This repository holds Chris Dellin's experimental planner, known as the multiset planner, e8, or family planner. This code was written at the Personal Robotics Lab at the Robotics Institute at Carnegie Mellon University, and was released on Apr 9, 2015.
The code is split into several ROS packages:
Core planner implementation for the Open Motion Planning Library (OMPL). Uses Boost Graph for the implementation.
Dependencies: ompl
Bindings for the OpenRAVE planning environment. A part of this package currently duplicates or_ompl
.
Dependencies: ompl
, openrave
, ompl_multiset
Bindings for the PrPy python library.
Dependencies: prpy
, or_multiset
Various test scripts for the above packages.
Dependencies: ompl
, openrave
, ompl_multiset
, or_multiset
Implementations of graph algorithms for the Boost Graph Library.
Dependencies: boost