pplanner, a 3D path planner

This repository contains a 3D path planner implemented as a shared library in C++. This library can be included in other C++ programs to plan quickly obstacle free paths in a 3D scene.

This software uses ompl ompl for the generation of the path and fcl for the obstacle collision checking phase.

Installation

To install this library use the CMakeLists.txt file included in the directory.

  $ cd pplanner
  $ mkdir build && cd build
  $ cmake ..
  $ make
  $ sudo make install

Requirements

This library requires omple (verison 1.6) and FCL (version 0.6)

Documentation

Use the docs/html/index.html file to check the Doxygen documentation. An example using ROS on how to use the planner can be found at https://github.com/jocacace/test_3d_planner