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From: Alistair S. <si...@my...> - 2019-04-05 17:55:07
|
That seems to work -- I now have a terminal command I can use to open and run OMPL. Thanks a ton for the help! Now I just need to figure out how to actually use this program. = P On Thu, 4 Apr 2019 at 18:17, Mark Moll <mm...@ri...> wrote: > Hi Alistair, > > This is actually easy to fix: > > sudo port deactivate boost boost-numpy > sudo port install boost-numpy +python37 > sudo port install ompl +app +python37 > > Let me know if that doesn’t work. > > Best, > > Mark > > > > > On Apr 4, 2019, at 5:14 PM, Alistair Scheuhammer <si...@my...> > wrote: > > > > Thanks for all the work you've been doing to try and help! > > > > Incidentally, I tried running "sudo port install ompl +app +python37" > and I got an error. This is what came up: > > > > ---> Computing dependencies for ompl > > ---> Configuring ompl > > Error: Failed to configure ompl: boost-numpy must be installed with > +python37. > > Error: See > /opt/local/var/macports/logs/_opt_local_var_macports_sources_rsync.macports.org_release_tarballs_ports_science_ompl/ompl/main.log > for details. > > Error: Follow https://guide.macports.org/#project.tickets to report a > bug. > > Error: Processing of port ompl failed > > > > On Tue, 12 Mar 2019 at 18:48, Mark Moll <mm...@ri...> wrote: > > Alistair, > > > > Just a quick update: > > - You installed “ompl +app” which gets compiled from source and somehow > the binary python modules did not get installed. > > - I can confirm that the prebuilt binary of OMPL downloaded from > packages.macports.org if you type “port install ompl” does not include > the binary python modules either. > > - I use python3.7 by default on my laptop. If I do “sudo port install > ompl +app +python37”, then everything seems to just work. > > > > I am running the latest version of macOS Mojave, 10.14.3. I will keep > trying to reproduce the problem locally. > > > > Best, > > > > Mark > > > > > > > > > On Feb 21, 2019, at 9:49 PM, Mark Moll <mm...@ri...> wrote: > > > > > > Hi Alistair, > > > > > > Something definitely went wrong with the Macports installation. I will > get back to you once I know what happened. > > > > > > Best, > > > > > > Mark > > > > > > > > > > > >> On Feb 21, 2019, at 9:44 PM, Alistair Scheuhammer <si...@my...> > wrote: > > >> > > >> Sorry for taking a while to respond, I'm disgustingly busy these days. > > >> > > >> I definitely have Python installed on my machine but I don't recall > with 100% certainty whether or not I specifically have Python 3 or Python > 2.7. I feel like I probably do, though. > > >> > > >> Results of console commands are as follows, > > >> > > >> port contents omple: > > >> > > >> Port ompl contains: > > >> > /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/__init__.py > > >> > /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/app/__init__.py > > >> > /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/base/__init__.py > > >> > /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/bindings_generator.py > > >> > /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/control/__init__.py > > >> > /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/geometric/__init__.py > > >> > /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/tools/__init__.py > > >> > /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/util/__init__.py > > >> /opt/local/bin/ompl_app > > >> /opt/local/bin/ompl_benchmark > > >> /opt/local/bin/ompl_benchmark_statistics.py > > >> /opt/local/bin/plannerarena > > >> /opt/local/include/ompl/base/ConstrainedSpaceInformation.h > > >> /opt/local/include/ompl/base/Constraint.h > > >> /opt/local/include/ompl/base/Cost.h > > >> /opt/local/include/ompl/base/DiscreteMotionValidator.h > > >> /opt/local/include/ompl/base/GenericParam.h > > >> /opt/local/include/ompl/base/Goal.h > > >> /opt/local/include/ompl/base/GoalTypes.h > > >> /opt/local/include/ompl/base/MotionValidator.h > > >> /opt/local/include/ompl/base/OptimizationObjective.h > > >> /opt/local/include/ompl/base/Path.h > > >> /opt/local/include/ompl/base/Planner.h > > >> /opt/local/include/ompl/base/PlannerData.h > > >> /opt/local/include/ompl/base/PlannerDataGraph.h > > >> /opt/local/include/ompl/base/PlannerDataStorage.h > > >> /opt/local/include/ompl/base/PlannerStatus.h > > >> /opt/local/include/ompl/base/PlannerTerminationCondition.h > > >> /opt/local/include/ompl/base/PrecomputedStateSampler.h > > >> /opt/local/include/ompl/base/ProblemDefinition.h > > >> /opt/local/include/ompl/base/ProjectionEvaluator.h > > >> /opt/local/include/ompl/base/ScopedState.h > > >> /opt/local/include/ompl/base/SolutionNonExistenceProof.h > > >> /opt/local/include/ompl/base/SpaceInformation.h > > >> /opt/local/include/ompl/base/State.h > > >> /opt/local/include/ompl/base/StateSampler.h > > >> /opt/local/include/ompl/base/StateSamplerArray.h > > >> /opt/local/include/ompl/base/StateSpace.h > > >> /opt/local/include/ompl/base/StateSpaceTypes.h > > >> /opt/local/include/ompl/base/StateStorage.h > > >> /opt/local/include/ompl/base/StateValidityChecker.h > > >> /opt/local/include/ompl/base/TypedSpaceInformation.h > > >> /opt/local/include/ompl/base/TypedStateValidityChecker.h > > >> /opt/local/include/ompl/base/ValidStateSampler.h > > >> /opt/local/include/ompl/base/goals/GoalLazySamples.h > > >> /opt/local/include/ompl/base/goals/GoalRegion.h > > >> /opt/local/include/ompl/base/goals/GoalSampleableRegion.h > > >> /opt/local/include/ompl/base/goals/GoalState.h > > >> /opt/local/include/ompl/base/goals/GoalStates.h > > >> > /opt/local/include/ompl/base/objectives/MaximizeMinClearanceObjective.h > > >> > /opt/local/include/ompl/base/objectives/MechanicalWorkOptimizationObjective.h > > >> /opt/local/include/ompl/base/objectives/MinimaxObjective.h > > >> > /opt/local/include/ompl/base/objectives/PathLengthOptimizationObjective.h > > >> /opt/local/include/ompl/base/objectives/StateCostIntegralObjective.h > > >> > /opt/local/include/ompl/base/objectives/VFMechanicalWorkOptimizationObjective.h > > >> > /opt/local/include/ompl/base/objectives/VFUpstreamCriterionOptimizationObjective.h > > >> /opt/local/include/ompl/base/samplers/BridgeTestValidStateSampler.h > > >> /opt/local/include/ompl/base/samplers/GaussianValidStateSampler.h > > >> /opt/local/include/ompl/base/samplers/InformedStateSampler.h > > >> > /opt/local/include/ompl/base/samplers/MaximizeClearanceValidStateSampler.h > > >> > /opt/local/include/ompl/base/samplers/MinimumClearanceValidStateSampler.h > > >> > /opt/local/include/ompl/base/samplers/ObstacleBasedValidStateSampler.h > > >> /opt/local/include/ompl/base/samplers/UniformValidStateSampler.h > > >> /opt/local/include/ompl/base/samplers/informed/OrderedInfSampler.h > > >> > /opt/local/include/ompl/base/samplers/informed/PathLengthDirectInfSampler.h > > >> /opt/local/include/ompl/base/samplers/informed/RejectionInfSampler.h > > >> /opt/local/include/ompl/base/spaces/DiscreteStateSpace.h > > >> /opt/local/include/ompl/base/spaces/DubinsStateSpace.h > > >> /opt/local/include/ompl/base/spaces/RealVectorBounds.h > > >> /opt/local/include/ompl/base/spaces/RealVectorStateProjections.h > > >> /opt/local/include/ompl/base/spaces/RealVectorStateSpace.h > > >> /opt/local/include/ompl/base/spaces/ReedsSheppStateSpace.h > > >> /opt/local/include/ompl/base/spaces/SE2StateSpace.h > > >> /opt/local/include/ompl/base/spaces/SE3StateSpace.h > > >> /opt/local/include/ompl/base/spaces/SO2StateSpace.h > > >> /opt/local/include/ompl/base/spaces/SO3StateSpace.h > > >> /opt/local/include/ompl/base/spaces/TimeStateSpace.h > > >> /opt/local/include/ompl/base/spaces/WrapperStateSpace.h > > >> /opt/local/include/ompl/base/spaces/constraint/AtlasChart.h > > >> /opt/local/include/ompl/base/spaces/constraint/AtlasStateSpace.h > > >> > /opt/local/include/ompl/base/spaces/constraint/ConstrainedStateSpace.h > > >> /opt/local/include/ompl/base/spaces/constraint/ProjectedStateSpace.h > > >> > /opt/local/include/ompl/base/spaces/constraint/TangentBundleStateSpace.h > > >> /opt/local/include/ompl/config.h > > >> /opt/local/include/ompl/control/Control.h > > >> /opt/local/include/ompl/control/ControlSampler.h > > >> /opt/local/include/ompl/control/ControlSpace.h > > >> /opt/local/include/ompl/control/ControlSpaceTypes.h > > >> /opt/local/include/ompl/control/DirectedControlSampler.h > > >> /opt/local/include/ompl/control/ODESolver.h > > >> /opt/local/include/ompl/control/PathControl.h > > >> /opt/local/include/ompl/control/PlannerData.h > > >> /opt/local/include/ompl/control/PlannerDataStorage.h > > >> /opt/local/include/ompl/control/SimpleDirectedControlSampler.h > > >> /opt/local/include/ompl/control/SimpleSetup.h > > >> /opt/local/include/ompl/control/SpaceInformation.h > > >> /opt/local/include/ompl/control/StatePropagator.h > > >> /opt/local/include/ompl/control/SteeredControlSampler.h > > >> /opt/local/include/ompl/control/planners/PlannerIncludes.h > > >> /opt/local/include/ompl/control/planners/est/EST.h > > >> /opt/local/include/ompl/control/planners/kpiece/KPIECE1.h > > >> /opt/local/include/ompl/control/planners/ltl/Automaton.h > > >> /opt/local/include/ompl/control/planners/ltl/LTLPlanner.h > > >> /opt/local/include/ompl/control/planners/ltl/LTLProblemDefinition.h > > >> /opt/local/include/ompl/control/planners/ltl/LTLSpaceInformation.h > > >> /opt/local/include/ompl/control/planners/ltl/ProductGraph.h > > >> > /opt/local/include/ompl/control/planners/ltl/PropositionalDecomposition.h > > >> /opt/local/include/ompl/control/planners/ltl/World.h > > >> /opt/local/include/ompl/control/planners/pdst/PDST.h > > >> /opt/local/include/ompl/control/planners/rrt/RRT.h > > >> /opt/local/include/ompl/control/planners/sst/SST.h > > >> /opt/local/include/ompl/control/planners/syclop/Decomposition.h > > >> /opt/local/include/ompl/control/planners/syclop/GridDecomposition.h > > >> /opt/local/include/ompl/control/planners/syclop/Syclop.h > > >> /opt/local/include/ompl/control/planners/syclop/SyclopEST.h > > >> /opt/local/include/ompl/control/planners/syclop/SyclopRRT.h > > >> /opt/local/include/ompl/control/spaces/DiscreteControlSpace.h > > >> /opt/local/include/ompl/control/spaces/RealVectorControlSpace.h > > >> /opt/local/include/ompl/datastructures/BinaryHeap.h > > >> /opt/local/include/ompl/datastructures/DynamicSSSP.h > > >> /opt/local/include/ompl/datastructures/GreedyKCenters.h > > >> /opt/local/include/ompl/datastructures/Grid.h > > >> /opt/local/include/ompl/datastructures/GridB.h > > >> /opt/local/include/ompl/datastructures/GridN.h > > >> /opt/local/include/ompl/datastructures/LPAstarOnGraph.h > > >> /opt/local/include/ompl/datastructures/NearestNeighbors.h > > >> /opt/local/include/ompl/datastructures/NearestNeighborsFLANN.h > > >> /opt/local/include/ompl/datastructures/NearestNeighborsGNAT.h > > >> > /opt/local/include/ompl/datastructures/NearestNeighborsGNATNoThreadSafety.h > > >> /opt/local/include/ompl/datastructures/NearestNeighborsLinear.h > > >> /opt/local/include/ompl/datastructures/NearestNeighborsSqrtApprox.h > > >> /opt/local/include/ompl/datastructures/PDF.h > > >> /opt/local/include/ompl/datastructures/Permutation.h > > >> /opt/local/include/ompl/extensions/morse/MorseControlSpace.h > > >> /opt/local/include/ompl/extensions/morse/MorseEnvironment.h > > >> /opt/local/include/ompl/extensions/morse/MorseGoal.h > > >> /opt/local/include/ompl/extensions/morse/MorseProjection.h > > >> /opt/local/include/ompl/extensions/morse/MorseSimpleSetup.h > > >> /opt/local/include/ompl/extensions/morse/MorseStatePropagator.h > > >> /opt/local/include/ompl/extensions/morse/MorseStateSpace.h > > >> /opt/local/include/ompl/extensions/morse/MorseStateValidityChecker.h > > >> /opt/local/include/ompl/extensions/morse/MorseTerminationCondition.h > > >> /opt/local/include/ompl/extensions/opende/OpenDEControlSpace.h > > >> /opt/local/include/ompl/extensions/opende/OpenDEEnvironment.h > > >> /opt/local/include/ompl/extensions/opende/OpenDESimpleSetup.h > > >> /opt/local/include/ompl/extensions/opende/OpenDEStatePropagator.h > > >> /opt/local/include/ompl/extensions/opende/OpenDEStateSpace.h > > >> > /opt/local/include/ompl/extensions/opende/OpenDEStateValidityChecker.h > > >> > /opt/local/include/ompl/extensions/triangle/PropositionalTriangularDecomposition.h > > >> /opt/local/include/ompl/extensions/triangle/TriangularDecomposition.h > > >> /opt/local/include/ompl/geometric/GeneticSearch.h > > >> /opt/local/include/ompl/geometric/HillClimbing.h > > >> /opt/local/include/ompl/geometric/PathGeometric.h > > >> /opt/local/include/ompl/geometric/PathHybridization.h > > >> /opt/local/include/ompl/geometric/PathSimplifier.h > > >> /opt/local/include/ompl/geometric/SimpleSetup.h > > >> /opt/local/include/ompl/geometric/planners/AnytimePathShortening.h > > >> /opt/local/include/ompl/geometric/planners/PlannerIncludes.h > > >> /opt/local/include/ompl/geometric/planners/bitstar/BITstar.h > > >> > /opt/local/include/ompl/geometric/planners/bitstar/datastructures/CostHelper.h > > >> > /opt/local/include/ompl/geometric/planners/bitstar/datastructures/HelperFunctions.h > > >> > /opt/local/include/ompl/geometric/planners/bitstar/datastructures/IdGenerator.h > > >> > /opt/local/include/ompl/geometric/planners/bitstar/datastructures/ImplicitGraph.h > > >> > /opt/local/include/ompl/geometric/planners/bitstar/datastructures/SearchQueue.h > > >> > /opt/local/include/ompl/geometric/planners/bitstar/datastructures/Vertex.h > > >> /opt/local/include/ompl/geometric/planners/cforest/CForest.h > > >> > /opt/local/include/ompl/geometric/planners/cforest/CForestStateSampler.h > > >> > /opt/local/include/ompl/geometric/planners/cforest/CForestStateSpaceWrapper.h > > >> /opt/local/include/ompl/geometric/planners/est/BiEST.h > > >> /opt/local/include/ompl/geometric/planners/est/EST.h > > >> /opt/local/include/ompl/geometric/planners/est/ProjEST.h > > >> > /opt/local/include/ompl/geometric/planners/experience/LightningRetrieveRepair.h > > >> > /opt/local/include/ompl/geometric/planners/experience/ThunderRetrieveRepair.h > > >> /opt/local/include/ompl/geometric/planners/fmt/BFMT.h > > >> /opt/local/include/ompl/geometric/planners/fmt/FMT.h > > >> /opt/local/include/ompl/geometric/planners/kpiece/BKPIECE1.h > > >> /opt/local/include/ompl/geometric/planners/kpiece/Discretization.h > > >> /opt/local/include/ompl/geometric/planners/kpiece/KPIECE1.h > > >> /opt/local/include/ompl/geometric/planners/kpiece/LBKPIECE1.h > > >> /opt/local/include/ompl/geometric/planners/pdst/PDST.h > > >> /opt/local/include/ompl/geometric/planners/prm/ConnectionStrategy.h > > >> /opt/local/include/ompl/geometric/planners/prm/LazyPRM.h > > >> /opt/local/include/ompl/geometric/planners/prm/LazyPRMstar.h > > >> /opt/local/include/ompl/geometric/planners/prm/PRM.h > > >> /opt/local/include/ompl/geometric/planners/prm/PRMstar.h > > >> /opt/local/include/ompl/geometric/planners/prm/SPARS.h > > >> /opt/local/include/ompl/geometric/planners/prm/SPARStwo.h > > >> /opt/local/include/ompl/geometric/planners/rrt/BiTRRT.h > > >> /opt/local/include/ompl/geometric/planners/rrt/InformedRRTstar.h > > >> /opt/local/include/ompl/geometric/planners/rrt/LBTRRT.h > > >> /opt/local/include/ompl/geometric/planners/rrt/LazyLBTRRT.h > > >> /opt/local/include/ompl/geometric/planners/rrt/LazyRRT.h > > >> /opt/local/include/ompl/geometric/planners/rrt/RRT.h > > >> /opt/local/include/ompl/geometric/planners/rrt/RRTConnect.h > > >> /opt/local/include/ompl/geometric/planners/rrt/RRTXstatic.h > > >> /opt/local/include/ompl/geometric/planners/rrt/RRTsharp.h > > >> /opt/local/include/ompl/geometric/planners/rrt/RRTstar.h > > >> /opt/local/include/ompl/geometric/planners/rrt/SORRTstar.h > > >> /opt/local/include/ompl/geometric/planners/rrt/TRRT.h > > >> /opt/local/include/ompl/geometric/planners/rrt/VFRRT.h > > >> /opt/local/include/ompl/geometric/planners/rrt/pRRT.h > > >> /opt/local/include/ompl/geometric/planners/sbl/SBL.h > > >> /opt/local/include/ompl/geometric/planners/sbl/pSBL.h > > >> /opt/local/include/ompl/geometric/planners/sst/SST.h > > >> /opt/local/include/ompl/geometric/planners/stride/STRIDE.h > > >> /opt/local/include/ompl/tools/benchmark/Benchmark.h > > >> /opt/local/include/ompl/tools/benchmark/MachineSpecs.h > > >> /opt/local/include/ompl/tools/config/MagicConstants.h > > >> /opt/local/include/ompl/tools/config/SelfConfig.h > > >> /opt/local/include/ompl/tools/debug/PlannerMonitor.h > > >> /opt/local/include/ompl/tools/debug/Profiler.h > > >> /opt/local/include/ompl/tools/experience/ExperienceSetup.h > > >> /opt/local/include/ompl/tools/lightning/DynamicTimeWarp.h > > >> /opt/local/include/ompl/tools/lightning/Lightning.h > > >> /opt/local/include/ompl/tools/lightning/LightningDB.h > > >> /opt/local/include/ompl/tools/multiplan/OptimizePlan.h > > >> /opt/local/include/ompl/tools/multiplan/ParallelPlan.h > > >> /opt/local/include/ompl/tools/thunder/SPARSdb.h > > >> /opt/local/include/ompl/tools/thunder/Thunder.h > > >> /opt/local/include/ompl/tools/thunder/ThunderDB.h > > >> /opt/local/include/ompl/util/ClassForward.h > > >> /opt/local/include/ompl/util/Console.h > > >> /opt/local/include/ompl/util/Deprecation.h > > >> /opt/local/include/ompl/util/DisableCompilerWarning.h > > >> /opt/local/include/ompl/util/Exception.h > > >> /opt/local/include/ompl/util/GeometricEquations.h > > >> /opt/local/include/ompl/util/Hash.h > > >> /opt/local/include/ompl/util/PPM.h > > >> /opt/local/include/ompl/util/ProlateHyperspheroid.h > > >> /opt/local/include/ompl/util/RandomNumbers.h > > >> /opt/local/include/ompl/util/String.h > > >> /opt/local/include/ompl/util/Time.h > > >> /opt/local/include/omplapp/apps/AppBase.h > > >> /opt/local/include/omplapp/apps/BlimpPlanning.h > > >> /opt/local/include/omplapp/apps/DynamicCarPlanning.h > > >> /opt/local/include/omplapp/apps/KinematicCarPlanning.h > > >> /opt/local/include/omplapp/apps/QuadrotorPlanning.h > > >> /opt/local/include/omplapp/apps/SE2MultiRigidBodyPlanning.h > > >> /opt/local/include/omplapp/apps/SE2RigidBodyPlanning.h > > >> /opt/local/include/omplapp/apps/SE3MultiRigidBodyPlanning.h > > >> /opt/local/include/omplapp/apps/SE3RigidBodyPlanning.h > > >> /opt/local/include/omplapp/apps/detail/appUtil.h > > >> /opt/local/include/omplapp/apps/graphical/GBlimpPlanning.h > > >> /opt/local/include/omplapp/apps/graphical/GDynamicCarPlanning.h > > >> /opt/local/include/omplapp/apps/graphical/GKinematicCarPlanning.h > > >> /opt/local/include/omplapp/apps/graphical/GQuadrotorPlanning.h > > >> /opt/local/include/omplapp/apps/graphical/GSE2RigidBodyPlanning.h > > >> /opt/local/include/omplapp/apps/graphical/GSE3RigidBodyPlanning.h > > >> /opt/local/include/omplapp/config.h > > >> /opt/local/include/omplapp/geometry/GeometrySpecification.h > > >> /opt/local/include/omplapp/geometry/RigidBodyGeometry.h > > >> > /opt/local/include/omplapp/geometry/detail/FCLContinuousMotionValidator.h > > >> /opt/local/include/omplapp/geometry/detail/FCLMethodWrapper.h > > >> /opt/local/include/omplapp/geometry/detail/FCLStateValidityChecker.h > > >> /opt/local/include/omplapp/geometry/detail/PQPStateValidityChecker.h > > >> /opt/local/include/omplapp/geometry/detail/assimpUtil.h > > >> /opt/local/include/omplapp/graphics/RenderGeometry.h > > >> /opt/local/include/omplapp/graphics/detail/RenderPlannerData.h > > >> /opt/local/include/omplapp/graphics/detail/assimpGUtil.h > > >> /opt/local/lib/libompl.1.4.2.dylib > > >> /opt/local/lib/libompl.15.dylib > > >> /opt/local/lib/libompl.dylib > > >> /opt/local/lib/libompl_app.1.4.2.dylib > > >> /opt/local/lib/libompl_app.15.dylib > > >> /opt/local/lib/libompl_app.dylib > > >> /opt/local/lib/libompl_app_base.1.4.2.dylib > > >> /opt/local/lib/libompl_app_base.15.dylib > > >> /opt/local/lib/libompl_app_base.dylib > > >> /opt/local/lib/pkgconfig/ompl.pc > > >> /opt/local/share/man/man1/ompl_app.1.gz > > >> /opt/local/share/man/man1/ompl_benchmark.1.gz > > >> /opt/local/share/man/man1/ompl_benchmark_statistics.1.gz > > >> /opt/local/share/man/man1/ompl_webapp.1.gz > > >> /opt/local/share/man/man1/plannerarena.1.gz > > >> /opt/local/share/ompl/cmake/omplConfig.cmake > > >> /opt/local/share/ompl/cmake/omplConfigVersion.cmake > > >> /opt/local/share/ompl/demos/BlimpPlanning.cpp > > >> /opt/local/share/ompl/demos/CForestCircleGridBenchmark.cpp > > >> /opt/local/share/ompl/demos/CollisionCheckers.cpp > > >> /opt/local/share/ompl/demos/Diagonal.cpp > > >> /opt/local/share/ompl/demos/DynamicCarPlanning.cpp > > >> /opt/local/share/ompl/demos/DynamicCarPlanning.py > > >> /opt/local/share/ompl/demos/GeometricCarPlanning.cpp > > >> /opt/local/share/ompl/demos/HybridSystemPlanning.cpp > > >> /opt/local/share/ompl/demos/HypercubeBenchmark.cpp > > >> /opt/local/share/ompl/demos/KinematicCarPlanning.cpp > > >> /opt/local/share/ompl/demos/KinematicCarPlanning.py > > >> /opt/local/share/ompl/demos/KinematicChainBenchmark.cpp > > >> /opt/local/share/ompl/demos/KinematicChainPathPlot.py > > >> /opt/local/share/ompl/demos/Koules/Koules.cpp > > >> /opt/local/share/ompl/demos/Koules/KoulesConfig.h > > >> /opt/local/share/ompl/demos/Koules/KoulesControlSpace.cpp > > >> /opt/local/share/ompl/demos/Koules/KoulesControlSpace.h > > >> /opt/local/share/ompl/demos/Koules/KoulesDecomposition.h > > >> /opt/local/share/ompl/demos/Koules/KoulesDirectedControlSampler.cpp > > >> /opt/local/share/ompl/demos/Koules/KoulesDirectedControlSampler.h > > >> /opt/local/share/ompl/demos/Koules/KoulesGoal.cpp > > >> /opt/local/share/ompl/demos/Koules/KoulesGoal.h > > >> /opt/local/share/ompl/demos/Koules/KoulesPlayback.py > > >> /opt/local/share/ompl/demos/Koules/KoulesProjection.h > > >> /opt/local/share/ompl/demos/Koules/KoulesSetup.cpp > > >> /opt/local/share/ompl/demos/Koules/KoulesSetup.h > > >> /opt/local/share/ompl/demos/Koules/KoulesSimulator.cpp > > >> /opt/local/share/ompl/demos/Koules/KoulesSimulator.h > > >> /opt/local/share/ompl/demos/Koules/KoulesStatePropagator.cpp > > >> /opt/local/share/ompl/demos/Koules/KoulesStatePropagator.h > > >> /opt/local/share/ompl/demos/Koules/KoulesStateSpace.cpp > > >> /opt/local/share/ompl/demos/Koules/KoulesStateSpace.h > > >> /opt/local/share/ompl/demos/LTLWithTriangulation.cpp > > >> /opt/local/share/ompl/demos/OpenDERigidBodyPlanning.cpp > > >> /opt/local/share/ompl/demos/OptimalPlanning.cpp > > >> /opt/local/share/ompl/demos/OptimalPlanning.py > > >> /opt/local/share/ompl/demos/PlannerData.cpp > > >> /opt/local/share/ompl/demos/PlannerData.py > > >> /opt/local/share/ompl/demos/PlannerProgressProperties.cpp > > >> /opt/local/share/ompl/demos/Point2DPlanning.cpp > > >> /opt/local/share/ompl/demos/Point2DPlanning.py > > >> /opt/local/share/ompl/demos/QuadrotorPlanning.cpp > > >> /opt/local/share/ompl/demos/RandomWalkPlanner.py > > >> /opt/local/share/ompl/demos/RigidBodyPlanning.cpp > > >> /opt/local/share/ompl/demos/RigidBodyPlanning.py > > >> /opt/local/share/ompl/demos/RigidBodyPlanningWithControls.cpp > > >> /opt/local/share/ompl/demos/RigidBodyPlanningWithControls.py > > >> /opt/local/share/ompl/demos/RigidBodyPlanningWithIK.cpp > > >> > /opt/local/share/ompl/demos/RigidBodyPlanningWithIntegrationAndControls.cpp > > >> > /opt/local/share/ompl/demos/RigidBodyPlanningWithODESolverAndControls.cpp > > >> > /opt/local/share/ompl/demos/RigidBodyPlanningWithODESolverAndControls.py > > >> /opt/local/share/ompl/demos/SE2MultiRigidBodyPlanning.cpp > > >> /opt/local/share/ompl/demos/SE2RigidBodyPlanning.cpp > > >> /opt/local/share/ompl/demos/SE3MultiRigidBodyPlanning.cpp > > >> /opt/local/share/ompl/demos/SE3MultiRigidBodyPlanning.py > > >> /opt/local/share/ompl/demos/SE3RigidBodyPlanning.cpp > > >> /opt/local/share/ompl/demos/SE3RigidBodyPlanning.py > > >> /opt/local/share/ompl/demos/SE3RigidBodyPlanningBenchmark.cpp > > >> /opt/local/share/ompl/demos/SE3RigidBodyPlanningWithOptimization.cpp > > >> /opt/local/share/ompl/demos/StateSampling.cpp > > >> /opt/local/share/ompl/demos/StateSampling.py > > >> /opt/local/share/ompl/demos/ThunderLightning.cpp > > >> /opt/local/share/ompl/demos/TriangulationDemo.cpp > > >> /opt/local/share/ompl/demos/VFRRT/VectorFieldConservative.cpp > > >> /opt/local/share/ompl/demos/VFRRT/VectorFieldNonconservative.cpp > > >> /opt/local/share/ompl/demos/VFRRT/plotConservative.py > > >> /opt/local/share/ompl/demos/VFRRT/plotNonconservative.py > > >> /opt/local/share/ompl/demos/displayOpenDE.cpp > > >> /opt/local/share/ompl/demos/planOpenDE.cpp > > >> /opt/local/share/ompl/ompl.conf > > >> /opt/local/share/ompl/plannerarena/global.R > > >> /opt/local/share/ompl/plannerarena/plannerarena > > >> /opt/local/share/ompl/plannerarena/server.R > > >> /opt/local/share/ompl/plannerarena/ui.R > > >> /opt/local/share/ompl/plannerarena/www/ga.js > > >> /opt/local/share/ompl/plannerarena/www/help.md > > >> /opt/local/share/ompl/plannerarena/www/plannerarena.css > > >> /opt/local/share/ompl/plannerarena/www/plannerarena.js > > >> /opt/local/share/ompl/resources/2D/Barriers.cfg > > >> /opt/local/share/ompl/resources/2D/Barriers.path > > >> /opt/local/share/ompl/resources/2D/Barriers_easy_env.dae > > >> /opt/local/share/ompl/resources/2D/Barriers_easy_robot.dae > > >> /opt/local/share/ompl/resources/2D/BoundingBox_planar_env.dae > > >> /opt/local/share/ompl/resources/2D/BugTrap_dcar.cfg > > >> /opt/local/share/ompl/resources/2D/BugTrap_planar.cfg > > >> /opt/local/share/ompl/resources/2D/BugTrap_planar.path > > >> /opt/local/share/ompl/resources/2D/BugTrap_planar_env.dae > > >> /opt/local/share/ompl/resources/2D/H_planar_env.dae > > >> /opt/local/share/ompl/resources/2D/Maze_kcar.cfg > > >> /opt/local/share/ompl/resources/2D/Maze_planar.cfg > > >> /opt/local/share/ompl/resources/2D/Maze_planar.path > > >> /opt/local/share/ompl/resources/2D/Maze_planar_env.dae > > >> /opt/local/share/ompl/resources/2D/Passage_planar_env.dae > > >> /opt/local/share/ompl/resources/2D/RandomPolygons_planar.cfg > > >> /opt/local/share/ompl/resources/2D/RandomPolygons_planar.path > > >> /opt/local/share/ompl/resources/2D/RandomPolygons_planar_env.dae > > >> /opt/local/share/ompl/resources/2D/StraightC_planar_robot.dae > > >> /opt/local/share/ompl/resources/2D/UniqueSolutionMaze.cfg > > >> /opt/local/share/ompl/resources/2D/UniqueSolutionMaze.path > > >> /opt/local/share/ompl/resources/2D/UniqueSolutionMaze_env.dae > > >> /opt/local/share/ompl/resources/2D/UniqueSolutionMaze_robot.dae > > >> /opt/local/share/ompl/resources/2D/car1_planar_robot.dae > > >> /opt/local/share/ompl/resources/2D/car2_planar_robot.dae > > >> /opt/local/share/ompl/resources/2D/hook_planar_robot.dae > > >> /opt/local/share/ompl/resources/3D/Abstract.cfg > > >> /opt/local/share/ompl/resources/3D/Abstract_env.dae > > >> /opt/local/share/ompl/resources/3D/Abstract_robot.dae > > >> /opt/local/share/ompl/resources/3D/Apartment.cfg > > >> /opt/local/share/ompl/resources/3D/Apartment.path > > >> /opt/local/share/ompl/resources/3D/Apartment.skp > > >> /opt/local/share/ompl/resources/3D/Apartment_env.dae > > >> /opt/local/share/ompl/resources/3D/Apartment_hard.cfg > > >> /opt/local/share/ompl/resources/3D/Apartment_robot.dae > > >> /opt/local/share/ompl/resources/3D/Easy.cfg > > >> /opt/local/share/ompl/resources/3D/Easy.path > > >> /opt/local/share/ompl/resources/3D/Easy.skp > > >> /opt/local/share/ompl/resources/3D/Easy_env.dae > > >> /opt/local/share/ompl/resources/3D/Easy_robot.dae > > >> /opt/local/share/ompl/resources/3D/Home.cfg > > >> /opt/local/share/ompl/resources/3D/Home_env.dae > > >> /opt/local/share/ompl/resources/3D/Home_robot.dae > > >> /opt/local/share/ompl/resources/3D/Twistycool.cfg > > >> /opt/local/share/ompl/resources/3D/Twistycool.path > > >> /opt/local/share/ompl/resources/3D/Twistycool.skp > > >> /opt/local/share/ompl/resources/3D/Twistycool_env.dae > > >> /opt/local/share/ompl/resources/3D/Twistycool_robot.dae > > >> /opt/local/share/ompl/resources/3D/Twistycooler.cfg > > >> /opt/local/share/ompl/resources/3D/Twistycooler.path > > >> /opt/local/share/ompl/resources/3D/Twistycooler_env.dae > > >> /opt/local/share/ompl/resources/3D/Twistycooler_robot.dae > > >> /opt/local/share/ompl/resources/3D/alpha-1.0.cfg > > >> /opt/local/share/ompl/resources/3D/alpha-1.1.cfg > > >> /opt/local/share/ompl/resources/3D/alpha-1.1.path > > >> /opt/local/share/ompl/resources/3D/alpha-1.2.cfg > > >> /opt/local/share/ompl/resources/3D/alpha-1.2.path > > >> /opt/local/share/ompl/resources/3D/alpha-1.5.cfg > > >> /opt/local/share/ompl/resources/3D/alpha-1.5.path > > >> /opt/local/share/ompl/resources/3D/alpha_env-1.0.dae > > >> /opt/local/share/ompl/resources/3D/alpha_env-1.1.dae > > >> /opt/local/share/ompl/resources/3D/alpha_env-1.2.dae > > >> /opt/local/share/ompl/resources/3D/alpha_env-1.5.dae > > >> /opt/local/share/ompl/resources/3D/alpha_robot.dae > > >> /opt/local/share/ompl/resources/3D/blimp.dae > > >> /opt/local/share/ompl/resources/3D/blimp.skp > > >> /opt/local/share/ompl/resources/3D/bugtrap.cfg > > >> /opt/local/share/ompl/resources/3D/bugtrap.skp > > >> /opt/local/share/ompl/resources/3D/bugtrap_env.dae > > >> /opt/local/share/ompl/resources/3D/bugtrap_robot.dae > > >> /opt/local/share/ompl/resources/3D/cubicles.cfg > > >> /opt/local/share/ompl/resources/3D/cubicles.path > > >> /opt/local/share/ompl/resources/3D/cubicles.skp > > >> /opt/local/share/ompl/resources/3D/cubicles_env.dae > > >> /opt/local/share/ompl/resources/3D/cubicles_opt.cfg > > >> /opt/local/share/ompl/resources/3D/cubicles_robot.dae > > >> /opt/local/share/ompl/resources/3D/escape.cfg > > >> /opt/local/share/ompl/resources/3D/escape.path > > >> /opt/local/share/ompl/resources/3D/escape.skp > > >> /opt/local/share/ompl/resources/3D/escape_env.dae > > >> /opt/local/share/ompl/resources/3D/escape_kladhangare_env.dae > > >> /opt/local/share/ompl/resources/3D/escape_robot.dae > > >> /opt/local/share/ompl/resources/3D/pipedream.cfg > > >> /opt/local/share/ompl/resources/3D/pipedream.path > > >> /opt/local/share/ompl/resources/3D/pipedream_env.dae > > >> /opt/local/share/ompl/resources/3D/pipedream_ring.cfg > > >> /opt/local/share/ompl/resources/3D/pipedream_ring.path > > >> /opt/local/share/ompl/resources/3D/quadrotor.dae > > >> /opt/local/share/ompl/resources/3D/quadrotor.skp > > >> /opt/local/share/ompl/resources/3D/ring.dae > > >> /opt/local/share/ompl/resources/3D/spirelli.cfg > > >> /opt/local/share/ompl/resources/3D/spirelli.path > > >> /opt/local/share/ompl/resources/3D/spirelli_env.dae > > >> /opt/local/share/ompl/resources/3D/spirelli_robot.dae > > >> /opt/local/share/ompl/resources/README.md > > >> /opt/local/share/ompl/resources/textures/checkered.ppm > > >> /opt/local/share/ompl/resources/textures/ground.ppm > > >> /opt/local/share/ompl/resources/textures/sky.ppm > > >> /opt/local/share/ompl/resources/textures/wood.ppm > > >> /opt/local/share/ompl/webapp/ompl_webapp > > >> /opt/local/share/ompl/webapp/omplweb.py > > >> > /opt/local/share/ompl/webapp/static/fonts/glyphicons-halflings-regular.eot > > >> > /opt/local/share/ompl/webapp/static/fonts/glyphicons-halflings-regular.svg > > >> > /opt/local/share/ompl/webapp/static/fonts/glyphicons-halflings-regular.ttf > > >> > /opt/local/share/ompl/webapp/static/fonts/glyphicons-halflings-regular.woff > > >> > /opt/local/share/ompl/webapp/static/fonts/glyphicons-halflings-regular.woff2 > > >> /opt/local/share/ompl/webapp/static/problem_files/2D/Barriers.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/2D/Barriers.path > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/Barriers_easy_env.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/Barriers_easy_robot.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/BoundingBox_planar_env.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/2D/BugTrap_dcar.cfg > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/BugTrap_planar.cfg > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/BugTrap_planar.path > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/BugTrap_planar_env.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/2D/H_planar_env.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/2D/Maze_kcar.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/2D/Maze_planar.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/2D/Maze_planar.path > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/Maze_planar_env.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/Passage_planar_env.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/RandomPolygons_planar.cfg > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/RandomPolygons_planar.path > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/RandomPolygons_planar_env.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/StraightC_planar_robot.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/UniqueSolutionMaze.cfg > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/UniqueSolutionMaze.path > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/UniqueSolutionMaze_env.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/UniqueSolutionMaze_robot.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/car1_planar_robot.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/car2_planar_robot.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/2D/hook_planar_robot.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Abstract.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Abstract_env.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/Abstract_robot.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Apartment.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Apartment.path > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Apartment.skp > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/Apartment_env.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/Apartment_hard.cfg > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/Apartment_robot.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Easy.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Easy.path > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Easy.skp > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Easy_env.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Easy_robot.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Home.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Home_env.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Home_robot.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycool.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycool.path > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycool.skp > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycool_env.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycool_robot.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycooler.cfg > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycooler.path > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycooler_env.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycooler_robot.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha-1.0.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha-1.1.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha-1.1.path > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha-1.2.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha-1.2.path > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha-1.5.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha-1.5.path > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/alpha_env-1.0.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/alpha_env-1.1.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/alpha_env-1.2.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/alpha_env-1.5.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha_robot.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/blimp.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/blimp.skp > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/bugtrap.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/bugtrap.skp > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/bugtrap_env.