Visit the OMPL installation page for detailed installation instructions.
OMPL has the following required dependencies:
The following dependencies are optional:
- ODE (needed to compile support for planning using the Open Dynamics Engine)
- Py++ (needed to generate Python bindings)
- Doxygen (needed to create a local copy of the documentation at http://ompl.kavrakilab.org/core)
Once dependencies are installed, you can build OMPL on Linux, OS X, and MS Windows. Go to the top-level directory of OMPL and type the following commands:
mkdir -p build/Release
cd build/Release
cmake ../..
# next two steps are optional
make installpyplusplus && cmake . # download & install Py++
make update_bindings # if you want Python bindings
make -j 4 # replace "4" with the number of cores on your machine