Overview

Overview

PPL, the Parasol Motion Planning Library, is a C++ library with functionality to solve motion planning problems for robotics and related applications.

PPL implements algorithms mainly used for sampling-based motion planning but can be used to implement the base of other motion planning paradigms.

PPL provides algorithm abstractions of sampling-based planning components.

• Core - The Motion Planning Universe (MPProblem and MPTraits), the Workspace (Environment), Configurations and (Cfg), Simple Paths (DefaultWeight), the Roadmap, and Utilities
• Algorithm Abstractions - Algorithmic abstractions used in motion planning methods, e.g., Distance Metrics, Local Planners, etc
• Parallel Methods - Parallel components of PPL
• Dead Code - Code not supported by PPL (for now).

A reasonable understanding of Configuration Space, vector math, and C++ and the STL will greatly ease the learning curve for PPL.