**** BUILDING *******

The script "build" compiles everything needed, i.e.:

- Compiles the planner FD for a 64 bits machine, in case of 32 bits machines you have to change all the Makefile files under directory planning/fd, replacing all
  occurrences of -m64 by -m32
- Compiles the planner LPG-adapt: you first need to ask the code to the authors and place it in directory planning/LPG-adapt. It is only neccesary form using
  lpg-adapt as a replanning algorithm
- Generates the SBCL image map-core using 6G (like in the IPC 2011). In case your machine has less memory remove the --dynamic-space-size 6000 from the script

****** EXECUTING *********

The script "run-plan" executes the planner. It needs at least 3 parameters: the PDDL domain file, the problem file and the solution file (like in the IPC 2011).
The parameters of the script are the following:

 -d <domain-file (absolute or relative path)>
 -p <problem-file (absolute or relative path)>
 -o <output-file (absolute or relative path)>
 -A <approach (centralized, cmap, mapr)>
 -g <goal-selection (subsets, all, all-achievable, rest-achievable, load-balance, best-cost, contract-net)>
 -a <algorithm (lama-unit-cost, lama-first, lama-seq, lama-opt, cgamer)>
 -r <replanning-algorith (lama-first, lpg-adapt, errtplan)>
 [-i <init-problems> (default nil)]
 [-m <merging?> (default nil)]
 [-s <sort-agents (name, random, maxgoals, mingoals)> (default name)]
 [-t <time (seconds)> (default 1800)]

Example:
 ./run-map.sh -d path_to_domain/domain.pddl -p path_to_problem/problem.pddl -o path_to_output/output -A mapr -s mingoals -g rest-achievable -a lama-first -r lama-first -t 1800


**** NEW DOMAINS ****

The 'agentification' information is included in the source code, in the function agentificate-domain from file ma-execute-from-core.lisp in directory
planning/sayphi/system/learning. Currently, we consider the following domains: zenotravel, driverlog, transport, ma-blocksworld, gripper, satellite, rover, port,
elevators, floortile, logistics, depots and sokoban. In case of a new domain, you have to change this function and compile again.