// File: /workspace/github_cpp_makefile_star2_O1/bonetblai[P]mdp-engine/ctp3/../engine/aot.h
// Function: Online::Policy::AOT::aot_t<state_t>::expand(Online::Policy::AOT::state_node_t<state_t>*, std::vector<Online::Policy::AOT::node_t<state_t>*, std::allocator<Online::Policy::AOT::node_t<state_t>*>>&) const
void expand(state_node_t<T> *s_node,
                std::vector<node_t<T>*> &nodes_to_propagate) const {
        assert(s_node->is_leaf());
        assert(!s_node->is_goal_);
        assert(!s_node->is_dead_end_);
        s_node->children_.reserve(problem_.number_actions(s_node->state_));
        for( Problem::action_t a = 0; a < problem_.number_actions(s_node->state_); ++a ) {
            if( problem_.applicable(s_node->state_, a) ) {
                // create node for this action
                ++num_nodes_;
                action_node_t<T> *a_node = new action_node_t<T>(a);
                a_node->action_cost_ = problem_.cost(s_node->state_, a);
                a_node->parent_ = s_node;
                s_node->children_.push_back(a_node);

                // expand node
                if( !delayed_evaluation_ ) {
                    expand(a_node, nodes_to_propagate, false);
                } else {
                    // instead of full-width expansion to calculate value,
                    // estimate by sampling states and applying rollouts
                    // of base policy
                    float eval = evaluate(s_node->state_, a, 1+s_node->depth_);
                    a_node->value_ = a_node->action_cost_ + problem_.discount() * eval;
                    a_node->nsamples_ = delayed_evaluation_nsamples_ * leaf_nsamples_;
                }
            }
        }
        nodes_to_propagate.push_back(s_node);
    }

// Assembly:
pushq %rbp
pushq %r15
pushq %r14
pushq %r13
pushq %r12
pushq %rbx
subq $0x18, %rsp
movq %rdx, %rbx
movq %rsi, %r14
movq %rdi, %r15
movb 0x89(%rsi), %al
testb %al, %al
jne 0x27739
cmpb $0x0, 0x88(%r14)
jne 0x27739
movq 0xa8(%r14), %rcx
cmpq 0xb0(%r14), %rcx
jne 0x27903
cmpb $0x1, 0x88(%r14)
je 0x278c5
testb %al, %al
jne 0x278e4
leaq 0xa8(%r14), %r12
movq 0x8(%r15), %rdi
leaq 0x18(%r14), %r13
movq (%rdi), %rax
movq %r13, %rsi
callq *0x10(%rax)
movslq %eax, %rsi
movq %r12, 0x10(%rsp)
movq %r12, %rdi
callq 0x27922
movq 0x8(%r15), %rdi
movq (%rdi), %rax
movq %r13, %rsi
callq *0x10(%rax)
testl %eax, %eax
jle 0x27890
xorl %r12d, %r12d
xorl %ebp, %ebp
movq 0x8(%r15), %rdi
movq (%rdi), %rax
movq %r13, %rsi
movl %ebp, %edx
callq *0x30(%rax)
testb %al, %al
je 0x27879
incl 0x50(%r15)
movl $0x40, %edi
callq 0x6290
movq %r12, 0x8(%rax)
movq %r12, 0xf(%rax)
leaq 0x174bb(%rip), %rcx     # 0x3ec80
movq %rcx, (%rax)
movl %ebp, 0x18(%rax)
xorps %xmm0, %xmm0
movups %xmm0, 0x28(%rax)
movq %r12, 0x38(%rax)
movq %rax, 0x8(%rsp)
movq 0x8(%r15), %rdi
movq (%rdi), %rax
movq %r13, %rsi
movl %ebp, %edx
callq *0x48(%rax)
movq 0x8(%rsp), %rax
movss %xmm0, 0x1c(%rax)
movq %r14, 0x20(%rax)
movq 0xb0(%r14), %rsi
cmpq 0xb8(%r14), %rsi
je 0x27815
movq %rax, (%rsi)
addq $0x8, 0xb0(%r14)
jmp 0x27824
movq 0x10(%rsp), %rdi
leaq 0x8(%rsp), %rdx
callq 0x28336
cmpb $0x0, 0x3d(%r15)
je 0x27867
movl 0x8c(%r14), %ecx
incl %ecx
movq %r15, %rdi
movq %r13, %rsi
movl %ebp, %edx
callq 0x27dac
movq 0x8(%r15), %rax
mulss 0x8(%rax), %xmm0
movq 0x8(%rsp), %rax
addss 0x1c(%rax), %xmm0
movss %xmm0, 0x8(%rax)
movl 0x44(%r15), %ecx
imull 0x48(%r15), %ecx
movl %ecx, 0x10(%rax)
jmp 0x27879
movq 0x8(%rsp), %rsi
movq %r15, %rdi
movq %rbx, %rdx
xorl %ecx, %ecx
callq 0x279b0
incl %ebp
movq 0x8(%r15), %rdi
movq (%rdi), %rax
movq %r13, %rsi
callq *0x10(%rax)
cmpl %eax, %ebp
jl 0x27791
movq %r14, 0x8(%rsp)
movq 0x8(%rbx), %rsi
cmpq 0x10(%rbx), %rsi
je 0x278a9
movq %r14, (%rsi)
addq $0x8, 0x8(%rbx)
jmp 0x278b6
leaq 0x8(%rsp), %rdx
movq %rbx, %rdi
callq 0x2875c
addq $0x18, %rsp
popq %rbx
popq %r12
popq %r13
popq %r14
popq %r15
popq %rbp
retq
leaq 0x7e6e(%rip), %rdi      # 0x2f73a
leaq 0x7112(%rip), %rsi      # 0x2e9e5
leaq 0x8332(%rip), %rcx      # 0x2fc0c
movl $0x29e, %edx            # imm = 0x29E
callq 0x61c0
leaq 0x7ee4(%rip), %rdi      # 0x2f7cf
leaq 0x70f3(%rip), %rsi      # 0x2e9e5
leaq 0x8313(%rip), %rcx      # 0x2fc0c
movl $0x29f, %edx            # imm = 0x29F
callq 0x61c0
leaq 0x82f0(%rip), %rdi      # 0x2fbfa
leaq 0x70d4(%rip), %rsi      # 0x2e9e5
leaq 0x82f4(%rip), %rcx      # 0x2fc0c
movl $0x29d, %edx            # imm = 0x29D
callq 0x61c0