OMPL, the Open Motion Planning Library, consists of many state-of-the-art sampling-based motion planning algorithms. OMPL itself does not contain any code related to, e.g., collision …

Apr 7, 2025 · OMPL is also available through through several package managers: Debian, Ubuntu (14.04 and higher), Fedora, MacPorts, Homebrew, and vcpkg. Note that these package …

./install-ompl-ubuntu.sh --github will install the main branch of OMPL (this can be combined with the other flags above) The script downloads and installs OMPL and all dependencies via apt …

Introduction This document explains how the Open Motion Planning Library (OMPL) implements the basic primitives of sampling-based motion planning, what planners are already available in …

OMPL's implementation is a simplified one, using a single level of discretization: one grid. The grid is imposed on a projection of the state space. When exploring the space, preference is …

These are a set of demos that illustrate how to use OMPL to plan for robot motion under constraints. Each of these demos supports planning for an individual planner as well as …

It covers mathematics, kinematics and dynamics, hardware abstraction, motion planning, collision detection, and visualization. OMPL is not included by default, but we have created a pull …

Below we include a number of tutorials we believe are useful for understanding how OMPL works, grouped by level of difficulty. Users are encouraged to look at the demos as well.

Almost all of the functionality of the C++ OMPL library is accessible through Python using more or less the same API. Some important differences will be described below.

The class ownership diagram above shows the relationship between the essential base classes in OMPL. For example, SpaceInformation owns a StateSpace; Planner does not own …