[robotics-worldwide] OOPSMP - Software for Motion Planning
kavraki at cs.rice.edu
Sun Feb 17 22:41:01 PST 2008
The Kavraki Lab for Physical and Biological Computing at Rice University
is proud to announce the official release of OOPSMP v1, an
Object-Oriented Programming System for Motion Planning. OOPSMP includes
* Implementations of popular motion planners such as 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 where each
robot can freely rotate and translate or kinodynamic constraints can be
imposed that restrict the possible motions.
* General purpose utilities and data structures such as 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
This software accessible enough to be used for educational purposes -
general programming classes and robotics classes. Educators interested
in using this package for their classes should contact kavraki at rice.edu.
It is also advanced enough to be used as a research test bed.
OOPSMP is free for academic use, and can be downloaded from
Comments and suggestions for improvement are most welcome.
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