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Release Notes

OMPL 0.9.3 (May 2, 2011)

  • Added path smoothing with splines
  • Added a bi-directional implementation of KPIECE (BKPIECE)
  • Support for computation of clearance and gradients that move away from invalid regions
  • Separate "magic constants" to a separate, visible, location
  • A number of bug fixes

OMPL 0.9.2 (February 21, 2011)

  • Updates to operations on states: indexing in states can be done using manifolds or using integer values
  • Bug fixes for planning with controls
  • Minor doc improvements

OMPL 0.9.1 (December 17, 2010)

  • Minor updates to build system

OMPL 0.9.0 (December 15, 2010; initial release)

  • Implementations of many state-of-the-art sampling-based motion planning algorithms. For purely geometric planning, there are implementations of KPIECE, SBL, RRT, RRT Connect, EST, PRM, Lazy RRT, and others. For planning with differential constraints there are implementations of KPIECE and RRT. Addition of new planners poses very few constraints on the added code.
  • A flexible mechanism for constructing arbitrarily complex configuration spaces and control spaces from simpler ones.
  • A general method of defining goals: as states, as regions in configuration space, or implicitly.
  • Various sampling strategies and an easy way to add other ones.
  • Automatic selection of reasonable default parameters. Performance can be improved by tuning parameters, but solutions can be obtained without setting any parameters.
  • Support for planning with the Open Dynamics Engine, a popular physics simulator.
  • Tools for systematic, large-scale benchmarking.