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

  1. Install Homebrew 
    $ ruby -e "$(curl -fsSL https://raw.github.com/Homebrew/homebrew/go/install)"
  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 OMPL.app and unzip it. https://bitbucket.org/ompl/ompl/downloads/omplapp-0.14.2-Source.zip 
    $ 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. =)