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/bugtrap_robot.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/cubicles.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/cubicles.path > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/cubicles.skp > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/cubicles_env.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/cubicles_opt.cfg > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/cubicles_robot.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/escape.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/escape.path > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/escape.skp > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/escape_env.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/escape_kladhangare_env.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/escape_robot.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/pipedream.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/pipedream.path > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/pipedream_env.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/pipedream_ring.cfg > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/pipedream_ring.path > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/quadrotor.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/quadrotor.skp > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/ring.dae > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/spirelli.cfg > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/spirelli.path > > >> /opt/local/share/ompl/webapp/static/problem_files/3D/spirelli_env.dae > > >> > /opt/local/share/ompl/webapp/static/problem_files/3D/spirelli_robot.dae > > >> /opt/local/share/ompl/webapp/static/scripts/benchmarking.js > > >> /opt/local/share/ompl/webapp/static/scripts/configuration.js > > >> /opt/local/share/ompl/webapp/static/scripts/helpers.js > > >> /opt/local/share/ompl/webapp/static/scripts/libs/ColladaLoader.js > > >> /opt/local/share/ompl/webapp/static/scripts/libs/TrackballControls.js > > >> /opt/local/share/ompl/webapp/static/scripts/libs/bootstrap.min.js > > >> /opt/local/share/ompl/webapp/static/scripts/libs/jquery-2.1.4.min.js > > >> /opt/local/share/ompl/webapp/static/scripts/libs/jquery.blockUI.js > > >> /opt/local/share/ompl/webapp/static/scripts/libs/mousetrap.min.js > > >> /opt/local/share/ompl/webapp/static/scripts/libs/three.min.js > > >> /opt/local/share/ompl/webapp/static/scripts/visualization.js > > >> /opt/local/share/ompl/webapp/static/sessions > > >> /opt/local/share/ompl/webapp/static/styles/bootstrap.min.css > > >> /opt/local/share/ompl/webapp/static/styles/style.css > > >> /opt/local/share/ompl/webapp/templates/components/about.html > > >> /opt/local/share/ompl/webapp/templates/components/benchmarking.html > > >> /opt/local/share/ompl/webapp/templates/components/configuration.html > > >> /opt/local/share/ompl/webapp/templates/omplweb.html > > >> > > >> port installed: > > >> The following ports are currently installed: > > >> assimp @4.1.0_0 (active) > > >> atk @2.28.1_0 (active) > > >> boost @1.66.0_3+no_single+no_static+python27 (active) > > >> boost-numpy @1.66.0_0+no_single+no_static+python27 (active) > > >> bzip2 @1.0.6_0 (active) > > >> cairo @1.16.0_0+quartz+x11 (active) > > >> castxml @20181115_0+clang60 (active) > > >> celery_select @0.1_1 (active) > > >> clang-6.0 @6.0.1_2+analyzer+libstdcxx (active) > > >> clang-7.0 @7.0.1_1+analyzer+libstdcxx (active) > > >> clang_select @2_0 (active) > > >> cmake @3.13.4_0 (active) > > >> curl @7.64.0_0+ssl (active) > > >> curl-ca-bundle @7.64.0_0 (active) > > >> cython_select @0.1_1 (active) > > >> db48 @4.8.30_4 (active) > > >> dbus @1.12.12_0 (active) > > >> dbus-glib @0.110_0 (active) > > >> dbus-python27 @1.2.8_0 (active) > > >> eiffelstudio @18.11.10.2592_0 (active) > > >> eigen3 @3.3.7_0 (active) > > >> expat @2.2.6_1 (active) > > >> fcl @0.5.0_1 (active) > > >> fftw-3 @3.3.8_0 (active) > > >> flann @1.9.1_5 (active) > > >> fontconfig @2.13.1_0 (active) > > >> freetype @2.9.1_0 (active) > > >> fribidi @1.0.5_0 (active) > > >> gdbm @1.18.1_1 (active) > > >> gdk-pixbuf2 @2.36.12_0+x11 (active) > > >> gettext @0.19.8.1_0 (active) > > >> giflib @4.2.3_0+x11 (active) > > >> glfw @3.2.1_0+docs (active) > > >> glib2 @2.58.3_0+x11 (active) > > >> gobject-introspection @1.58.3_0 (active) > > >> graphite2 @1.3.13_0 (active) > > >> gtk2 @2.24.32_0+x11 (active) > > >> harfbuzz @2.3.0_0 (active) > > >> hdf5 @1.10.4_0+cxx+hl (active) > > >> hicolor-icon-theme @0.17_0 (active) > > >> icu @58.2_2 (active) > > >> jasper @2.0.14_0 (active) > > >> jbigkit @2.1_0 (active) > > >> jpeg @9c_0 (active) > > >> lcms2 @2.9_1 (active) > > >> ld64 @3_1+ld64_xcode (active) > > >> ld64-xcode @2_1 (active) > > >> libarchive @3.3.3_1 (active) > > >> libccd @2.1_0 (active) > > >> libcxx @5.0.1_4 (active) > > >> libedit @20181209-3.1_0 (active) > > >> libffi @3.2.1_0 (active) > > >> libgcc @1.0_0 (active) > > >> libgcc8 @8.2.0_2 (active) > > >> libiconv @1.15_0 (active) > > >> libidn2 @2.1.1_0 (active) > > >> libmng @2.0.3_0 (active) > > >> libomp @7.0.1_0 (active) > > >> libpixman @0.36.0_0 (active) > > >> libpng @1.6.36_0 (active) > > >> libpsl @0.20.2-20190205_0 (active) > > >> libsdl2 @2.0.9_1 (active) > > >> libtool @2.4.6_5 (active) > > >> libunistring @0.9.10_0 (active) > > >> libuv @1.26.0_0 (active) > > >> libxml2 @2.9.7_2 > > >> libxml2 @2.9.9_0 (active) > > >> llvm-6.0 @6.0.1_0 (active) > > >> llvm-7.0 @7.0.1_1 (active) > > >> llvm_select @2_0 (active) > > >> lz4 @1.8.3_0 (active) > > >> lzo2 @2.10_0 (active) > > >> minizip @1.2.11_0 (active) > > >> ncurses @6.1_0 (active) > > >> nosetests_select @0.1_0 (active) > > >> ode @0.15.2_0 (active) > > >> ompl @1.4.2_0+app+python27 (active) > > >> openjpeg @2.3.0_0 (active) > > >> openssl @1.0.2q_0 (active) > > >> ossp-uuid @1.6.2_11+perl5_26 (active) > > >> pango @1.42.4_0+quartz+x11 (active) > > >> pcre @8.42_0 (active) > > >> pcre2 @10.32_0 (active) > > >> perl5 @5.26.1_0+perl5_26 (active) > > >> perl5.26 @5.26.3_2 (active) > > >> pkgconfig @0.29.2_0 (active) > > >> py27-amqp @2.3.2_0 (active) > > >> py27-beaker @1.10.0_0 (active) > > >> py27-billiard @3.5.0.5_0 (active) > > >> py27-celery @4.2.1_0 (active) > > >> py27-click @7.0_0 (active) > > >> py27-cython @0.29.5_0 (active) > > >> py27-enum34 @1.1.6_0 (active) > > >> py27-flask @0.12.2_0 (active) > > >> py27-funcsigs @1.0.2_0 (active) > > >> py27-itsdangerous @0.24_0 (active) > > >> py27-jinja2 @2.10_0 (active) > > >> py27-kombu @4.2.2_0 (active) > > >> py27-mako @1.0.7_0 (active) > > >> py27-markdown @3.0.1_0 (active) > > >> py27-markupsafe @1.1.0_0 (active) > > >> py27-nose @1.3.7_1 (active) > > >> py27-numpy @1.16.1_0+gfortran (active) > > >> py27-olefile @0.45.1_0 (active) > > >> py27-opengl @3.1.0_0 (active) > > >> py27-opengl-accelerate @3.1.0_0 (active) > > >> py27-Pillow @5.4.1_0 (active) > > >> py27-pygccxml @1.9.1_0 (active) > > >> py27-pyplusplus @1.8.1_0 (active) > > >> py27-pyqt5 @5.11.3_1 (active) > > >> py27-redis @3.1.0_0 (active) > > >> py27-setuptools @40.7.1_0 > > >> py27-setuptools @40.8.0_0 (active) > > >> py27-sip @4.19.14_0 (active) > > >> py27-tkinter @2.7.15_0 (active) > > >> py27-tz @2018.9_0 (active) > > >> py27-vine @1.2.0_0 (active) > > >> py27-werkzeug @0.14.1_0 (active) > > >> pypy @6.0.0_1 (active) > > >> python2_select @0.0_3 (active) > > >> python27 @2.7.15_1 (active) > > >> python_select @0.3_8 (active) > > >> qt5 @5.12.1_0 (active) > > >> qt5-qt3d @5.12.1_0 (active) > > >> qt5-qtbase @5.12.1_0+openssl (active) > > >> qt5-qtcanvas3d @5.12.1_0 (active) > > >> qt5-qtconnectivity @5.12.1_0 (active) > > >> qt5-qtdeclarative @5.12.1_0 (active) > > >> qt5-qtgamepad @5.12.1_0 (active) > > >> qt5-qtgraphicaleffects @5.12.1_0 (active) > > >> qt5-qtimageformats @5.12.1_0 (active) > > >> qt5-qtlocation @5.12.1_0 (active) > > >> qt5-qtmacextras @5.12.1_0 (active) > > >> qt5-qtmultimedia @5.12.1_0 (active) > > >> qt5-qtnetworkauth @5.12.1_0 (active) > > >> qt5-qtquickcontrols @5.12.1_0 (active) > > >> qt5-qtquickcontrols2 @5.12.1_0 (active) > > >> qt5-qtscript @5.12.1_0 (active) > > >> qt5-qtscxml @5.12.1_0 (active) > > >> qt5-qtsensors @5.12.1_0 (active) > > >> qt5-qtserialbus @5.12.1_0 (active) > > >> qt5-qtserialport @5.12.1_0 (active) > > >> qt5-qtspeech @5.12.1_0 (active) > > >> qt5-qtsvg @5.12.1_0 (active) > > >> qt5-qttools @5.12.1_0 (active) > > >> qt5-qttranslations @5.12.1_0 (active) > > >> qt5-qtwebchannel @5.12.1_0 (active) > > >> qt5-qtwebsockets @5.12.1_0 (active) > > >> qt5-qtxmlpatterns @5.12.1_0 (active) > > >> qt5-sqlite-plugin @5.12.1_0 (active) > > >> readline @8.0.000_0 (active) > > >> redis @5.0.3_0 (active) > > >> shared-mime-info @1.10_0 (active) > > >> sqlite3 @3.26.0_0 > > >> sqlite3 @3.27.1_0 (active) > > >> tcl @8.6.9_1+corefoundation+threads (active) > > >> tiff @4.0.10_1 (active) > > >> tk @8.6.9_1+x11 (active) > > >> triangle @1.6_7 (active) > > >> webp @1.0.2_0 (active) > > >> xar @1.6.1_0 (active) > > >> Xft2 @2.3.2_0 (active) > > >> xorg-libice @1.0.9_1 (active) > > >> xorg-libpthread-stubs @0.4_0 (active) > > >> xorg-libsm @1.2.3_0 (active) > > >> xorg-libX11 @1.6.7_0 (active) > > >> xorg-libXau @1.0.8_1 > > >> xorg-libXau @1.0.9_0 (active) > > >> xorg-libxcb @1.13.1_0+python27 (active) > > >> xorg-libXcomposite @0.4.4_1 (active) > > >> xorg-libXcursor @1.1.15_1 (active) > > >> xorg-libXdamage @1.1.4_1 (active) > > >> xorg-libXdmcp @1.1.2_1 (active) > > >> xorg-libXext @1.3.3_1 (active) > > >> xorg-libXfixes @5.0.3_1 (active) > > >> xorg-libXi @1.7.9_1 (active) > > >> xorg-libXinerama @1.1.4_1 (active) > > >> xorg-libXrandr @1.5.1_1 (active) > > >> xorg-libXScrnSaver @1.2.3_1 (active) > > >> xorg-libXtst @1.2.3_1 (active) > > >> xorg-xcb-proto @1.13_0+python27 (active) > > >> xorg-xcb-util @0.4.0_1 (active) > > >> xorg-xorgproto @2018.4_0 (active) > > >> xrender @0.9.10_1 (active) > > >> xz @5.2.4_0 (active) > > >> zlib @1.2.11_0 (active) > > >> zstd @1.3.8_0 (active) > > >> > > >> On Tue, 19 Feb 2019 at 20:26, Mark Moll <mm...@ri...> wrote: > > >> Hi Alistair, > > >> > > >> Can you email me the output of these two commands?: > > >> > > >> port contents ompl > > >> port installed > > >> > > >> Best, > > >> > > >> Mark > > >> > > >> > > >> > > >>> On Feb 19, 2019, at 4:38 PM, Alistair Scheuhammer <si...@my...> > wrote: > > >>> > > >>> Hello, > > >>> > > >>> I recently installed OMPL through Macports (specifically, by > executing the terminal command "sudo port sync \; install ompl +app"). > While the installation appears to have been successful, I'm afraid I'm lost > as to what I'm supposed to do next to actually run OMPL. The installation > does not appear to have created an application I can just open. There does > appear to be a terminal command I can now run ("ompl_app"), but whenever I > run this command, I get the following error: > > >>> > > >>> Traceback (most recent call last): > > >>> File "/opt/local/bin/ompl_app", line 56, in <module> > > >>> from ompl.util import OutputHandler, useOutputHandler, LogLevel, \ > > >>> File > "/opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/util/__init__.py", > line 4, in <module> > > >>> from ompl.util._util import * > > >>> ImportError: No module named _util > > >>> > > >>> Am I doing the correct thing here, and if so, what is preventing the > app from running? Likewise, if I am not doing the right thing, here, what > am I supposed to do run OMPL now that it's been installed? > > >>> _______________________________________________ > > >>> ompl-users mailing list > > >>> omp...@li... > > >>> https://lists.sourceforge.net/lists/listinfo/ompl-users > > >> > > > > > > > |
|
From: Max B. <m.j...@gm...> - 2019-03-24 10:28:56
|
Hi all,
Just to elaborate a bit on my previous mail. One thing that I'm struggling
with is the choice to create a CompoundStateSpace with 6 SO2 StateSpace
Subspaces.
