Here is a list of all documented files with brief descriptions:

[detail level 1234567]

▼ demos
► constraint
ConstrainedPlanningCommon.h
ConstrainedPlanningCommon.py
ConstrainedPlanningImplicitChain.cpp
ConstrainedPlanningImplicitChain.py
ConstrainedPlanningImplicitParallel.cpp
ConstrainedPlanningKinematicChain.cpp
ConstrainedPlanningSphere.cpp
ConstrainedPlanningSphere.py
ConstrainedPlanningTorus.cpp
ConstrainedPlanningTorus.py
ConstraintGeneration.py
► Koules
Koules.cpp	This file contains an elaborate demo to solve the game of Koules
KoulesConfig.h
KoulesControlSpace.cpp
KoulesControlSpace.h
KoulesDecomposition.h
KoulesDirectedControlSampler.cpp
KoulesDirectedControlSampler.h
KoulesGoal.cpp
KoulesGoal.h
KoulesPlayback.py
KoulesProjection.h
KoulesSetup.cpp
KoulesSetup.h
KoulesSimulator.cpp
KoulesSimulator.h
KoulesStatePropagator.cpp
KoulesStatePropagator.h
KoulesStateSpace.cpp
KoulesStateSpace.h
► multilevel
MultiLevelPlanarManipulatorCommon.h
MultiLevelPlanarManipulatorDemo.cpp
MultiLevelPlanningCommon.h
MultiLevelPlanningHyperCube.cpp
MultiLevelPlanningHyperCubeBenchmark.cpp
MultiLevelPlanningHyperCubeCommon.h
MultiLevelPlanningKinematicChain.cpp
MultiLevelPlanningRigidBody2D.cpp
MultiLevelPlanningRigidBody2D.py
MultiLevelPlanningRigidBody3D.cpp
► PlanarManipulator
PlanarManipulator.cpp
PlanarManipulator.h
PlanarManipulatorDemo.cpp
PlanarManipulatorIKGoal.h
PlanarManipulatorPolyWorld.h
PlanarManipulatorStateSpace.h
PlanarManipulatorStateValidityChecker.h
PlanarManipulatorTSRRTConfig.h
PlanarManipulatorXXLDecomposition.h
PolyWorld.cpp
PolyWorld.h
visualize.py
► VFRRT
plotConservative.py
plotNonconservative.py
VectorFieldConservative.cpp
VectorFieldNonconservative.cpp
CForestCircleGridBenchmark.cpp
Diagonal.cpp
DubinsAirplane.cpp
DubinsAirplane.py
DubinsAirplanePlot.py
GeometricCarPlanning.cpp
HybridSystemPlanning.cpp
HypercubeBenchmark.cpp
KinematicChain.h
KinematicChainBenchmark.cpp
KinematicChainPathPlot.py
LTLWithTriangulation.cpp
OptimalPlanning.cpp
OptimalPlanning.py
PlannerData.cpp
PlannerData.py
PlannerProgressProperties.cpp
Point2DPlanning.cpp
Point2DPlanning.py
RandomWalkPlanner.py
RigidBodyPlanning.cpp
RigidBodyPlanning.py
RigidBodyPlanningWithControls.cpp
RigidBodyPlanningWithControls.py
RigidBodyPlanningWithIK.cpp
RigidBodyPlanningWithIntegrationAndControls.cpp
RigidBodyPlanningWithODESolverAndControls.cpp
RigidBodyPlanningWithODESolverAndControls.py
SpaceTimePlanning.cpp
SpaceTimePlanning.py
StateSampling.cpp
StateSampling.py
ThunderLightning.cpp
TriangulationDemo.cpp
▼ doc
► markdown
► code
mv.cpp
svc.cpp
▼ ompl
► base
