ompl

OMPL is a free sampling-based motion planning library.

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README

The Open Motion Planning Library (OMPL)

Continuous Integration Status

Installation

Visit the OMPL installation page for detailed installation instructions.

OMPL has the following required dependencies:

• Boost (version 1.58 or higher)

• CMake (version 3.12 or higher)

• Eigen (version 3.3 or higher)

The following dependencies are optional:

• Py++ (needed to generate Python bindings)

• Doxygen (needed to create a local copy of the documentation at https://ompl.kavrakilab.org/core)

• Flann (FLANN can be used for nearest neighbor queries by OMPL)

• Spot (Used for constructing finite automata from LTL formulae.)

Once dependencies are installed, you can build OMPL on Linux, macOS, and MS Windows. Go to the top-level directory of OMPL and type the following commands:

mkdir -p build/Release
cd build/Release
cmake ../..
# next step is optional
make -j 4 update_bindings # if you want Python bindings
make -j 4 # replace "4" with the number of cores on your machine