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This repository was archived by the owner on Apr 7, 2026. It is now read-only.

OMPL.app 1.6.0

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@mamoll mamoll released this 08 Jan 22:20
· 18 commits to main since this release
1.6.0
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mamoll Mark Moll
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Learn about vigilant mode.
a28f526
This commit was signed with the committer’s verified signature.
mamoll Mark Moll
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Learn about vigilant mode.
  • A C++17 compiler is now required.
  • Added new planners:
    • ST-RRT*: a bidirectional, time-optimal planner for planning in space-time.
    • Multi-level planners: Planning algorithms which can exploit multiple levels of abstractions.
      • Rapidly-exploring Random Quotient space Trees (QRRT): A generalization of RRT to plan on different abstraction levels.
      • QRRT*: An asymptotically optimal version of QRRT.
      • Quotient-Space Roadmap Planner (QMP): A generalization of PRM to plan on different abstraction levels.
      • QMP*: An asymptotically optimal version of QMP.
  • AIT* has been significantly refactored.
  • SST now uses the intermediate solution callback to report new solutions.
  • The kinodynamic version of SST (ompl::control::SST) now supports optimization objectives.
  • New topological state spaces have been added: a torus, a sphere, a Möbius strip, and a Klein bottle.
  • Updated docker images to Ubuntu Jammy.
  • Several fixes for Python bindings.
  • Bug fixes.
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