\newcommand{\todo}[1]{\textcolor{blue}{TODO: #1}}

\newcommand{\colorpar}[3]{\colorbox{#1}{\parbox{#2}{#3}}}
\newcommand{\marginremark}[3]{\marginpar{\colorpar{#2}{\linewidth}{\color{#1}#3}}}
\newcommand{\commentside}[2]{\marginpar{\color{#1}\tiny#2}}
\setlength{\marginparwidth}{4cm} %This is also for todonotes
\def\orcidID#1{\smash{\href{http://orcid.org/#1}{\protect\raisebox{-1.25pt}{\protect\includegraphics{figures/ORCID_Color.eps}}}}}
\newcommand{\todocite}{[?!]\marginremark{white}{red}{TODO CITE}}

\newcommand{\fm}[1]{\marginremark{white}{green!70!black}{\scriptsize{[FM]~ #1}}}
\newcommand{\ra}[1]{\marginremark{white}{orange!70!black}{\scriptsize{[RA]~ #1}}}
\newcommand{\mce}[1]{\marginremark{white}{red!50!black}{\scriptsize{[MC]~ #1}}}
\newcommand{\sj}[1]{\marginremark{white}{blue}{\scriptsize{[SJ]~ #1}}}
\newcommand{\jan}[1]{\marginremark{white}{violet}{\scriptsize{[JK]~ #1}}}
\newcommand{\dc}[1]{\marginremark{white}{teal}{\scriptsize{[DC]~ #1}}}

%-------------------------------------------------------------------------------
\newcommand{\ensuremathspace}[1]{\ensuremath{#1}\xspace}
\newcommand{\mathsymbol}[2]{ \newcommand{#1}{\ensuremathspace{#2}} }

\DeclareMathOperator*{\argmax}{arg\,max}
\DeclareMathOperator*{\argmin}{arg\,min}

\newcommand{\given}{~\vert~}
\mathsymbol{\naturals}{\mathbb{N}}
\mathsymbol{\integers}{\mathbb{Z}}
\mathsymbol{\reals}{\mathbb{R}}
\mathsymbol{\unitinterval}{[0,1]}
\mathsymbol{\supp}{\mathrm{supp}}
% \newcommand\pfun{\mathrel{\ooalign{\hfil$\mapstochar\mkern5mu$\hfil\cr$\to$\cr}}}
\mathsymbol{\Distr}{Distr}
\mathsymbol{\E}{\mathbb{E}}

\mathsymbol{\states}{S}
\mathsymbol{\sinit}{s_{0}}
\mathsymbol{\Act}{Act}
\mathsymbol{\actions}{\Act}
\mathsymbol{\act}{\alpha}
\mathsymbol{\mpm}{P}
\mathsymbol{\mrm}{R}
\mathsymbol{\df}{\gamma}
\mathsymbol{\mdp}{M}
\mathsymbol{\mdpT}{(S,\sinit,Act,\mpm,\mrm,\df)}
\mathsymbol{\mcT}{(S,\sinit,\mpm,\mrm,\df)}

\mathsymbol{\actrandom}{\act_{\mathrm{rand}}}
\newcommand{\sched}[1][]{\ensuremathspace{ \pi_{#1} }}
\newcommand{\parres}[1][]{\ensuremathspace{ {#1}|_{\sinit} }}
\mathsymbol{\schedopt}{\sched[]^{*}}
\mathsymbol{\schedrand}{\sched[\mathrm{rand}]}
\newcommand{\schedulers}[1][M]{\Sigma^{#1}}
\mathsymbol{\imc}{\mdp^{\sched}}

\mathsymbol{\val}{V}
\mathsymbol{\qval}{Q}

\mathsymbol{\variables}{\mathcal{V}}
\mathsymbol{\tree}{\mathcal{T}}
\mathsymbol{\treeopt}{\tree^{*}}
\mathsymbol{\treeT}{(T, \innerlabel, \leaflabel)}
\mathsymbol{\predicates}{\Psi_{\variables}}
\mathsymbol{\innerlabel}{\lambda}
\mathsymbol{\leaflabel}{\delta}