► goals
► src
GoalLazySamples.cpp
GoalRegion.cpp
GoalSpace.cpp
GoalState.cpp
GoalStates.cpp
GoalLazySamples.h
GoalRegion.h
GoalSampleableRegion.h
GoalSpace.h
GoalState.h
GoalStates.h
► objectives
► src
ControlDurationObjective.cpp
MaximizeMinClearanceObjective.cpp
MechanicalWorkOptimizationObjective.cpp
MinimaxObjective.cpp
MinimizeArrivalTime.cpp
PathLengthOptimizationObjective.cpp
StateCostIntegralObjective.cpp
ControlDurationObjective.h
MaximizeMinClearanceObjective.h
MechanicalWorkOptimizationObjective.h
MinimaxObjective.h
MinimizeArrivalTime.h
PathLengthOptimizationObjective.h
StateCostIntegralObjective.h
VFMechanicalWorkOptimizationObjective.h
VFUpstreamCriterionOptimizationObjective.h
► samplers
► deterministic
► src
HaltonSequence.cpp
PrecomputedSequence.cpp
DeterministicSequence.h
HaltonSequence.h
PrecomputedSequence.h
► informed
► src
OrderedInfSampler.cpp
PathLengthDirectInfSampler.cpp
RejectionInfSampler.cpp
OrderedInfSampler.h
PathLengthDirectInfSampler.h
RejectionInfSampler.h
► src
BridgeTestValidStateSampler.cpp
ConditionalStateSampler.cpp
DeterministicStateSampler.cpp
GaussianValidStateSampler.cpp
InformedStateSampler.cpp
MaximizeClearanceValidStateSampler.cpp
MinimumClearanceValidStateSampler.cpp
ObstacleBasedValidStateSampler.cpp
UniformValidStateSampler.cpp
BridgeTestValidStateSampler.h
ConditionalStateSampler.h
DeterministicStateSampler.h
GaussianValidStateSampler.h
InformedStateSampler.h
MaximizeClearanceValidStateSampler.h
MinimumClearanceValidStateSampler.h
ObstacleBasedValidStateSampler.h
UniformValidStateSampler.h
► spaces
► constraint
► src
AtlasChart.cpp
AtlasStateSpace.cpp
ConstrainedStateSpace.cpp
ProjectedStateSpace.cpp
TangentBundleStateSpace.cpp
AtlasChart.h
AtlasStateSpace.h
ConstrainedStateSpace.h
ProjectedStateSpace.h
TangentBundleStateSpace.h
► special
► src
KleinBottleStateSpace.cpp
MobiusStateSpace.cpp
SphereStateSpace.cpp
TorusStateSpace.cpp
KleinBottleStateSpace.h
MobiusStateSpace.h
SphereStateSpace.h
TorusStateSpace.h
► src
DiscreteStateSpace.cpp
DubinsStateSpace.cpp
OwenStateSpace.cpp
RealVectorBounds.cpp
RealVectorStateProjections.cpp
RealVectorStateSpace.cpp
ReedsSheppStateSpace.cpp
SE2StateSpace.cpp
SE3StateSpace.cpp
SO2StateSpace.cpp
SO3StateSpace.cpp
SpaceTimeStateSpace.cpp
TimeStateSpace.cpp
VanaOwenStateSpace.cpp
VanaStateSpace.cpp
WrapperStateSpace.cpp
DiscreteStateSpace.h
Dubins3DMotionValidator.h
DubinsStateSpace.h
EmptyStateSpace.h
OwenStateSpace.h
RealVectorBounds.h
RealVectorStateProjections.h
RealVectorStateSpace.h
ReedsSheppStateSpace.h
SE2StateSpace.h
SE3StateSpace.h
SO2StateSpace.h