This would give 6 states with an angle, which can represent the six joint
angles. With FK from KDL and the URDF I can make sure to meet the goals and
constraints for the end effector in cartesian space.
Or I could create a SE3 State for the end effector, which has 6DOF and use
IK to find the joint values.
For the first case I am struggling with creating the correct distance and
interpolate functions since the sanity checks are not passing:
Interpolation to midpoint state does not lead to distances that satisfy the
triangle inequality (1.037541 difference)
For the second case I am failing to understand how to implement it such
that I get smooth joint paths out of it, especially for a robot which would
have more than 6 joints and hence computing IK for subsequent samples could
result in non smooth paths.
What would be the best way forward?
Gr Max
*Case 1:*
class KinematicChainSpace : public ob::CompoundStateSpace
{
public:
KinematicChainSpace(unsigned int numLinks, urdf::Model urdfModel,
KDL::Chain kdlChain, Environment *env = NULL)
: ob::CompoundStateSpace(), numLinks_(numLinks), urdfModel_(urdfModel),
kdlChain_(kdlChain), environment_(env)
{
for (unsigned int i = 0; i < numLinks; ++i)
{
addSubspace(ob::StateSpacePtr(new ob::SO2StateSpace()), 1.);
ROS_INFO("Added %i/%i subspace to the KinematicChainSpace.", i, numLinks);
}
lock();
}
*Case 2:*
class KinematicChainSpace : public ob::SE3StateSpace
{
public:
KinematicChainSpace(unsigned int numLinks, urdf::Model urdfModel,
KDL::Chain kdlChain)
: ob::SE3StateSpace(), numLinks_(numLinks), urdfModel_(urdfModel), kdlChain_
(kdlChain)
{
ROS_INFO("Created SE3StateSpace for a %i link robot. ", numLinks);
lock();
}
Op wo 20 mrt. 2019 om 07:08 schreef <m.j...@gm...>:
> Hi all,
>
>
>
> Currently I am trying to use OMPL to create a motion planner for a
> manipulator with 6 revolute joints. I’ve studied the example of the n-link
> in plane robot that is shown in the kinematic chain examples but I’m having
> trouble to create a 6 link revolute robot. Does anyone know of an example
> for a similar robot? Collision avoidance does not have to be included.
>
>
>
> Kind regards,
>
>
>
> Max
>
|
|
From: <m.j...@gm...> - 2019-03-20 06:09:07
|
Hi all, Currently I am trying to use OMPL to create a motion planner for a manipulator with 6 revolute joints. I've studied the example of the n-link in plane robot that is shown in the kinematic chain examples but I'm having trouble to create a 6 link revolute robot. Does anyone know of an example for a similar robot? Collision avoidance does not have to be included. Kind regards, Max |
|
From: <ian...@om...> - 2019-03-05 15:53:06
|
Hi Michael,
Thanks for the tip. I'll take a look at swig.
Ian.
From: Michael Wojtynek <mwo...@te...>
Sent: 04 March 2019 15:31
To: omp...@li...
Subject: Re: [ompl-users] OMPL Compatibility with C#
Hello Ian,
we have used swig as C# wrapper. Works quite fine, however live debugging of the cpp stack doesn't work when you run a C# application.
Best,
Michael
Am 28.02.2019 um 17:22 schrieb Ian Mcardle:
Hi,
Please can you tell me if you know of any C# wrapper/bindings that work well with OMPL? I would like to use OMPL from a Windows .NET application - if that's possible?
Best regards,
EUR ING Ian McArdle BEng(Hons) CEng AMBCS
Lead Engineer
ian...@om... <mailto:ian...@om...>
+44(0)1489 563809
UK, Software Product Centre, Omron Electronics Ltd., 5 Turnberry House, The Links, Parkway, Whiteley, FAREHAM, PO15 7FJ
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Industrial Automation | Europe
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_______________________________________________
ompl-users mailing list
omp...@li...<mailto:omp...@li...>
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--
M.Sc. Michael Wojtynek
Research Institute for Cognition and Robotics (CoR-Lab)
Tel:
+49-521-106-2931
Web:
www.cor-lab.de<http://www.cor-lab.de>
www.cit-ec.de<http://www.cit-ec.de>
Office:
Bielefeld University
Cognitive Interaction Technology - Center of Excellence (CITEC)
Inspiration 1
D-33619 Bielefeld
|
|
From: Michael W. <mwo...@te...> - 2019-03-04 15:47:51
|
Hello Ian, we have used swig as C# wrapper. Works quite fine, however live debugging of the cpp stack doesn't work when you run a C# application. Best, Michael Am 28.02.2019 um 17:22 schrieb Ian Mcardle: > Hi, > > Please can you tell me if you know of any C# wrapper/bindings that > work well with OMPL? I would like to use OMPL from a Windows .NET > application - if that's possible? > > Best regards, > > EUR ING *Ian McArdle*BEng(Hons) CEng AMBCS > Lead Engineer > > ian...@om... <mailto:ian...@om...> > +44(0)1489 563809 > > *UK, *Software Product Centre, Omron Electronics Ltd., 5 Turnberry > House, The Links, Parkway, Whiteley, FAREHAM, PO15 7FJ > > <http://industrial.omron.eu/?utm_source=email&utm_medium=signature&utm_campaign=none> > Industrial Automation | Europe > > <https://industrial.omron.eu/packaging/?utm_source=email&utm_medium=signature&utm_campaign=none> > > > industrial.omron.co.uk > <http://industrial.omron.co.uk?utm_source=email&utm_medium=signature&utm_campaign=none> > Pan-European presence > <http://industrial.omron.eu/en/contact/omron_in_country/default.html?utm_source=email&utm_medium=signature&utm_campaign=none> > myomron.com > <http://www.myomron.com/?utm_source=email&utm_medium=signature&utm_campaign=none>- > 24/7 Support > Follow us on LinkedIn <https://www.linkedin.com/company-beta/5838/> > > Registered as a company in the UK as: Omron Electronics Ltd., Opal > Drive, Fox Milne, Milton Keynes, MK15 0DG Company No. 02602783, VAT > No. GB 586 9990 51 > > > > _______________________________________________ > ompl-users mailing list > omp...@li... > https://lists.sourceforge.net/lists/listinfo/ompl-users -- M.Sc. Michael Wojtynek Research Institute for Cognition and Robotics (CoR-Lab) Tel: +49-521-106-2931 Web: www.cor-lab.de www.cit-ec.de Office: Bielefeld University Cognitive Interaction Technology - Center of Excellence (CITEC) Inspiration 1 D-33619 Bielefeld |
|
From: Mark M. <mm...@ri...> - 2019-03-01 03:22:36
|
Hi Ian, I am not aware of any C# wrapper/bindings. The closest thing I can think of is ROS# (https://github.com/siemens/ros-sharp), which allows you to interface C# with ROS through ROS messages. OMPL is used inside MoveIt! for solving motion planning problems. Best, Mark > On Feb 28, 2019, at 9:46 AM, Ian Mcardle <ian...@eu...> wrote: > > Hi, > > Please can you tell me if you know of any C# wrapper/bindings that work well with OMPL? I would like to use OMPL from a Windows .NET application - if that's possible? > > Best regards, > EUR ING Ian McArdle BEng(Hons) CEng AMBCS > Lead Engineer > > ian...@om... > +44(0)1489 563809 > > UK, Software Product Centre, Omron Electronics Ltd., 5 Turnberry House, The Links, Parkway, Whiteley, FAREHAM, PO15 7FJ > > <Mail Attachment.gif> > > <Mail Attachment.png> > Industrial Automation | Europe > > <Mail Attachment.jpeg> > > <Mail Attachment.gif> industrial.omron.co.uk > <Mail Attachment.gif> Pan-European presence > <Mail Attachment.gif> myomron.com - 24/7 Support > <Mail Attachment.gif> Follow us on LinkedIn > > Registered as a company in the UK as: Omron Electronics Ltd., Opal Drive, Fox Milne, Milton Keynes, MK15 0DG Company No. 02602783, VAT No. GB 586 9990 51 _______________________________________________ > ompl-users mailing list > omp...@li... > https://lists.sourceforge.net/lists/listinfo/ompl-users > |
|
From: Ian M. <ian...@eu...> - 2019-02-28 16:39:54
|
Hi,
Please can you tell me if you know of any C# wrapper/bindings that work
well with OMPL? I would like to use OMPL from a Windows .NET application
- if that's possible?
Best regards,
EUR ING Ian McArdle BEng(Hons) CEng AMBCS
Lead Engineer
ian...@om...
+44(0)1489 563809
UK, Software Product Centre, Omron Electronics Ltd., 5 Turnberry
House, The Links, Parkway, Whiteley, FAREHAM, PO15 7FJ
Industrial Automation | Europe
industrial.omron.co.uk
Pan-European presence
myomron.com - 24/7 Support
Follow us on LinkedIn
Registered as a company in the UK as: Omron Electronics Ltd., Opal
Drive, Fox Milne, Milton Keynes, MK15 0DG Company No. 02602783, VAT No. GB
586 9990 51 |
|
From: Ian M. <ian...@eu...> - 2019-02-28 16:23:01
|
Hi,
Please can you tell me if you know of any C# wrapper/bindings that work
well with OMPL? I would like to use OMPL from a Windows .NET application
- if that's possible?
Best regards,
EUR ING Ian McArdle BEng(Hons) CEng AMBCS
Lead Engineer
ian...@om...
