shushman/multiset-planning

Planning with families of multiple C-space subsets

Multi-Set Planning

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.

Packages

The code is split into several ROS packages:

ompl_multiset

Core planner implementation for the Open Motion Planning Library (OMPL). Uses Boost Graph for the implementation.

Dependencies: ompl

or_multiset

Bindings for the OpenRAVE planning environment. A part of this package currently duplicates or_ompl.

Dependencies: ompl, openrave, ompl_multiset

prpy_multiset

Bindings for the PrPy python library.

Dependencies: prpy, or_multiset

test_multiset

Various test scripts for the above packages.

Dependencies: ompl, openrave, ompl_multiset, or_multiset

pr_bgl

Implementations of graph algorithms for the Boost Graph Library.

Dependencies: boost