ompl / Omplapp
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The Open Motion Planning Library (OMPL), GUI + FCL/Assimp integration
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The Open Motion Planning Library (OMPL)
Linux 
Windows
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:
- PyQt (for GUI)
- PyOpenGL (for GUI)
- Py++ (needed to generate Python bindings)
- ODE (needed to compile support for planning using the Open Dynamics Engine)
- Doxygen (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
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