+44(0)1489 563809
UK, Software Product Centre, Omron Electronics Ltd., 5 Turnberry
House, The Links, Parkway, Whiteley, FAREHAM, PO15 7FJ
Industrial Automation | Europe
industrial.omron.co.uk
Pan-European presence
myomron.com - 24/7 Support
Follow us on LinkedIn
Registered as a company in the UK as: Omron Electronics Ltd., Opal
Drive, Fox Milne, Milton Keynes, MK15 0DG Company No. 02602783, VAT No. GB
586 9990 51 |
|
From: Marcos P. <mar...@gm...> - 2019-02-22 20:46:55
|
Dear OMPL community, I am currently studying the article from He et al "Towards Manipulation Planning with Temporal Logic Specification" (2015 IEEE International Conference on Robotics and Automation (ICRA)) <https://www.cs.rice.edu/~vardi/papers/icra15.pdf>. I have managed to use the LTLWithTriangulation.cpp example from OMPL to generate a solution path based on the product graph between a PropositionalTriangularDecomposition and the LTL cosafety and safety formulas. This is what the LTLWithTriangulation.cpp <http://ompl.kavrakilab.org/LTLWithTriangulation_8cpp_source.html> example does. However I couldn't understand how to create the Abstraction graph R=(V,v0,E,L,W) with the OMPL mentioned on the article above on page 3, that is, how to declare R on the OMPL. I would like to reuse the LTLWithTriangulation.cpp <http://ompl.kavrakilab.org/LTLWithTriangulation_8cpp_source.html> to plan with Motion Primitives (for instance, as in the article above, Grasp, Move, Hold, Place) and locations of interest. The LTLWithTriangulation.cpp <http://ompl.kavrakilab.org/LTLWithTriangulation_8cpp_source.html> already uses propositional triangular decomposition to describe locations of interest as polygons but does not include motion primitives information. Would it be possible for someone to provide some ideas or insights on how to implement the abstraction graph R with the OMPL to use the ProductGraph <http://ompl.kavrakilab.org/classompl_1_1control_1_1ProductGraph.html> OMPL function and then use the OMPL LTLPlanner <http://ompl.kavrakilab.org/classompl_1_1control_1_1LTLPlanner.html>? How could I add the motion primitives information on the propositional decomposition in order that it works with the ProductGraph <http://ompl.kavrakilab.org/classompl_1_1control_1_1ProductGraph.html> and also with the LTLPlanner <http://ompl.kavrakilab.org/classompl_1_1control_1_1LTLPlanner.html>? Thank you, Marcos Pereira |
|
From: Alistair S. <si...@my...> - 2019-02-22 04:17:57
|
Sorry for taking a while to respond, I'm disgustingly busy these days.
I definitely have Python installed on my machine but I don't recall with
100% certainty whether or not I specifically have Python 3 or Python 2.7. I
feel like I probably do, though.
Results of console commands are as follows,
port contents omple:
Port ompl contains:
>
> /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/__init__.py
>
> /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/app/__init__.py
>
> /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/base/__init__.py
>
> /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/bindings_generator.py
>
> /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/control/__init__.py
>
> /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/geometric/__init__.py
>
> /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/tools/__init__.py
>
> /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/util/__init__.py
> /opt/local/bin/ompl_app
> /opt/local/bin/ompl_benchmark
> /opt/local/bin/ompl_benchmark_statistics.py
> /opt/local/bin/plannerarena
> /opt/local/include/ompl/base/ConstrainedSpaceInformation.h
> /opt/local/include/ompl/base/Constraint.h
> /opt/local/include/ompl/base/Cost.h
> /opt/local/include/ompl/base/DiscreteMotionValidator.h
> /opt/local/include/ompl/base/GenericParam.h
> /opt/local/include/ompl/base/Goal.h
> /opt/local/include/ompl/base/GoalTypes.h
> /opt/local/include/ompl/base/MotionValidator.h
> /opt/local/include/ompl/base/OptimizationObjective.h
> /opt/local/include/ompl/base/Path.h
> /opt/local/include/ompl/base/Planner.h
> /opt/local/include/ompl/base/PlannerData.h
> /opt/local/include/ompl/base/PlannerDataGraph.h
> /opt/local/include/ompl/base/PlannerDataStorage.h
> /opt/local/include/ompl/base/PlannerStatus.h
> /opt/local/include/ompl/base/PlannerTerminationCondition.h
> /opt/local/include/ompl/base/PrecomputedStateSampler.h
> /opt/local/include/ompl/base/ProblemDefinition.h
> /opt/local/include/ompl/base/ProjectionEvaluator.h
> /opt/local/include/ompl/base/ScopedState.h
> /opt/local/include/ompl/base/SolutionNonExistenceProof.h
> /opt/local/include/ompl/base/SpaceInformation.h
> /opt/local/include/ompl/base/State.h
> /opt/local/include/ompl/base/StateSampler.h
> /opt/local/include/ompl/base/StateSamplerArray.h
> /opt/local/include/ompl/base/StateSpace.h
> /opt/local/include/ompl/base/StateSpaceTypes.h
> /opt/local/include/ompl/base/StateStorage.h
> /opt/local/include/ompl/base/StateValidityChecker.h
> /opt/local/include/ompl/base/TypedSpaceInformation.h
> /opt/local/include/ompl/base/TypedStateValidityChecker.h
> /opt/local/include/ompl/base/ValidStateSampler.h
> /opt/local/include/ompl/base/goals/GoalLazySamples.h
> /opt/local/include/ompl/base/goals/GoalRegion.h
> /opt/local/include/ompl/base/goals/GoalSampleableRegion.h
> /opt/local/include/ompl/base/goals/GoalState.h
> /opt/local/include/ompl/base/goals/GoalStates.h
> /opt/local/include/ompl/base/objectives/MaximizeMinClearanceObjective.h
>
> /opt/local/include/ompl/base/objectives/MechanicalWorkOptimizationObjective.h
> /opt/local/include/ompl/base/objectives/MinimaxObjective.h
> /opt/local/include/ompl/base/objectives/PathLengthOptimizationObjective.h
> /opt/local/include/ompl/base/objectives/StateCostIntegralObjective.h
>
> /opt/local/include/ompl/base/objectives/VFMechanicalWorkOptimizationObjective.h
>
> /opt/local/include/ompl/base/objectives/VFUpstreamCriterionOptimizationObjective.h
> /opt/local/include/ompl/base/samplers/BridgeTestValidStateSampler.h
> /opt/local/include/ompl/base/samplers/GaussianValidStateSampler.h
> /opt/local/include/ompl/base/samplers/InformedStateSampler.h
>
> /opt/local/include/ompl/base/samplers/MaximizeClearanceValidStateSampler.h
> /opt/local/include/ompl/base/samplers/MinimumClearanceValidStateSampler.h
> /opt/local/include/ompl/base/samplers/ObstacleBasedValidStateSampler.h
> /opt/local/include/ompl/base/samplers/UniformValidStateSampler.h
> /opt/local/include/ompl/base/samplers/informed/OrderedInfSampler.h
>
> /opt/local/include/ompl/base/samplers/informed/PathLengthDirectInfSampler.h
> /opt/local/include/ompl/base/samplers/informed/RejectionInfSampler.h
> /opt/local/include/ompl/base/spaces/DiscreteStateSpace.h
> /opt/local/include/ompl/base/spaces/DubinsStateSpace.h
> /opt/local/include/ompl/base/spaces/RealVectorBounds.h
> /opt/local/include/ompl/base/spaces/RealVectorStateProjections.h
> /opt/local/include/ompl/base/spaces/RealVectorStateSpace.h
> /opt/local/include/ompl/base/spaces/ReedsSheppStateSpace.h
> /opt/local/include/ompl/base/spaces/SE2StateSpace.h
> /opt/local/include/ompl/base/spaces/SE3StateSpace.h
> /opt/local/include/ompl/base/spaces/SO2StateSpace.h
> /opt/local/include/ompl/base/spaces/SO3StateSpace.h
> /opt/local/include/ompl/base/spaces/TimeStateSpace.h
> /opt/local/include/ompl/base/spaces/WrapperStateSpace.h
> /opt/local/include/ompl/base/spaces/constraint/AtlasChart.h
> /opt/local/include/ompl/base/spaces/constraint/AtlasStateSpace.h
> /opt/local/include/ompl/base/spaces/constraint/ConstrainedStateSpace.h
> /opt/local/include/ompl/base/spaces/constraint/ProjectedStateSpace.h
> /opt/local/include/ompl/base/spaces/constraint/TangentBundleStateSpace.h
> /opt/local/include/ompl/config.h
> /opt/local/include/ompl/control/Control.h
> /opt/local/include/ompl/control/ControlSampler.h
> /opt/local/include/ompl/control/ControlSpace.h
> /opt/local/include/ompl/control/ControlSpaceTypes.h
> /opt/local/include/ompl/control/DirectedControlSampler.h
> /opt/local/include/ompl/control/ODESolver.h
> /opt/local/include/ompl/control/PathControl.h
> /opt/local/include/ompl/control/PlannerData.h
> /opt/local/include/ompl/control/PlannerDataStorage.h
> /opt/local/include/ompl/control/SimpleDirectedControlSampler.h
> /opt/local/include/ompl/control/SimpleSetup.h
> /opt/local/include/ompl/control/SpaceInformation.h
> /opt/local/include/ompl/control/StatePropagator.h
> /opt/local/include/ompl/control/SteeredControlSampler.h
> /opt/local/include/ompl/control/planners/PlannerIncludes.h
> /opt/local/include/ompl/control/planners/est/EST.h
> /opt/local/include/ompl/control/planners/kpiece/KPIECE1.h
> /opt/local/include/ompl/control/planners/ltl/Automaton.h
> /opt/local/include/ompl/control/planners/ltl/LTLPlanner.h
> /opt/local/include/ompl/control/planners/ltl/LTLProblemDefinition.h
> /opt/local/include/ompl/control/planners/ltl/LTLSpaceInformation.h
> /opt/local/include/ompl/control/planners/ltl/ProductGraph.h
> /opt/local/include/ompl/control/planners/ltl/PropositionalDecomposition.h
> /opt/local/include/ompl/control/planners/ltl/World.h
> /opt/local/include/ompl/control/planners/pdst/PDST.h
> /opt/local/include/ompl/control/planners/rrt/RRT.h
> /opt/local/include/ompl/control/planners/sst/SST.h
> /opt/local/include/ompl/control/planners/syclop/Decomposition.h
> /opt/local/include/ompl/control/planners/syclop/GridDecomposition.h
> /opt/local/include/ompl/control/planners/syclop/Syclop.h
> /opt/local/include/ompl/control/planners/syclop/SyclopEST.h
> /opt/local/include/ompl/control/planners/syclop/SyclopRRT.h
> /opt/local/include/ompl/control/spaces/DiscreteControlSpace.h
> /opt/local/include/ompl/control/spaces/RealVectorControlSpace.h
> /opt/local/include/ompl/datastructures/BinaryHeap.h
> /opt/local/include/ompl/datastructures/DynamicSSSP.h
> /opt/local/include/ompl/datastructures/GreedyKCenters.h
> /opt/local/include/ompl/datastructures/Grid.h
> /opt/local/include/ompl/datastructures/GridB.h
> /opt/local/include/ompl/datastructures/GridN.h
> /opt/local/include/ompl/datastructures/LPAstarOnGraph.h
> /opt/local/include/ompl/datastructures/NearestNeighbors.h
> /opt/local/include/ompl/datastructures/NearestNeighborsFLANN.h
> /opt/local/include/ompl/datastructures/NearestNeighborsGNAT.h
>
> /opt/local/include/ompl/datastructures/NearestNeighborsGNATNoThreadSafety.h
> /opt/local/include/ompl/datastructures/NearestNeighborsLinear.h
> /opt/local/include/ompl/datastructures/NearestNeighborsSqrtApprox.h
> /opt/local/include/ompl/datastructures/PDF.h
> /opt/local/include/ompl/datastructures/Permutation.h
> /opt/local/include/ompl/extensions/morse/MorseControlSpace.h
