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The Open Motion Planning Library (OMPL)

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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 1.54 or higher)
  • CMake (version 2.8.7 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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