/pr-ompl

OMPL planners developed by the Personal Robotics Lab at the University of Washington.

Primary LanguageC++OtherNOASSERTION

pr-ompl

A collection of planner implementations for the Open Motion Planning Library written by the Personal Robotics Lab.

Currently, this consists of:

  • A variant of the RRTConnect planner that supports both the EXTEND and CONNECT extension types for each tree (rooted at the start(s) and goal(s)), which was written by Chris Dellin (cdellin@gmail.com). There are also corresponding OpenRAVE bindings.

  • An implementation of the NNF (Nearest-Neighbor FrĂ©chet) motion planner, which is used to follow end-effector paths (particularly in highly-constrained environments). Please see this paper for more info.

Note that each planner is treated as a separate Catkin package. Additional planners will be added in the future following this convention.

License

pr-ompl is licensed under a BSD license. See LICENSE for more information.