Tutorials {#tutorials}

Below we include a number of tutorials we believe are useful for understanding how OMPL works, grouped by level of difficulty. Users are encouraged to look at the demos as well.

Beginner

• Geometric planning for a rigid body in 3D

• Setting up state validity checking

• Working with states and state spaces

• Using existing samplers and creating new ones

• Visualizing solution paths

• Benchmarking planners

• Optimal planning (see also the high-level introduction)

• Constrained planning (see also the high-level introduction)

• Multilevel planning (see also the high-level introduction)

Intermediate

• Generic instructions for setting up a planning context

• Implementing new state spaces

• Representing goals

• Using ODESolver for Planning with Controls

• Defining optimization objectives for optimal planning

• Parallel optimal planning using CForest

Advanced

• Adding a new planner

• Creating Python bindings for a new planner

• Setting up a projection