa !9
  %111 = load ptr, ptr %4, align 8, !tbaa !5
  %112 = getelementptr inbounds double, ptr %111, i64 23
  store double 0.000000e+00, ptr %112, align 8, !tbaa !9
  %113 = load ptr, ptr %4, align 8, !tbaa !5
  %114 = getelementptr inbounds double, ptr %113, i64 24
  store double 0.000000e+00, ptr %114, align 8, !tbaa !9
  %115 = load ptr, ptr %4, align 8, !tbaa !5
  %116 = getelementptr inbounds double, ptr %115, i64 25
  store double 0.000000e+00, ptr %116, align 8, !tbaa !9
  %117 = load ptr, ptr %4, align 8, !tbaa !5
  %118 = getelementptr inbounds double, ptr %117, i64 26
  store double 0.000000e+00, ptr %118, align 8, !tbaa !9
  %119 = load ptr, ptr %4, align 8, !tbaa !5
  %120 = getelementptr inbounds double, ptr %119, i64 27
  store double 0.000000e+00, ptr %120, align 8, !tbaa !9
  %121 = load ptr, ptr %4, align 8, !tbaa !5
  %122 = getelementptr inbounds double, ptr %121, i64 28
  store double 0.000000e+00, ptr %122, align 8, !tbaa !9
  %123 = load ptr, ptr %4, align 8, !tbaa !5
  %124 = getelementptr inbounds double, ptr %123, i64 29
  store double 0.000000e+00, ptr %124, align 8, !tbaa !9
  %125 = load ptr, ptr %4, align 8, !tbaa !5
  %126 = getelementptr inbounds double, ptr %125, i64 30
  store double 0.000000e+00, ptr %126, align 8, !tbaa !9
  %127 = load ptr, ptr %4, align 8, !tbaa !5
  %128 = getelementptr inbounds double, ptr %127, i64 31
  store double 0.000000e+00, ptr %128, align 8, !tbaa !9
  %129 = load ptr, ptr %4, align 8, !tbaa !5
  %130 = getelementptr inbounds double, ptr %129, i64 32
  store double 0.000000e+00, ptr %130, align 8, !tbaa !9
  %131 = load ptr, ptr %4, align 8, !tbaa !5
  %132 = getelementptr inbounds double, ptr %131, i64 33
  store double 0.000000e+00, ptr %132, align 8, !tbaa !9
  %133 = load ptr, ptr %4, align 8, !tbaa !5
  %134 = getelementptr inbounds double, ptr %133, i64 34
  store double 0.000000e+00, ptr %134, align 8, !tbaa !9
  %135 = load ptr, ptr %4, align 8, !tbaa !5
  %136 = getelementptr inbounds double, ptr %135, i64 35
  store double 0.000000e+00, ptr %136, align 8, !tbaa !9
  %137 = load ptr, ptr %4, align 8, !tbaa !5
  %138 = getelementptr inbounds double, ptr %137, i64 36
  store double 0.000000e+00, ptr %138, align 8, !tbaa !9
  %139 = load ptr, ptr %4, align 8, !tbaa !5
  %140 = getelementptr inbounds double, ptr %139, i64 37
  store double 0.000000e+00, ptr %140, align 8, !tbaa !9
  %141 = load ptr, ptr %4, align 8, !tbaa !5
  %142 = getelementptr inbounds double, ptr %141, i64 38
  store double 0.000000e+00, ptr %142, align 8, !tbaa !9
  %143 = load ptr, ptr %4, align 8, !tbaa !5
  %144 = getelementptr inbounds double, ptr %143, i64 39
  store double 0.000000e+00, ptr %144, align 8, !tbaa !9
  ret void
}

attributes #0 = { 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" }

!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/C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"double", !7, i64 0}


; 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"

