A collection of planner implementations for the Open Motion Planning Library written by the Personal Robotics Lab.
Currently, this consists of:
A variant of the RRTConnect planner that supports both the EXTEND and CONNECT extension types for each tree (rooted at the start(s) and goal(s)), which was written by Chris Dellin (cdellin@gmail.com). There are also corresponding OpenRAVE bindings.
An implementation of the NNF (Nearest-Neighbor Fréchet) motion planner, which is used to follow end-effector paths (particularly in highly-constrained environments). Please see this paper for more info.
Note that each planner is treated as a separate Catkin package. Additional planners will be added in the future following this convention.
pr-ompl is licensed under a BSD license. See LICENSE for more
information.