SO3StateSpace.h
SpaceTimeStateSpace.h
TimeStateSpace.h
VanaOwenStateSpace.h
VanaStateSpace.h
WrapperStateSpace.h
► src
Constraint.cpp
Cost.cpp
DiscreteMotionValidator.cpp
GenericParam.cpp
Goal.cpp
OptimizationObjective.cpp
Planner.cpp
PlannerData.cpp
PlannerDataStorage.cpp
PlannerStatus.cpp
PlannerTerminationCondition.cpp
PrecomputedStateSampler.cpp
ProblemDefinition.cpp
ProjectionEvaluator.cpp
SpaceInformation.cpp
StateSampler.cpp
StateSpace.cpp
StateStorage.cpp
ValidStateSampler.cpp
► terminationconditions
► src
CostConvergenceTerminationCondition.cpp
IterationTerminationCondition.cpp
CostConvergenceTerminationCondition.h
IterationTerminationCondition.h
ConstrainedSpaceInformation.h
Constraint.h
Cost.h
DiscreteMotionValidator.h
GenericParam.h
Goal.h
GoalTypes.h
MotionValidator.h
OptimizationObjective.h
Path.h
Planner.h
PlannerData.h
PlannerDataGraph.h
PlannerDataStorage.h
PlannerStatus.h
PlannerTerminationCondition.h
PrecomputedStateSampler.h
ProblemDefinition.h
ProjectionEvaluator.h
ScopedState.h
SolutionNonExistenceProof.h
SpaceInformation.h
State.h
StateSampler.h
StateSamplerArray.h
StateSpace.h
StateSpaceTypes.h
StateStorage.h
StateValidityChecker.h
TypedSpaceInformation.h
TypedStateValidityChecker.h
ValidStateSampler.h
► control
► planners
► est
► src
EST.cpp
EST.h
► kpiece
► src
KPIECE1.cpp
KPIECE1.h
► ltl
► src
Automaton.cpp
LTLPlanner.cpp
LTLProblemDefinition.cpp
LTLSpaceInformation.cpp
ProductGraph.cpp
PropositionalDecomposition.cpp
World.cpp
Automaton.h
LTLPlanner.h
LTLProblemDefinition.h
LTLSpaceInformation.h
ProductGraph.h
PropositionalDecomposition.h
World.h
► pdst
► src
PDST.cpp
PDST.h
► rrt
► src
RRT.cpp
RRT.h
► sst
► src
SST.cpp
SST.h
► syclop
► src
GridDecomposition.cpp
Syclop.cpp
SyclopEST.cpp
SyclopRRT.cpp
Decomposition.h
GridDecomposition.h
Syclop.h
SyclopEST.h
SyclopRRT.h
PlannerIncludes.h
► spaces
► src
DiscreteControlSpace.cpp
RealVectorControlSpace.cpp
DiscreteControlSpace.h
RealVectorControlSpace.h
► src
ControlSampler.cpp
ControlSpace.cpp
PathControl.cpp
PlannerData.cpp
PlannerDataStorage.cpp
SimpleDirectedControlSampler.cpp
SimpleSetup.cpp
SpaceInformation.cpp
Control.h
ControlSampler.h
ControlSpace.h
ControlSpaceTypes.h
DirectedControlSampler.h
ODESolver.h
PathControl.h
PlannerData.h
PlannerDataStorage.h
SimpleDirectedControlSampler.h
SimpleSetup.h
SpaceInformation.h
StatePropagator.h
SteeredControlSampler.h
► datastructures
► src
AdjacencyList.cpp
AdjacencyList.h
BinaryHeap.h
DynamicSSSP.h
GreedyKCenters.h
Grid.h
GridB.h
GridN.h
LPAstarOnGraph.h
NearestNeighbors.h
NearestNeighborsFLANN.h
NearestNeighborsGNAT.h
