search

humanoid-path-planner / hpp-rbprm

"Implementation of RB-PRM planner using hpp."
5 stars 7 forks source link

readme

Humanoid Path Planner - RBPRM module

Pipeline status Coverage report Code style: black pre-commit.ci status

Copyright 2015-2020 LAAS-CNRS

Authors: Steve Tonneau, Pierre Fernbach

Description

HPP - RBPRM is a library written for the software Humanoid Path Planner (link). It implements the acyclic contact planner presented in two papers (link):

"An efficient acyclic contact planner for multiped robots" (submitted to IJRR).

"A Reachability-based planner for sequences of acyclic contacts in cluttered environments" (presented at ISRR 15).

We recommend reading the IJRR submission before going using RB-PRM.

The planner has applications in both robotics and computer graphics applications (click on the pictures to watch videos):

IMAGE ALT TEXT IMAGE ALT TEXT IMAGE ALT TEXT

Installation

From binary

This package is available as binary in robotpkg/wip. Set up your system to add robotpkg/wip repository, then run:

apt-get install robotpkg-pyXX-hpp-rbprm

Replace pyXX with your python version.

From sources

Follow the instructions here. After step 7 run:

make rbprm.install

Documentation

Open $DEVEL_HPP_DIR/install/share/doc/hpp-rbprm/doxygen-html/index.html in a web brower and you will have access to the code documentation.