; Function Attrs: mustprogress nofree norecurse nosync nounwind willreturn memory(argmem: readwrite) uwtable
define dso_local void @acado_multQ1Gu(ptr nocapture noundef readonly %0, ptr nocapture noundef writeonly %1) local_unnamed_addr #0 {
  %3 = load double, ptr %0, align 8, !tbaa !5
  %4 = fmul double %3, 1.000000e+01
  store double %4, ptr %1, align 8, !tbaa !5
  %5 = getelementptr inbounds i8, ptr %0, i64 8
  %6 = load double, ptr %5, align 8, !tbaa !5
  %7 = fmul double %6, 1.000000e+01
  %8 = getelementptr inbounds i8, ptr %1, i64 8
  store double %7, ptr %8, align 8, !tbaa !5
  %9 = getelementptr inbounds i8, ptr %0, i64 16
  %10 = load double, ptr %9, align 8, !tbaa !5
  %11 = fmul double %10, 1.000000e+01
  %12 = getelementptr inbounds i8, ptr %1, i64 16
  store double %11, ptr %12, align 8, !tbaa !5
  %13 = getelementptr inbounds i8, ptr %0, i64 24
  %14 = load double, ptr %13, align 8, !tbaa !5
  %15 = fmul double %14, 1.000000e+01
  %16 = getelementptr inbounds i8, ptr %1, i64 24
  store double %15, ptr %16, align 8, !tbaa !5
  %17 = getelementptr inbounds i8, ptr %0, i64 32
  %18 = load double, ptr %17, align 8, !tbaa !5
  %19 = fmul double %18, 1.000000e+01
  %20 = getelementptr inbounds i8, ptr %1, i64 32
  store double %19, ptr %20, align 8, !tbaa !5
  %21 = getelementptr inbounds i8, ptr %0, i64 40
  %22 = load double, ptr %21, align 8, !tbaa !5
  %23 = fmul double %22, 1.000000e+01
  %24 = getelementptr inbounds i8, ptr %1, i64 40
  store double %23, ptr %24, align 8, !tbaa !5
  %25 = getelementptr inbounds i8, ptr %0, i64 48
  %26 = load double, ptr %25, align 8, !tbaa !5
  %27 = fmul double %26, 1.000000e+01
  %28 = getelementptr inbounds i8, ptr %1, i64 48
  store double %27, ptr %28, align 8, !tbaa !5
  %29 = getelementptr inbounds i8, ptr %0, i64 56
  %30 = load double, ptr %29, align 8, !tbaa !5
  %31 = fmul double %30, 1.000000e+01
  %32 = getelementptr inbounds i8, ptr %1, i64 56
  store double %31, ptr %32, align 8, !tbaa !5
  %33 = getelementptr inbounds i8, ptr %0, i64 64
  %34 = load double, ptr %33, align 8, !tbaa !5
  %35 = fmul double %34, 1.000000e+01
  %36 = getelementptr inbounds i8, ptr %1, i64 64
  store double %35, ptr %36, align 8, !tbaa !5
  %37 = getelementptr inbounds i8, ptr %0, i64 72
  %38 = load double, ptr %37, align 8, !tbaa !5
  %39 = fmul double %38, 1.000000e+01
  %40 = getelementptr inbounds i8, ptr %1, i64 72
  store double %39, ptr %40, align 8, !tbaa !5
  %41 = getelementptr inbounds i8, ptr %0, i64 80
  %42 = load double, ptr %41, align 8, !tbaa !5
  %43 = fmul double %42, 1.000000e+01
  %44 = getelementptr inbounds i8, ptr %1, i64 80
  store double %43, ptr %44, align 8, !tbaa !5
  %45 = getelementptr inbounds i8, ptr %0, i64 88
  %46 = load double, ptr %45, align 8, !tbaa !5
  %47 = fmul double %46, 1.000000e+01
  %48 = getelementptr inbounds i8, ptr %1, i64 88
  store double %47, ptr %48, align 8, !tbaa !5
  %49 = getelementptr inbounds i8, ptr %0, i64 96
  %50 = load double, ptr %49, align 8, !tbaa !5
  %51 = fmul double %50, 1.000000e+01
  %52 = getelementptr inbounds i8, ptr %1, i64 96
  store double %51, ptr %52, align 8, !tbaa !5
  %53 = getelementptr inbounds i8, ptr %0, i64 104
  %54 = load double, ptr %53, align 8, !tbaa !5
  %55 = fmul double %54, 1.000000e+01
  %56 = getelementptr inbounds i8, ptr %1, i64 104
  store double %55, ptr %56, align 8, !tbaa !5
  %57 = getelementptr inbounds i8, ptr %0, i64 112
  %58 = load double, ptr %57, align 8, !tbaa !5
  %59 = fmul double %58, 1.000000e+01
  %60 = getelementptr inbounds i8, ptr %1, i64 112
  store double %59, ptr %60, align 8, !tbaa !5
  %61 = getelementptr inbounds i8, ptr %1, i64 120
  tail call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(200) %61, i8 0, i64 200, i1 false)
  ret void
}

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #1

attributes #0 = { mustprogress nofree norecurse nosync nounwind willreturn memory(argmem: readwrite) 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 #1 = { nocallback nofree nounwind willreturn memory(argmem: write) }

!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 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,InstCombinePass,MemCpyOptPass,PostOrderFunctionAttrsPass,SROAPass,TailCallElimPass