NearestNeighborsGNATNoThreadSafety.h
NearestNeighborsLinear.h
NearestNeighborsSqrtApprox.h
PDF.h
Permutation.h
► extensions
► triangle
► src
PropositionalTriangularDecomposition.cpp
TriangularDecomposition.cpp
PropositionalTriangularDecomposition.h
TriangularDecomposition.h
► geometric
► planners
► cforest
► src
CForest.cpp
CForestStateSampler.cpp
CForestStateSpaceWrapper.cpp
CForest.h
CForestStateSampler.h
CForestStateSpaceWrapper.h
► est
► src
BiEST.cpp
EST.cpp
ProjEST.cpp
BiEST.h
EST.h
ProjEST.h
► experience
► src
LightningRetrieveRepair.cpp
ThunderRetrieveRepair.cpp
LightningRetrieveRepair.h
ThunderRetrieveRepair.h
► fmt
► src
BFMT.cpp
FMT.cpp
BFMT.h
FMT.h
► informedtrees
► aitstar
► src
Edge.cpp
ImplicitGraph.cpp
Vertex.cpp
Edge.h
ImplicitGraph.h
Queuetypes.h
Vertex.h
► bitstar
► src
ImplicitGraph.cpp
SearchQueue.cpp
Vertex.cpp
CostHelper.h
HelperFunctions.h
IdGenerator.h
ImplicitGraph.h
SearchQueue.h
Vertex.h
► eitstar
► src
Edge.cpp
ForwardQueue.cpp
RandomGeometricGraph.cpp
ReverseQueue.cpp
State.cpp
Vertex.cpp
Direction.h
Edge.h
ForwardQueue.h
RandomGeometricGraph.h
ReverseQueue.h
State.h
Vertex.h
► src
ABITstar.cpp
AITstar.cpp
BITstar.cpp
EIRMstar.cpp
EITstar.cpp
ABITstar.h
AITstar.h
BITstar.h
EIRMstar.h
EITstar.h
► kpiece
► src
BKPIECE1.cpp
KPIECE1.cpp
LBKPIECE1.cpp
BKPIECE1.h
Discretization.h
KPIECE1.h
LBKPIECE1.h
► pdst
► src
PDST.cpp
PDST.h
► prm
► src
LazyPRM.cpp
LazyPRMstar.cpp
PRM.cpp
PRMstar.cpp
SPARS.cpp
SPARStwo.cpp
ConnectionStrategy.h
LazyPRM.h
LazyPRMstar.h
PRM.h
PRMstar.h
SPARS.h
SPARStwo.h
► rlrt
► src
BiRLRT.cpp
RLRT.cpp
BiRLRT.h
RLRT.h
► rrt
► src
BiTRRT.cpp
InformedRRTstar.cpp
LazyLBTRRT.cpp
LazyRRT.cpp
LBTRRT.cpp
pRRT.cpp
RRT.cpp
RRTConnect.cpp
RRTsharp.cpp
RRTstar.cpp
RRTXstatic.cpp
SORRTstar.cpp
STRRTstar.cpp
TRRT.cpp
TSRRT.cpp
VFRRT.cpp
BiTRRT.h
InformedRRTstar.h
LazyLBTRRT.h
LazyRRT.h
LBTRRT.h
pRRT.h
RRT.h
RRTConnect.h
RRTsharp.h
RRTstar.h
RRTXstatic.h
SORRTstar.h
STRRTstar.h
TRRT.h
TSRRT.h
VFRRT.h
► sbl
► src
pSBL.cpp
SBL.cpp
pSBL.h
SBL.h
► sst
► src
SST.cpp
SST.h
► stride
► src
STRIDE.cpp
STRIDE.h
► xxl
► src
XXL.cpp
XXLPlanarDecomposition.cpp
XXLPositionDecomposition.cpp
XXL.h
XXLDecomposition.h
XXLPlanarDecomposition.h
XXLPositionDecomposition.h
AnytimePathShortening.cpp
AnytimePathShortening.h
PlannerIncludes.h
► src
GeneticSearch.cpp
HillClimbing.cpp
PathGeometric.cpp
PathHybridization.cpp
PathSimplifier.cpp
SimpleSetup.cpp
GeneticSearch.h
HillClimbing.h
PathGeometric.h
PathHybridization.h
PathSimplifier.h
SimpleSetup.h
► multilevel
► datastructures
► graphsampler
► src
GraphSampler.cpp
