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pFernbach / hpp-rbprm-old

"Implementation of RB-PRM planner using hpp."
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Humanoid Path Planner - RBPRM module

Pipeline status Coverage report

Copyright 2015 LAAS-CNRS

Author: Steve Tonneau

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

Documentation

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