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

demos
constraint
ConstrainedPlanningCommon.h
ConstrainedPlanningImplicitChain.cpp
ConstrainedPlanningImplicitParallel.cpp
ConstrainedPlanningKinematicChain.cpp
ConstrainedPlanningSphere.cpp
ConstrainedPlanningTorus.cpp
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
multicopter
CommonMath
ConvexObj.h
RectPrism.h
Rotation.h
Trajectory.h
Vec3.h
MulticopterPlanning.cpp
Polyfit.h
Quartic.cpp
Quartic.h
multilevel
MultiLevelPlanarManipulatorCommon.h
MultiLevelPlanarManipulatorDemo.cpp
MultiLevelPlanningCommon.h
MultiLevelPlanningHyperCube.cpp
MultiLevelPlanningHyperCubeBenchmark.cpp
MultiLevelPlanningHyperCubeCommon.h
MultiLevelPlanningKinematicChain.cpp
MultiLevelPlanningRigidBody2D.cpp
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
vamp
motion_benchmaker_demo.py
MotionBenchmakerDemo.cpp
MotionBenchmakerDemo.h
MotionBenchmakerDemoMain.cpp	Example program demonstrating how to use the Motion Benchmaker with OMPL and VAMP for evaluating motion planning on MBM problems
vamp_planning.py
vamp_state_space.py
VAMPPlanning.cpp
VFRRT
plotConservative.py
plotNonconservative.py
VectorFieldConservative.cpp
VectorFieldNonconservative.cpp
viser_visualizer
__init__.py
viser_visualizer.py
BouncingBallPlanning.cpp
CForestCircleGridBenchmark.cpp
ConstrainedPlanningCommon.py
ConstrainedPlanningSphere.py
Diagonal.cpp
DubinsAirplane.cpp
GeometricCarPlanning.cpp
HybridSystemPlanning.cpp
HypercubeBenchmark.cpp
KinematicChain.h
KinematicChainBenchmark.cpp
LTLWithTriangulation.cpp
OptimalPlanning.cpp
OptimalPlanning.py
PinballPlanning.cpp
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
SpaceTimePlanning.cpp
SSTPinballPlanning.cpp
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
HybridStateSpace.cpp
HybridTimeStateSpace.cpp
OwenStateSpace.cpp
RealVectorBounds.cpp
RealVectorStateProjections.cpp
RealVectorStateSpace.cpp
ReedsSheppStateSpace.cpp
SE2StateSpace.cpp
SE3StateSpace.cpp
SO2StateSpace.cpp
SO3StateSpace.cpp
SpaceTimeStateSpace.cpp
TimeStateSpace.cpp
TrochoidStateSpace.cpp
VanaOwenStateSpace.cpp
VanaStateSpace.cpp
WrapperStateSpace.cpp
DiscreteStateSpace.h
Dubins3DMotionValidator.h
DubinsMotionValidator.h
DubinsStateSpace.h
EmptyStateSpace.h
HybridStateSpace.h
HybridTimeStateSpace.h
OwenStateSpace.h
RealVectorBounds.h
RealVectorStateProjections.h
RealVectorStateSpace.h
ReedsSheppStateSpace.h
SE2StateSpace.h
SE3StateSpace.h
SO2StateSpace.h
SO3StateSpace.h
SpaceTimeStateSpace.h
TimeStateSpace.h
TrochoidStateSpace.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
HyRRT.cpp
RRT.cpp
HyRRT.h
RRT.h
sst
src
HySST.cpp
SST.cpp
HySST.h
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
lazyinformedtrees
blitstar
src
ImplicitGraph.cpp
Vertex.cpp
ImplicitGraph.h
Queuetypes.h
Vertex.h
src
BLITstar.cpp
BLITstar.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
AORRTC.cpp
AOXRRTConnect.cpp
ATRRT.cpp
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
TRRTstar.cpp
TSRRT.cpp
VFRRT.cpp
AORRTC.h
AOXRRTConnect.h
ATRRT.h
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
TRRTstar.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
vamp
Utils.h
VampMotionValidator.h
VampStateSpace.h
VampStateValidityChecker.h