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Documentation in this subdirectory

• Frequently Asked Questions {#FAQ}
• Acknowledgements {#acknowledgements}
• How to Benchmark Planners {#benchmark}
  • Create a benchmark configuration file {#benchmark_config}
  • Writing benchmarking code {#benchmark_code}
  • Processing the benchmarking log file {#benchmark_log}
  • Sample benchmark results {#benchmark_sample_results}
  • The benchmark logfile format {#benchmark_logfile_format}
  • The benchmark database schema {#benchmark_database}
• Build Options {#buildOptions}
• Integrate Your Own Code with OMPL’s Build System {#buildSystem}
• Citations {#citations}
• Constrained Planning {#constrainedPlanning}
  • Limitations
  • Additional Notes
  • Want to learn more?
• Constrained Planning Tutorial {#constrainedPlanningTutorial}
  • Defining the Constraint
  • Defining the Constrained State Space
  • Defining a Problem
  • Solving a Problem
  • In Summary
• Submit Your Contribution {#contrib}
• Demos {#demos}
• Developers {#developers}
  • Contributors (in alphabetical order)
• Teaching Module on Motion Planning {#education}
• Gallery {#gallery}
  • MoveIt
  • Planning with constraints
  • Manipulation Planning
  • ROS-Industrial Consortium
  • Real-time footstep planning for humanoid robots
  • Planning for a Car-Like Vehicle Using ODE
  • Planning Using OMPL.app {#gallery_omplapp}
  • Planning for Underactuated Systems in the Presence of Drift
  • Class Project from COMP 450 on Path Optimization {#gallery_comp450}
• Generic Instructions for Setting Up a Planning Context {#genericPlanning}
  • Instantiating a state space
  • Instantiating a control space
  • Instantiating a space information class
  • Instantiating a problem definition
  • Instantiating a planner
• Geometric Planning for a Rigid Body in 3D {#geometricPlanningSE3}
  • Using the ompl::geometric::SimpleSetup Class {#geometricSimpleSetup}
  • Without ompl::geometric::SimpleSetup {#withoutGeometricSimpleSetup}
• Representing Goals in OMPL {#goalRepresentation}
  • Setting the Goal
  • Using the Goal Region
• Implementing State Spaces {#implementingStateSpaces}
  • Combining existing state spaces
  • Inheriting from existing state spaces
  • Inheriting from ompl::base::CompoundStateSpace
• Installation of Py++ {#installPyPlusPlus}
  • Ubuntu
  • macOS
• Installation {#installation}
• Integration of OMPL in Other Systems {#integration}
  • MoveIt {#integration_moveit}
  • OpenRAVE {#integration_openrave}
  • CoppeliaSim {#integration_copelliasim}
  • The Kautham Project {#integration_kautham}
  • VEROSIM {#integration_verosim}
  • AIKIDO {#integration_aikido}
  • EXOTica {#integration_exotica}
  • Robotics Library {#integration_rl}
  • SIMS {#integration_sims}
  • OMPL.app {#integration_omplapp}
• License {#license}
• Mailing Lists {#mailingLists}
• Multilevel Planning Framework {#multiLevelPlanning}
  • High-level introduction
  • Why Use Multilevel Planning
  • 100-dimensional Hypercube Benchmark
  • Want to learn more?
• Multilevel Planning Tutorial {#multiLevelPlanningTutorial}
  • Classical Planning
  • Multilevel Planning
  • Building multiple levels of abstraction
  • AnnotatedPlannerDataVertex
  • Further Information
• Implementing a New Motion Planner {#newPlanner}
  • Strict Requirements
  • Optional Features
  • New Planner Template
• Using the ODESolver for Planning with Controls {#odeint}
  • A Bit of Theory
  • Using OMPL’s ODESolver
• Optimal Planning {#optimalPlanning}
  • Optimization Objectives
  • Limitations
  • Want to learn more?
