We want to refactor the code in the search component that reads and checks the FDR representation of the planning task:
- Take the parser code out of root_task.{h,cc} into separate files. This might require more structure changes.
- Put the parser and lexer code into the same directory, either the task directory or a new one.
- Reconsider function names, variable names (e.g. "conditions" vs. "facts").
- Reconsider the division into functions.
- Avoid code duplication (e.g. read_facts and the part reading facts in read_mutex).
- Do a general code review.
- Maybe not really "refactoring", but we also want to unify error messages.