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The Open Motion Planning Library (OMPL)

Linux Build Status Windows Build status

This is OMPL.app, an extended version of OMPL that adds support for mesh loading and collision checking as well as a simple GUI.

Visit the OMPL.app installation page for detailed installation instructions.

OMPL.app has the following required dependencies:

  • Boost (version 1.58 or higher)
  • CMake (version 3.5 or higher)
  • Eigen (version 3.3 or higher)
  • Assimp (version 3.0.1270 or higher)
  • FCL (version 0.3.1 or higher)

The following dependencies are optional:

Once dependencies are installed, you can build OMPL.app on Linux, macOS, and MS Windows. Go to the top-level directory of OMPL.app and type the following commands:

mkdir -p build/Release
cd build/Release
cmake ../..
# next step is optional
make -j 4 update_bindings # if you want to use the GUI or Python bindings
make -j 4 # replace "4" with the number of cores on your machine

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