OMPL is a path and motion planning library. To install it please follow the next steps
- Install Homebrew
$ ruby -e "$(curl -fsSL https://raw.github.com/Homebrew/homebrew/go/install)"
- 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
- 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
- Enjoy playing with path/motion planning algorithms. =)