This directory contains the C implementation of FF-v2.3, as it was used in the 3rd international planning competition. Build the planner by typing make Which produces an executable named ff Usage should be self-explanatory. Running ff without any parameters prints out a brief help information about the parameters that are applicable, which basically come down to specifying the domain and problem files. Have fun, Joerg Hoffmann Rohan Chitnis: made edits to get compilation working on Mac, following: https://github.com/jsk-ros-pkg/jsk_3rdparty/blob/master/3rdparty/ff/ff.patch