> /opt/local/include/ompl/extensions/morse/MorseEnvironment.h
> /opt/local/include/ompl/extensions/morse/MorseGoal.h
> /opt/local/include/ompl/extensions/morse/MorseProjection.h
> /opt/local/include/ompl/extensions/morse/MorseSimpleSetup.h
> /opt/local/include/ompl/extensions/morse/MorseStatePropagator.h
> /opt/local/include/ompl/extensions/morse/MorseStateSpace.h
> /opt/local/include/ompl/extensions/morse/MorseStateValidityChecker.h
> /opt/local/include/ompl/extensions/morse/MorseTerminationCondition.h
> /opt/local/include/ompl/extensions/opende/OpenDEControlSpace.h
> /opt/local/include/ompl/extensions/opende/OpenDEEnvironment.h
> /opt/local/include/ompl/extensions/opende/OpenDESimpleSetup.h
> /opt/local/include/ompl/extensions/opende/OpenDEStatePropagator.h
> /opt/local/include/ompl/extensions/opende/OpenDEStateSpace.h
> /opt/local/include/ompl/extensions/opende/OpenDEStateValidityChecker.h
>
> /opt/local/include/ompl/extensions/triangle/PropositionalTriangularDecomposition.h
> /opt/local/include/ompl/extensions/triangle/TriangularDecomposition.h
> /opt/local/include/ompl/geometric/GeneticSearch.h
> /opt/local/include/ompl/geometric/HillClimbing.h
> /opt/local/include/ompl/geometric/PathGeometric.h
> /opt/local/include/ompl/geometric/PathHybridization.h
> /opt/local/include/ompl/geometric/PathSimplifier.h
> /opt/local/include/ompl/geometric/SimpleSetup.h
> /opt/local/include/ompl/geometric/planners/AnytimePathShortening.h
> /opt/local/include/ompl/geometric/planners/PlannerIncludes.h
> /opt/local/include/ompl/geometric/planners/bitstar/BITstar.h
>
> /opt/local/include/ompl/geometric/planners/bitstar/datastructures/CostHelper.h
>
> /opt/local/include/ompl/geometric/planners/bitstar/datastructures/HelperFunctions.h
>
> /opt/local/include/ompl/geometric/planners/bitstar/datastructures/IdGenerator.h
>
> /opt/local/include/ompl/geometric/planners/bitstar/datastructures/ImplicitGraph.h
>
> /opt/local/include/ompl/geometric/planners/bitstar/datastructures/SearchQueue.h
>
> /opt/local/include/ompl/geometric/planners/bitstar/datastructures/Vertex.h
> /opt/local/include/ompl/geometric/planners/cforest/CForest.h
> /opt/local/include/ompl/geometric/planners/cforest/CForestStateSampler.h
>
> /opt/local/include/ompl/geometric/planners/cforest/CForestStateSpaceWrapper.h
> /opt/local/include/ompl/geometric/planners/est/BiEST.h
> /opt/local/include/ompl/geometric/planners/est/EST.h
> /opt/local/include/ompl/geometric/planners/est/ProjEST.h
>
> /opt/local/include/ompl/geometric/planners/experience/LightningRetrieveRepair.h
>
> /opt/local/include/ompl/geometric/planners/experience/ThunderRetrieveRepair.h
> /opt/local/include/ompl/geometric/planners/fmt/BFMT.h
> /opt/local/include/ompl/geometric/planners/fmt/FMT.h
> /opt/local/include/ompl/geometric/planners/kpiece/BKPIECE1.h
> /opt/local/include/ompl/geometric/planners/kpiece/Discretization.h
> /opt/local/include/ompl/geometric/planners/kpiece/KPIECE1.h
> /opt/local/include/ompl/geometric/planners/kpiece/LBKPIECE1.h
> /opt/local/include/ompl/geometric/planners/pdst/PDST.h
> /opt/local/include/ompl/geometric/planners/prm/ConnectionStrategy.h
> /opt/local/include/ompl/geometric/planners/prm/LazyPRM.h
> /opt/local/include/ompl/geometric/planners/prm/LazyPRMstar.h
> /opt/local/include/ompl/geometric/planners/prm/PRM.h
> /opt/local/include/ompl/geometric/planners/prm/PRMstar.h
> /opt/local/include/ompl/geometric/planners/prm/SPARS.h
> /opt/local/include/ompl/geometric/planners/prm/SPARStwo.h
> /opt/local/include/ompl/geometric/planners/rrt/BiTRRT.h
> /opt/local/include/ompl/geometric/planners/rrt/InformedRRTstar.h
> /opt/local/include/ompl/geometric/planners/rrt/LBTRRT.h
> /opt/local/include/ompl/geometric/planners/rrt/LazyLBTRRT.h
> /opt/local/include/ompl/geometric/planners/rrt/LazyRRT.h
> /opt/local/include/ompl/geometric/planners/rrt/RRT.h
> /opt/local/include/ompl/geometric/planners/rrt/RRTConnect.h
> /opt/local/include/ompl/geometric/planners/rrt/RRTXstatic.h
> /opt/local/include/ompl/geometric/planners/rrt/RRTsharp.h
> /opt/local/include/ompl/geometric/planners/rrt/RRTstar.h
> /opt/local/include/ompl/geometric/planners/rrt/SORRTstar.h
> /opt/local/include/ompl/geometric/planners/rrt/TRRT.h
> /opt/local/include/ompl/geometric/planners/rrt/VFRRT.h
> /opt/local/include/ompl/geometric/planners/rrt/pRRT.h
> /opt/local/include/ompl/geometric/planners/sbl/SBL.h
> /opt/local/include/ompl/geometric/planners/sbl/pSBL.h
> /opt/local/include/ompl/geometric/planners/sst/SST.h
> /opt/local/include/ompl/geometric/planners/stride/STRIDE.h
> /opt/local/include/ompl/tools/benchmark/Benchmark.h
> /opt/local/include/ompl/tools/benchmark/MachineSpecs.h
> /opt/local/include/ompl/tools/config/MagicConstants.h
> /opt/local/include/ompl/tools/config/SelfConfig.h
> /opt/local/include/ompl/tools/debug/PlannerMonitor.h
> /opt/local/include/ompl/tools/debug/Profiler.h
> /opt/local/include/ompl/tools/experience/ExperienceSetup.h
> /opt/local/include/ompl/tools/lightning/DynamicTimeWarp.h
> /opt/local/include/ompl/tools/lightning/Lightning.h
> /opt/local/include/ompl/tools/lightning/LightningDB.h
> /opt/local/include/ompl/tools/multiplan/OptimizePlan.h
> /opt/local/include/ompl/tools/multiplan/ParallelPlan.h
> /opt/local/include/ompl/tools/thunder/SPARSdb.h
> /opt/local/include/ompl/tools/thunder/Thunder.h
> /opt/local/include/ompl/tools/thunder/ThunderDB.h
> /opt/local/include/ompl/util/ClassForward.h
> /opt/local/include/ompl/util/Console.h
> /opt/local/include/ompl/util/Deprecation.h
> /opt/local/include/ompl/util/DisableCompilerWarning.h
> /opt/local/include/ompl/util/Exception.h
> /opt/local/include/ompl/util/GeometricEquations.h
> /opt/local/include/ompl/util/Hash.h
> /opt/local/include/ompl/util/PPM.h
> /opt/local/include/ompl/util/ProlateHyperspheroid.h
> /opt/local/include/ompl/util/RandomNumbers.h
> /opt/local/include/ompl/util/String.h
> /opt/local/include/ompl/util/Time.h
> /opt/local/include/omplapp/apps/AppBase.h
> /opt/local/include/omplapp/apps/BlimpPlanning.h
> /opt/local/include/omplapp/apps/DynamicCarPlanning.h
> /opt/local/include/omplapp/apps/KinematicCarPlanning.h
> /opt/local/include/omplapp/apps/QuadrotorPlanning.h
> /opt/local/include/omplapp/apps/SE2MultiRigidBodyPlanning.h
> /opt/local/include/omplapp/apps/SE2RigidBodyPlanning.h
> /opt/local/include/omplapp/apps/SE3MultiRigidBodyPlanning.h
> /opt/local/include/omplapp/apps/SE3RigidBodyPlanning.h
> /opt/local/include/omplapp/apps/detail/appUtil.h
> /opt/local/include/omplapp/apps/graphical/GBlimpPlanning.h
> /opt/local/include/omplapp/apps/graphical/GDynamicCarPlanning.h
> /opt/local/include/omplapp/apps/graphical/GKinematicCarPlanning.h
> /opt/local/include/omplapp/apps/graphical/GQuadrotorPlanning.h
> /opt/local/include/omplapp/apps/graphical/GSE2RigidBodyPlanning.h
> /opt/local/include/omplapp/apps/graphical/GSE3RigidBodyPlanning.h
> /opt/local/include/omplapp/config.h
> /opt/local/include/omplapp/geometry/GeometrySpecification.h
> /opt/local/include/omplapp/geometry/RigidBodyGeometry.h
> /opt/local/include/omplapp/geometry/detail/FCLContinuousMotionValidator.h
> /opt/local/include/omplapp/geometry/detail/FCLMethodWrapper.h
> /opt/local/include/omplapp/geometry/detail/FCLStateValidityChecker.h
> /opt/local/include/omplapp/geometry/detail/PQPStateValidityChecker.h
> /opt/local/include/omplapp/geometry/detail/assimpUtil.h
> /opt/local/include/omplapp/graphics/RenderGeometry.h
> /opt/local/include/omplapp/graphics/detail/RenderPlannerData.h
> /opt/local/include/omplapp/graphics/detail/assimpGUtil.h
> /opt/local/lib/libompl.1.4.2.dylib
> /opt/local/lib/libompl.15.dylib
> /opt/local/lib/libompl.dylib
> /opt/local/lib/libompl_app.1.4.2.dylib
> /opt/local/lib/libompl_app.15.dylib
> /opt/local/lib/libompl_app.dylib
> /opt/local/lib/libompl_app_base.1.4.2.dylib
> /opt/local/lib/libompl_app_base.15.dylib
> /opt/local/lib/libompl_app_base.dylib
> /opt/local/lib/pkgconfig/ompl.pc
> /opt/local/share/man/man1/ompl_app.1.gz
> /opt/local/share/man/man1/ompl_benchmark.1.gz
> /opt/local/share/man/man1/ompl_benchmark_statistics.1.gz
> /opt/local/share/man/man1/ompl_webapp.1.gz
> /opt/local/share/man/man1/plannerarena.1.gz
> /opt/local/share/ompl/cmake/omplConfig.cmake
> /opt/local/share/ompl/cmake/omplConfigVersion.cmake
> /opt/local/share/ompl/demos/BlimpPlanning.cpp
> /opt/local/share/ompl/demos/CForestCircleGridBenchmark.cpp
> /opt/local/share/ompl/demos/CollisionCheckers.cpp
> /opt/local/share/ompl/demos/Diagonal.cpp
> /opt/local/share/ompl/demos/DynamicCarPlanning.cpp
> /opt/local/share/ompl/demos/DynamicCarPlanning.py
> /opt/local/share/ompl/demos/GeometricCarPlanning.cpp
> /opt/local/share/ompl/demos/HybridSystemPlanning.cpp
> /opt/local/share/ompl/demos/HypercubeBenchmark.cpp
> /opt/local/share/ompl/demos/KinematicCarPlanning.cpp
> /opt/local/share/ompl/demos/KinematicCarPlanning.py
> /opt/local/share/ompl/demos/KinematicChainBenchmark.cpp
> /opt/local/share/ompl/demos/KinematicChainPathPlot.py
> /opt/local/share/ompl/demos/Koules/Koules.cpp
> /opt/local/share/ompl/demos/Koules/KoulesConfig.h
> /opt/local/share/ompl/demos/Koules/KoulesControlSpace.cpp
> /opt/local/share/ompl/demos/Koules/KoulesControlSpace.h
> /opt/local/share/ompl/demos/Koules/KoulesDecomposition.h
> /opt/local/share/ompl/demos/Koules/KoulesDirectedControlSampler.cpp
> /opt/local/share/ompl/demos/Koules/KoulesDirectedControlSampler.h
> /opt/local/share/ompl/demos/Koules/KoulesGoal.cpp
> /opt/local/share/ompl/demos/Koules/KoulesGoal.h
> /opt/local/share/ompl/demos/Koules/KoulesPlayback.py
> /opt/local/share/ompl/demos/Koules/KoulesProjection.h
> /opt/local/share/ompl/demos/Koules/KoulesSetup.cpp
> /opt/local/share/ompl/demos/Koules/KoulesSetup.h
> /opt/local/share/ompl/demos/Koules/KoulesSimulator.cpp
> /opt/local/share/ompl/demos/Koules/KoulesSimulator.h
> /opt/local/share/ompl/demos/Koules/KoulesStatePropagator.cpp
> /opt/local/share/ompl/demos/Koules/KoulesStatePropagator.h
> /opt/local/share/ompl/demos/Koules/KoulesStateSpace.cpp
> /opt/local/share/ompl/demos/Koules/KoulesStateSpace.h
> /opt/local/share/ompl/demos/LTLWithTriangulation.cpp
> /opt/local/share/ompl/demos/OpenDERigidBodyPlanning.cpp
> /opt/local/share/ompl/demos/OptimalPlanning.cpp
> /opt/local/share/ompl/demos/OptimalPlanning.py
> /opt/local/share/ompl/demos/PlannerData.cpp
> /opt/local/share/ompl/demos/PlannerData.py
> /opt/local/share/ompl/demos/PlannerProgressProperties.cpp
> /opt/local/share/ompl/demos/Point2DPlanning.cpp
> /opt/local/share/ompl/demos/Point2DPlanning.py
> /opt/local/share/ompl/demos/QuadrotorPlanning.cpp
> /opt/local/share/ompl/demos/RandomWalkPlanner.py
> /opt/local/share/ompl/demos/RigidBodyPlanning.cpp