RandomDegreeVertex.cpp
RandomEdge.cpp
RandomVertex.cpp
GraphSampler.h
RandomDegreeVertex.h
RandomEdge.h
RandomVertex.h
► importance
► src
Exponential.cpp
Greedy.cpp
Uniform.cpp
BundleSpaceImportance.h
Exponential.h
Greedy.h
Uniform.h
► metrics
► src
BundleSpaceMetric.cpp
Geodesic.cpp
BundleSpaceMetric.h
Geodesic.h
► pathrestriction
► src
FindSection.cpp
FindSectionSideStep.cpp
Head.cpp
PathRestriction.cpp
PathSection.cpp
FindSection.h
FindSectionSideStep.h
FindSectionTypes.h
Head.h
HeadAnalyzer.h
PathRestriction.h
PathSection.h
► projections
► src
EmptySet.cpp
FiberedProjection.cpp
Identity.cpp
None.cpp
Relaxation.cpp
RN_RM.cpp
RNSO2_RN.cpp
SE2_R2.cpp
SE2RN_R2.cpp
SE3_R3.cpp
SE3RN_R3.cpp
SO2N_SO2M.cpp
XRN_X.cpp
XRN_X_SE2.cpp
XRN_X_SE3.cpp
XRN_X_SO2.cpp
XRN_X_SO3.cpp
XRN_XRM.cpp
XRN_XRM_SE2.cpp
XRN_XRM_SE3.cpp
XRN_XRM_SO2.cpp
XRN_XRM_SO3.cpp
EmptySet.h
FiberedProjection.h
Identity.h
None.h
Relaxation.h
RN_RM.h
RNSO2_RN.h
SE2_R2.h
SE2RN_R2.h
SE3_R3.h
SE3RN_R3.h
SO2N_SO2M.h
XRN_X.h
XRN_X_SE2.h
XRN_X_SE3.h
XRN_X_SO2.h
XRN_X_SO3.h
XRN_XRM.h
XRN_XRM_SE2.h
XRN_XRM_SE3.h
XRN_XRM_SO2.h
XRN_XRM_SO3.h
► propagators
► src
BundleSpacePropagator.cpp
Geometric.cpp
BundleSpacePropagator.h
Geometric.h
► src
BundleSpace.cpp
BundleSpaceGraph.cpp
PlannerDataVertexAnnotated.cpp
PlannerMultiLevel.cpp
Projection.cpp
ProjectionFactory.cpp
BundleSpace.h
BundleSpaceGraph.h
BundleSpaceSequence.h
BundleSpaceSequenceImpl.h
Parameter.h
ParameterExponentialDecay.h
ParameterSmoothStep.h
PlannerDataVertexAnnotated.h
PlannerMultiLevel.h
Projection.h
ProjectionFactory.h
ProjectionTypes.h
► planners
► qmp
► src
QMPImpl.cpp
QMPStarImpl.cpp
QMP.h
QMPImpl.h
QMPStar.h
QMPStarImpl.h
► qrrt
► src
QRRTImpl.cpp
QRRTStarImpl.cpp
QRRT.h
QRRTImpl.h
QRRTStar.h
QRRTStarImpl.h
► tools
► benchmark
► src
Benchmark.cpp
MachineSpecs.cpp
Benchmark.h
MachineSpecs.h
► config
► src
SelfConfig.cpp
MagicConstants.h
SelfConfig.h
► debug
► src
PlannerMonitor.cpp
Profiler.cpp
PlannerMonitor.h
Profiler.h
► experience
► src
ExperienceSetup.cpp
ExperienceSetup.h
► lightning
► src
DynamicTimeWarp.cpp
Lightning.cpp
LightningDB.cpp
DynamicTimeWarp.h
Lightning.h
LightningDB.h
► multiplan
► src
OptimizePlan.cpp
ParallelPlan.cpp
OptimizePlan.h
ParallelPlan.h
► thunder
► src
SPARSdb.cpp
Thunder.cpp
ThunderDB.cpp
SPARSdb.h
Thunder.h
ThunderDB.h
► util
► src
Console.cpp
GeometricEquations.cpp
PPM.cpp
ProlateHyperspheroid.cpp
RandomNumbers.cpp
String.cpp
Time.cpp
ClassForward.h
Console.h
DisableCompilerWarning.h
Exception.h
GeometricEquations.h
Hash.h
PPM.h
ProlateHyperspheroid.h
RandomNumbers.h
String.h
Time.h