if(this.pddl) {
logger.fine("OPTIMIZATION: JavaGP using Types");
//If domain has negative preconditions, the planner will use the closed world assumption
if(domainDescription.isNegativePreconditions()) {
logger.fine("OPTIMIZATION: JavaGP using Closed World Assumption (Lazily)");
this.planningGraph = new PlanningGraphClosedWorldAssumption(initialLevel, domainDescription.getTypes(), domainDescription.getParameterTypes(), new StaticMutexesTable(new ArrayList<Operator>(domainDescription.getOperators())));
} else this.planningGraph = new PlanningGraph(initialLevel, domainDescription.getTypes(), domainDescription.getParameterTypes(), new StaticMutexesTable(new ArrayList<Operator>(domainDescription.getOperators())));
} else this.planningGraph = new PlanningGraph(initialLevel, new StaticMutexesTable(new ArrayList<Operator>(domainDescription.getOperators())));
// System.out.println();