 | OMPLSimple, sampling-based motion planning library |
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OMPL Description
Simple, sampling-based motion planning library OMPL is a free and open source, easy to use library that consists of many state-of-the-art sampling-based motion planning algorithms.OMPL itself does not contain any code related to, e.g., collision checking or visualization.This is a deliberate design choice, so that OMPL is not tied to a particular collision checker or visualization front end. OMPL.app, the front-end for OMPL, contains a lightweight wrapper for the PQP collision checker and a simple GUI based on PyQt.The graphical front-end can be used for simple rigid body planning. OMPL relies on the Assimp library to import a large variety of mesh formats that can be used to represent the robot and its environment.OMPL works on both Linux and Mac OS X. Requirements: · Python What's New in This Release: · Improved ODE bindings · Added support for sampling controls based on the previous control and/or the state at which the control will be executed.
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