OMPL is a path and motion planning library. To install it please follow the next steps

  1. Install Homebrew
    $ ruby -e "$(curl -fsSL"
  2. Install build prerequisites:
    $ sudo easy_install pip
    $ brew install boost cmake assimp pyqt ode
    $ pip install PyOpenGL PyOpenGL-accelerate

    If you want Python bindings

    $ brew tap homebrew/dupes
    $ brew install apple-gcc42
    $ ln -s /usr/local/bin/gcc-4.2 /usr/local/bin/llvm-gcc-4.2
    $ ln -s /usr/local/bin/g++-4.2 /usr/local/bin/llvm-g++-4.2
    $ brew reinstall --with-c++11 --build-from-source --with-python boost

    If you want to install documentation as well run the following lines.

    $ brew install doxygen graphviz
  3. Download and unzip it.
    $ cd omplapp-0.14.2-Source/
    $ mkdir -p build/Release
    $ cd build/Release
    $ cmake ../..

    if you want Python bindings

    $ make installpyplusplus && cmake .
    $ make update_bindings # this option update_bindings will not be available if your boost does not support python

    Finally to install the OMPL

    $ make
    $ sudo make install
  4. Enjoy playing with path/motion planning algorithms. =)