OMPL
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    Primer Installation Tutorials Demos OMPL.app GUI OMPL web app Python Bindings Available Planners Planner Termination Conditions Benchmarking Planners Available State Spaces Optimal Planning Constrained Planning Multilevel Planning FAQ
    External links
    MoveIt Planner Arena ICRA 2013 Tutorial IROS 2011 Tutorial
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    ompl on Travis CI (Linux/macOS) omplapp on Travis CI (Linux/macOS) ompl on AppVeyor CI (Windows) omplapp on AppVeyor CI (Windows)
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Tutorials

Below we include a number of tutorials we believe are useful for understanding how OMPL works, grouped by level of difficulty. Users are encouraged to look at the demos as well.

Beginner

  • Geometric planning for a rigid body in 3D
  • Setting up state validity checking
  • Working with states and state spaces
  • Using existing samplers and creating new ones
  • Visualizing solution paths
  • Benchmarking planners
  • Optimal planning (see also the high-level introduction)
  • Constrained planning (see also the high-level introduction)
  • Multilevel planning (see also the high-level introduction)

Intermediate

  • Generic instructions for setting up a planning context
  • Implementing new state spaces
  • Representing goals
  • Using ODESolver for Planning with Controls
  • Defining optimization objectives for optimal planning
  • Parallel optimal planning using CForest

Advanced

  • Adding a new planner
  • Creating Python bindings for a new planner
  • Setting up a projection
  • Using OMPL with the Morse simulator
Kavraki Lab • Department of Computer Science • Rice University
Funded in part by the National Science Foundation
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