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The Open Motion Planning Library (OMPL)

Visit the OMPL installation page for detailed installation instructions.

OMPL has the following required dependencies:

  • Boost (version 1.44 or higher)
  • CMake (version 2.8.2 or higher)

The following dependencies are optional:

  • ODE (needed to compile support for planning using the Open Dynamics Engine)
  • Py++ (needed to generate Python bindings)
  • Doxygen (needed to create a local copy of the documentation at http://ompl.kavrakilab.org/core)

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

mkdir -p build/Release
cd build/Release
cmake ../..
# next two steps are optional
make installpyplusplus && cmake . # download & install Py++
make update_bindings # if you want Python bindings
make -j 4 # replace "4" with the number of cores on your machine

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