README

The Open Motion Planning Library (OMPL)

OMPL is a free sampling-based motion planning library with VAMP integration for high-performance collision checking using SIMD acceleration.

Continuous Integration Status

Build Format

Installation

Visit the OMPL installation page for detailed installation instructions.

OMPL has the following required dependencies:

  • Boost (version 1.68 or higher)

  • CMake (version 3.12 or higher)

  • Eigen (version 3.3 or higher)

  • yaml-cpp - Used for parsing YAML configuration files, required for VAMP demos

The following dependencies are optional:

  • VAMP (enabled by default) - Vector-Accelerated Motion Planning for high-performance collision checking with SIMD optimization

  • 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:

git submodule update --init --recursive  # for VAMP integration
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