https://github.com/ompl/omplapp

The Open Motion Planning Library (OMPL), GUI + FCL/Assimp integration
https://github.com/ompl/omplapp

motion-planning robotics

Last synced: 3 months ago
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The Open Motion Planning Library (OMPL), GUI + FCL/Assimp integration

• Host: GitHub
• URL: https://github.com/ompl/omplapp
• Owner: ompl
• License: other
• Created: 2014-05-20T14:23:49.000Z (about 11 years ago)
• Default Branch: main
• Last Pushed: 2025-04-01T20:40:52.000Z (3 months ago)
• Last Synced: 2025-04-03T21:11:52.350Z (3 months ago)
• Topics: motion-planning, robotics
• Language: C++
• Homepage: https://ompl.kavrakilab.org
• Size: 56.2 MB
• Stars: 169
• Watchers: 22
• Forks: 85
• Open Issues: 9
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
The Open Motion Planning Library (OMPL)

=======================================

Linux [![Build Status](https://travis-ci.org/ompl/omplapp.svg?branch=main)](https://travis-ci.org/ompl/omplapp)

Windows [![Build status](https://ci.appveyor.com/api/projects/status/dyu0y627hkp8tp6h/branch/main?svg=true)](https://ci.appveyor.com/project/mamoll/omplapp/branch/main)

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](http://ompl.kavrakilab.org/installation.html) for

detailed installation instructions.

OMPL.app has the following required dependencies:

* [Boost](https://www.boost.org) (version 1.68 or higher)

* [CMake](https://www.cmake.org) (version 3.5 or higher)

* [Eigen](http://eigen.tuxfamily.org) (version 3.3 or higher)

* [Assimp](http://assimp.org) (version 3.0.1270 or higher)

* [FCL](https://github.com/flexible-collision-library/fcl) (version 0.3.1 or higher)

The following dependencies are optional:

* [PyQt](https://www.riverbankcomputing.co.uk/software/pyqt/download5) (for GUI)

* [PyOpenGL](https://pyopengl.sourceforge.net/) (for GUI)

* [Py++](https://github.com/ompl/ompl/blob/main/doc/markdown/installPyPlusPlus.md) (needed to generate Python bindings)

* [Doxygen](http://www.doxygen.org) (needed to create a local copy of the documentation at

  https://ompl.kavrakilab.org)

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