The Open Motion Planning Library (OMPL)

OMPL is a free sampling-based motion planning library with VAMP integration for high-performance collision checking using SIMD acceleration.

Continuous Integration Status

Installation

Visit the OMPL installation page for detailed installation instructions.

OMPL has the following required dependencies:

• Boost (version 1.68 or higher)
• CMake (version 3.12 or higher)
• Eigen (version 3.3 or higher)
• yaml-cpp - Used for parsing YAML configuration files, required for VAMP demos

The following dependencies are optional:

• VAMP (enabled by default) - Vector-Accelerated Motion Planning for high-performance collision checking with SIMD optimization
• Py++ (needed to generate Python bindings)
• Doxygen (needed to create a local copy of the documentation at https://ompl.kavrakilab.org/core)
• Flann (FLANN can be used for nearest neighbor queries by OMPL)
• Spot (Used for constructing finite automata from LTL formulae.)

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

git submodule update --init --recursive  # for VAMP integration
mkdir -p build/Release
cd build/Release
cmake ../..
make -j 4 # replace "4" with the number of cores on your machine

To install the Python binding. Go to the top-level directory of OMPL and type the following commands:

git submodule update --init --recursive  # for VAMP integration
cd nanobinds
pip install .