• Optimal Planning Tutorial {#optimalPlanningTutorial}
  • Finding a shortest path
  • Specifying an optimality threshold
• Optimization Objectives Tutorial {#optimizationObjectivesTutorial}
  • Specifying a new objective (part 1): path clearance
  • Multiobjective optimal planning
  • Specifying a new objective (part 2): maximize minimum clearance
  • Cost Heuristics
• Path Visualization {#pathVisualization}
• Planner Termination Conditions {#plannerTerminationConditions}
• OMPL Planner Arena {#plannerarena}
  • Dependencies
  • Running
  • Docker
• Available Planners {#planners}
  • Geometric planners {#geometric_planners}
  • Control-based planners {#control_planners}
  • Multilevel-based planners {#multilevel_planners}
• Use of Projections in OMPL {#projections}
• Creating Python Bindings for a New Planner {#pybindingsPlanner}
  • Updating the Python binding generation code {#pybinding}
  • Planner parameters {#params}
• Python Bindings {#python}
  • Usage of the Python bindings: Good practices {#py_good_practices}
  • Important differences between C++ and Python {#cpp_py_diffs}
  • Differences between the C++ and Python API’s {#py_api_diffs}
  • A simple example {#py_example}
  • Creating std::function objects from Python functions {#pyfunction_to_stdfunction}
• Registration {#register}
• Release Notes {#releaseNotes}
  • OMPL 1.6.1 (April 19, 2023)
  • OMPL 1.6.0 (January 11, 2023)
  • OMPL 1.5.2 (January 31, 2021)
  • OMPL 1.5.1 (November 25, 2020)
  • OMPL 1.5.0 (June 2, 2020)
  • OMPL 1.4.2 (January 18, 2019)
  • OMPL 1.4.1 (December 5, 2018)
  • OMPL 1.4.0 (June 25, 2018)
  • OMPL 1.3.2 (November 11, 2017)
  • OMPL 1.3.1 (May 18, 2017)
  • OMPL 1.3.0 (March 1, 2017)
  • OMPL 1.2.1 (July 1, 2016)
  • OMPL 1.2.0 (June 20, 2016)
  • OMPL 1.1.0 (October 28, 2015)
  • OMPL 1.0.0 (October 26, 2014)
  • OMPL 0.14.2 (May 23, 2014)
  • OMPL 0.14.1 (January 23, 2014)
  • OMPL 0.14.0 (December 20, 2013)
  • OMPL 0.13.0 (August 5, 2013)
  • OMPL 0.12.2 (January 22, 2013)
  • OMPL 0.12.1 (12/12/12)
  • OMPL 0.12.0 (November 20, 2012)
  • OMPL 0.11.1 (July 26, 2012)
  • OMPL 0.11.0 (June 30, 2012)
  • OMPL 0.10.2 (March 21, 2012)
  • OMPL 0.10.1 (February 27, 2012)
  • OMPL 0.10.0 (February 16, 2012)
  • OMPL 0.9.5 (October 4, 2011)
  • OMPL 0.9.4 (August 16, 2011)
  • OMPL 0.9.3 (May 2, 2011)
  • OMPL 0.9.2 (February 21, 2011)
  • OMPL 0.9.1 (December 17, 2010)
  • OMPL 0.9.0 (December 15, 2010; initial release)
• Available State Samplers {#samplers}
  • Using an Existing Sampler
  • Creating a New Valid State Sampler
• Available Spaces {#spaces}
  • State Spaces
  • Control Spaces
• State Validity Checking {#stateValidation}
• OMPL Style Guide {#styleGuide}
  • Spacing
  • Filenames & Macros
  • Functions & Classes
  • Other Coding Guidelines
  • Automatic Code Formatting
• Get Support {#support}
  • Troubleshooting Information
• Contributions {#thirdparty}
  • CForest (Coupled Forest of Random Engrafting Search Trees)
  • Fast Marching Tree algorithm (FMT∗)
  • Bidirectional Fast Marching Tree algorithm (BFMT∗)
  • Generalized Optimal Path Planning Framework
  • LBT-RRT implementation
  • SPARS and SPARS2 implementations
  • T-RRT implementation
  • ROS interface to OMPL
  • RRT* and extensions
  • PRM extensions
  • RRT extension for planning with controls
  • MultiLevel planning extension
• Tutorials {#tutorials}
  • Beginner
  • Intermediate
  • Advanced
• Working with States and State Spaces {#workingWithStates}
  • Allocating memory for states {#stateAlloc}
  • Working with states {#stateOps}
  • Expert version
  • Operators for States and State Spaces {#stateAndSpaceOperatorsCopy}