This is OMPL.app, an extended version of OMPL that adds support for mesh loading and collision checking as well as a simple GUI.
Visit the OMPL.app installation page for detailed installation instructions.
OMPL.app has the following required dependencies:
OMPL.app's build system will attempt to automatically download and build Assimp and FCL if not already installed.
The following dependencies are optional:
- PyQt4 (for GUI)
- PyOpenGL (for GUI)
- Py++ (needed to generate Python bindings)
- ODE (needed to compile support for planning using the Open Dynamics Engine)
- Doxygen (needed to create a local copy of the documentation at http://ompl.kavrakilab.org)
Once dependencies are installed, you can build OMPL.app on Linux, OS X, and MS Windows. Go to the top-level directory of OMPL.app 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 to use the GUI or Python bindings
make -j 4 # replace "4" with the number of cores on your machine