"Port" BFWS back to the beautiful world of functions

[gfrances]

Chasing Nir's planner performance has resulted in a number of changes aimed at optimizing the performance of FS/BFWS with propositional domains. We need to ensure that the planner still works as expected when functional domains are used. This includes:

• Making sure that the planner can be instantiated with non-binary states, non-binary novelty features, etc.
• Making sure the ASP-based grounder does not get in the way of the parsing of a functional problem (or better still: adapt the grounder to the functional world!)

[miquelramirez]

The grounder recognises functions, but in a PDDL 2.1 way... I'd advise to defer the integration of the grounder with FSTRIPS for the time being, and use it for the purpose it had - to process efficiently the IPC benchmarks.

Making sure that the rest of FS still works is very important indeed :stuck_out_tongue_closed_eyes:

[gfrances]

This has already been accomplished - the planner works now with FSTRIPS problems. I've opened a separate issue #49 to take care of using the ASP-based grounder with FSTRIPS encodings whenever possible.