\mathsymbol{\terror}{\mathcal{E}}
\mathsymbol{\error}{\varepsilon}


% \mathsymbol{\path}{\pi}
\mathsymbol{\paths}{Path(T)}
\mathsymbol{\depth}{\mathsf{Depth}}
\newcommand{\leaf}[1][\tree]{\ensuremathspace{ \mathsf{leaf}^{#1}} }

\mathsymbol{\template}{\mathbb{T}}
\mathsymbol{\templateT}{(T, \Gamma, \Delta)}

\mathsymbol{\decisionfun}{\mathcal{D}}
\mathsymbol{\boundfun}{\mathcal{B}}
\mathsymbol{\actionfun}{\mathcal{A}}
\newcommand{\params}[1][\template]{\mathcal{X}^{#1}}


% \mathsymbol{\fpol}{\mathsf{pol}_{\template}}
\newcommand{\fpol}[1][]{\mathsf{pol}_{#1}}
\newcommand{\fdom}{\mathsf{dom}}
\mathsymbol{\fact}{\mathsf{act}}
\mathsymbol{\fsel}{\mathsf{sel}}
\mathsymbol{\fharm}{\mathsf{harm}}
\newcommand{\fpath}[1][]{\mathsf{path}_{#1}}
\newcommand{\sts}[2]{\mathsf{st}^{#1}({#2})}
\mathsymbol{\meetsin}{\bowtie_{\;\!i}^{\:\!n}}

\mathsymbol{\pf}{\varphi}

\mathsymbol{\family}{\mathcal{F}}
\mathsymbol{\ftemplate}{\template(\family)}
\mathsymbol{\superfamily}{ \family^{\template} }

\mathsymbol{\kmone}{{k{-}1}}

\newcommand{\F}[1]{\Diamond #1}

\newcommand{\prob}[2][]{\mathbb{P}\left[ #1 \models #2\right ]}
\newcommand{\reward}[2][]{\mathbb{E}^{#1}\left[#2\right]}
\newcommand{\probmax}[2][]{\mathbb{P}_{\max}\left[ #1 \models #2\right ]}
\newcommand{\probmin}[2][]{\mathbb{P}_{\min}\left[ #1 \models #2\right ]}

\newcommand{\tool}[1]{{\textsc{#1}}}
\newcommand{\storm}{\tool{Storm}\xspace}
\newcommand{\paynt}{\tool{Paynt}\xspace}
\newcommand{\dtcontrol}{\tool{dtControl}\xspace}
\newcommand{\uppaal}{\tool{UppAal Stratego}\xspace}
\newcommand{\omdt}{\tool{OMDT}\xspace}
\newcommand{\dtmap}{\tool{dtMap}\xspace}
\newcommand{\dtpaynt}{\tool{dtPaynt}\xspace}

% feel free to change this
\newcommand{\integration}{\tool{dtNESt}\xspace}
\newcommand{\integrationnaive}{\tool{dtNESt$\dagger$}\xspace}


\setlength{\marginparwidth}{4cm} %This is also for todonotes
\def\orcidID#1{\smash{\href{http://orcid.org/#1}{\protect\raisebox{-1.25pt}{\protect\includegraphics{figures/ORCID_Color.eps}}}}}



\newcommand{\milan}[1]{\textcolor{red}{\textbf{MC}: #1}}
\newcommand{\jk}[1]{\textcolor{violet}{\textbf{JK}: #1}}
\newcommand{\sebastian}[1]{\textcolor{green!40!black}{\textbf{SJ}:  #1}}
\renewcommand{\roman}[1]{\textcolor{orange}{RA: #1}}
\newcommand{\filip}[1]{\textcolor{olive}{FM: #1}}
\newcommand{\debraj}[1]{\textcolor{magenta}{\textbf{DC}: #1}}

\renewcommand{\paragraph}[1]{\smallskip\noindent\emph{#1}}
\renewcommand{\subsubsection}[1]{\medskip\noindent\textbf{#1}}


\newtheorem{definition}{Definition}
\newtheorem{example}{Example}