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The Papl path planning system

Papl is a collection of Ocaml packages for sampling based path planning.

The papl package defines fundamental planner primitives a few implementations. These primitives are independent of any specific workcell or configuration representation.

See the project home page for more on Papl and its packages.

Recent activity

bergsoe

Commits by bergsoe were pushed to bergsoe/papl

c657542 - SO3 revision and new SE3.of_array. - SE3.of_array utility for converting transformation matrices to the internal rigid body transformation type. - New SE.dist_pos and SE.dist_rot for ...
bergsoe

Commits by bergsoe were pushed to bergsoe/papl

ccaed2c - Revision of PaplTime.Path.concat. New API doc, new signature, and a more sane semantics.
bergsoe

Commits by bergsoe were pushed to bergsoe/papl

e4c8f94 - - New PaplTime.Trajectory.Sampler module similar to PaplTrajectory.Sampler. - New PaplTime.Path utilities for concatenation and time shifting of paths of time stamped values.
bergsoe

Commits by bergsoe were pushed to bergsoe/papl

5d96fc4 - Functor for configuration operations for robots with circular joints.
bergsoe

Commits by bergsoe were pushed to bergsoe/papl

fe8b99b - - Upgrade to latest Batteries. - New PaplInterpolate.map_option utility. - New PaplRRTExpand.intermediary_option function for expansion towards a target as far as the interpolation function allows. ...
bergsoe

Commits by bergsoe were pushed to bergsoe/papl

5d39fc6 - Interpolation for robot configurations with circular joints.
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