All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Groups Pages
OMPL Documentation
OMPL, the Open Motion Planning Library, 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., the front-end for OMPL, contains a lightweight wrapper for the FCL and PQP collision checkers and a simple GUI based on PyQt / PySide. The graphical front-end can be used for planning motions for rigid bodies and a few vehicle types (first-order and second-order cars, a blimp, and a quadrotor). It relies on the Assimp library to import a large variety of mesh formats that can be used to represent the robot and its environment.

Current version: 0.14.2
Released: May 23, 2014
Click for citation,
if you use OMPL in your work

Contents of This Library

Getting Started

Other Resources

News & Events