OOPSMP Documentation

OOPSMP is a package for motion planning that is easy to extend, robust, and efficient. It can be used for motion planning research or as a teaching tool.

NEW: At IROS 2008, we organized an OOPSMP tutorial. The slides from this tutorial are now available on the tutorial web site.

CURRENT RELEASE: version 1.1.1, February 2009 (changes since version 1.0)

• Implementations of popular motion planners
  Probabilistic RoadMap (PRM), Rapidly-exploring Random Tree (RRT), Expansive Spaces Tree (EST), bi-directional tree planners, and others.

• Solution of problems involving one or multiple robots
  Each robot can freely rotate and translate or kinodynamic constraints can be imposed that restrict the possible motions.

• General purpose utilities and data structures
  Nearest neighbors; numerical integration; SE(2), SO(3) [quaternions], SE(3); sets, maps, disjoint sets, updatable heaps, graphs; DFS, BFS, Dijsktra, A*; and others.

• Plug-and-play
  One of the most distinctive features of OOPSMP is that it allows to plug-and-play existing code or new code via XML specifications.