> /opt/local/share/ompl/demos/RigidBodyPlanning.py
> /opt/local/share/ompl/demos/RigidBodyPlanningWithControls.cpp
> /opt/local/share/ompl/demos/RigidBodyPlanningWithControls.py
> /opt/local/share/ompl/demos/RigidBodyPlanningWithIK.cpp
>
> /opt/local/share/ompl/demos/RigidBodyPlanningWithIntegrationAndControls.cpp
> /opt/local/share/ompl/demos/RigidBodyPlanningWithODESolverAndControls.cpp
> /opt/local/share/ompl/demos/RigidBodyPlanningWithODESolverAndControls.py
> /opt/local/share/ompl/demos/SE2MultiRigidBodyPlanning.cpp
> /opt/local/share/ompl/demos/SE2RigidBodyPlanning.cpp
> /opt/local/share/ompl/demos/SE3MultiRigidBodyPlanning.cpp
> /opt/local/share/ompl/demos/SE3MultiRigidBodyPlanning.py
> /opt/local/share/ompl/demos/SE3RigidBodyPlanning.cpp
> /opt/local/share/ompl/demos/SE3RigidBodyPlanning.py
> /opt/local/share/ompl/demos/SE3RigidBodyPlanningBenchmark.cpp
> /opt/local/share/ompl/demos/SE3RigidBodyPlanningWithOptimization.cpp
> /opt/local/share/ompl/demos/StateSampling.cpp
> /opt/local/share/ompl/demos/StateSampling.py
> /opt/local/share/ompl/demos/ThunderLightning.cpp
> /opt/local/share/ompl/demos/TriangulationDemo.cpp
> /opt/local/share/ompl/demos/VFRRT/VectorFieldConservative.cpp
> /opt/local/share/ompl/demos/VFRRT/VectorFieldNonconservative.cpp
> /opt/local/share/ompl/demos/VFRRT/plotConservative.py
> /opt/local/share/ompl/demos/VFRRT/plotNonconservative.py
> /opt/local/share/ompl/demos/displayOpenDE.cpp
> /opt/local/share/ompl/demos/planOpenDE.cpp
> /opt/local/share/ompl/ompl.conf
> /opt/local/share/ompl/plannerarena/global.R
> /opt/local/share/ompl/plannerarena/plannerarena
> /opt/local/share/ompl/plannerarena/server.R
> /opt/local/share/ompl/plannerarena/ui.R
> /opt/local/share/ompl/plannerarena/www/ga.js
> /opt/local/share/ompl/plannerarena/www/help.md
> /opt/local/share/ompl/plannerarena/www/plannerarena.css
> /opt/local/share/ompl/plannerarena/www/plannerarena.js
> /opt/local/share/ompl/resources/2D/Barriers.cfg
> /opt/local/share/ompl/resources/2D/Barriers.path
> /opt/local/share/ompl/resources/2D/Barriers_easy_env.dae
> /opt/local/share/ompl/resources/2D/Barriers_easy_robot.dae
> /opt/local/share/ompl/resources/2D/BoundingBox_planar_env.dae
> /opt/local/share/ompl/resources/2D/BugTrap_dcar.cfg
> /opt/local/share/ompl/resources/2D/BugTrap_planar.cfg
> /opt/local/share/ompl/resources/2D/BugTrap_planar.path
> /opt/local/share/ompl/resources/2D/BugTrap_planar_env.dae
> /opt/local/share/ompl/resources/2D/H_planar_env.dae
> /opt/local/share/ompl/resources/2D/Maze_kcar.cfg
> /opt/local/share/ompl/resources/2D/Maze_planar.cfg
> /opt/local/share/ompl/resources/2D/Maze_planar.path
> /opt/local/share/ompl/resources/2D/Maze_planar_env.dae
> /opt/local/share/ompl/resources/2D/Passage_planar_env.dae
> /opt/local/share/ompl/resources/2D/RandomPolygons_planar.cfg
> /opt/local/share/ompl/resources/2D/RandomPolygons_planar.path
> /opt/local/share/ompl/resources/2D/RandomPolygons_planar_env.dae
> /opt/local/share/ompl/resources/2D/StraightC_planar_robot.dae
> /opt/local/share/ompl/resources/2D/UniqueSolutionMaze.cfg
> /opt/local/share/ompl/resources/2D/UniqueSolutionMaze.path
> /opt/local/share/ompl/resources/2D/UniqueSolutionMaze_env.dae
> /opt/local/share/ompl/resources/2D/UniqueSolutionMaze_robot.dae
> /opt/local/share/ompl/resources/2D/car1_planar_robot.dae
> /opt/local/share/ompl/resources/2D/car2_planar_robot.dae
> /opt/local/share/ompl/resources/2D/hook_planar_robot.dae
> /opt/local/share/ompl/resources/3D/Abstract.cfg
> /opt/local/share/ompl/resources/3D/Abstract_env.dae
> /opt/local/share/ompl/resources/3D/Abstract_robot.dae
> /opt/local/share/ompl/resources/3D/Apartment.cfg
> /opt/local/share/ompl/resources/3D/Apartment.path
> /opt/local/share/ompl/resources/3D/Apartment.skp
> /opt/local/share/ompl/resources/3D/Apartment_env.dae
> /opt/local/share/ompl/resources/3D/Apartment_hard.cfg
> /opt/local/share/ompl/resources/3D/Apartment_robot.dae
> /opt/local/share/ompl/resources/3D/Easy.cfg
> /opt/local/share/ompl/resources/3D/Easy.path
> /opt/local/share/ompl/resources/3D/Easy.skp
> /opt/local/share/ompl/resources/3D/Easy_env.dae
> /opt/local/share/ompl/resources/3D/Easy_robot.dae
> /opt/local/share/ompl/resources/3D/Home.cfg
> /opt/local/share/ompl/resources/3D/Home_env.dae
> /opt/local/share/ompl/resources/3D/Home_robot.dae
> /opt/local/share/ompl/resources/3D/Twistycool.cfg
> /opt/local/share/ompl/resources/3D/Twistycool.path
> /opt/local/share/ompl/resources/3D/Twistycool.skp
> /opt/local/share/ompl/resources/3D/Twistycool_env.dae
> /opt/local/share/ompl/resources/3D/Twistycool_robot.dae
> /opt/local/share/ompl/resources/3D/Twistycooler.cfg
> /opt/local/share/ompl/resources/3D/Twistycooler.path
> /opt/local/share/ompl/resources/3D/Twistycooler_env.dae
> /opt/local/share/ompl/resources/3D/Twistycooler_robot.dae
> /opt/local/share/ompl/resources/3D/alpha-1.0.cfg
> /opt/local/share/ompl/resources/3D/alpha-1.1.cfg
> /opt/local/share/ompl/resources/3D/alpha-1.1.path
> /opt/local/share/ompl/resources/3D/alpha-1.2.cfg
> /opt/local/share/ompl/resources/3D/alpha-1.2.path
> /opt/local/share/ompl/resources/3D/alpha-1.5.cfg
> /opt/local/share/ompl/resources/3D/alpha-1.5.path
> /opt/local/share/ompl/resources/3D/alpha_env-1.0.dae
> /opt/local/share/ompl/resources/3D/alpha_env-1.1.dae
> /opt/local/share/ompl/resources/3D/alpha_env-1.2.dae
> /opt/local/share/ompl/resources/3D/alpha_env-1.5.dae
> /opt/local/share/ompl/resources/3D/alpha_robot.dae
> /opt/local/share/ompl/resources/3D/blimp.dae
> /opt/local/share/ompl/resources/3D/blimp.skp
> /opt/local/share/ompl/resources/3D/bugtrap.cfg
> /opt/local/share/ompl/resources/3D/bugtrap.skp
> /opt/local/share/ompl/resources/3D/bugtrap_env.dae
> /opt/local/share/ompl/resources/3D/bugtrap_robot.dae
> /opt/local/share/ompl/resources/3D/cubicles.cfg
> /opt/local/share/ompl/resources/3D/cubicles.path
> /opt/local/share/ompl/resources/3D/cubicles.skp
> /opt/local/share/ompl/resources/3D/cubicles_env.dae
> /opt/local/share/ompl/resources/3D/cubicles_opt.cfg
> /opt/local/share/ompl/resources/3D/cubicles_robot.dae
> /opt/local/share/ompl/resources/3D/escape.cfg
> /opt/local/share/ompl/resources/3D/escape.path
> /opt/local/share/ompl/resources/3D/escape.skp
> /opt/local/share/ompl/resources/3D/escape_env.dae
> /opt/local/share/ompl/resources/3D/escape_kladhangare_env.dae
> /opt/local/share/ompl/resources/3D/escape_robot.dae
> /opt/local/share/ompl/resources/3D/pipedream.cfg
> /opt/local/share/ompl/resources/3D/pipedream.path
> /opt/local/share/ompl/resources/3D/pipedream_env.dae
> /opt/local/share/ompl/resources/3D/pipedream_ring.cfg
> /opt/local/share/ompl/resources/3D/pipedream_ring.path
> /opt/local/share/ompl/resources/3D/quadrotor.dae
> /opt/local/share/ompl/resources/3D/quadrotor.skp
> /opt/local/share/ompl/resources/3D/ring.dae
> /opt/local/share/ompl/resources/3D/spirelli.cfg
> /opt/local/share/ompl/resources/3D/spirelli.path
> /opt/local/share/ompl/resources/3D/spirelli_env.dae
> /opt/local/share/ompl/resources/3D/spirelli_robot.dae
> /opt/local/share/ompl/resources/README.md
> /opt/local/share/ompl/resources/textures/checkered.ppm
> /opt/local/share/ompl/resources/textures/ground.ppm
> /opt/local/share/ompl/resources/textures/sky.ppm
> /opt/local/share/ompl/resources/textures/wood.ppm
> /opt/local/share/ompl/webapp/ompl_webapp
> /opt/local/share/ompl/webapp/omplweb.py
>
> /opt/local/share/ompl/webapp/static/fonts/glyphicons-halflings-regular.eot
>
> /opt/local/share/ompl/webapp/static/fonts/glyphicons-halflings-regular.svg
>
> /opt/local/share/ompl/webapp/static/fonts/glyphicons-halflings-regular.ttf
>
> /opt/local/share/ompl/webapp/static/fonts/glyphicons-halflings-regular.woff
>
> /opt/local/share/ompl/webapp/static/fonts/glyphicons-halflings-regular.woff2
> /opt/local/share/ompl/webapp/static/problem_files/2D/Barriers.cfg
> /opt/local/share/ompl/webapp/static/problem_files/2D/Barriers.path
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/Barriers_easy_env.dae
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/Barriers_easy_robot.dae
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/BoundingBox_planar_env.dae
> /opt/local/share/ompl/webapp/static/problem_files/2D/BugTrap_dcar.cfg
> /opt/local/share/ompl/webapp/static/problem_files/2D/BugTrap_planar.cfg
> /opt/local/share/ompl/webapp/static/problem_files/2D/BugTrap_planar.path
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/BugTrap_planar_env.dae
> /opt/local/share/ompl/webapp/static/problem_files/2D/H_planar_env.dae
> /opt/local/share/ompl/webapp/static/problem_files/2D/Maze_kcar.cfg
> /opt/local/share/ompl/webapp/static/problem_files/2D/Maze_planar.cfg
> /opt/local/share/ompl/webapp/static/problem_files/2D/Maze_planar.path
> /opt/local/share/ompl/webapp/static/problem_files/2D/Maze_planar_env.dae
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/Passage_planar_env.dae
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/RandomPolygons_planar.cfg
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/RandomPolygons_planar.path
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/RandomPolygons_planar_env.dae
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/StraightC_planar_robot.dae
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/UniqueSolutionMaze.cfg
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/UniqueSolutionMaze.path
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/UniqueSolutionMaze_env.dae
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/UniqueSolutionMaze_robot.dae
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/car1_planar_robot.dae
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/car2_planar_robot.dae
>
> /opt/local/share/ompl/webapp/static/problem_files/2D/hook_planar_robot.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/Abstract.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/Abstract_env.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/Abstract_robot.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/Apartment.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/Apartment.path
> /opt/local/share/ompl/webapp/static/problem_files/3D/Apartment.skp
> /opt/local/share/ompl/webapp/static/problem_files/3D/Apartment_env.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/Apartment_hard.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/Apartment_robot.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/Easy.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/Easy.path
> /opt/local/share/ompl/webapp/static/problem_files/3D/Easy.skp
> /opt/local/share/ompl/webapp/static/problem_files/3D/Easy_env.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/Easy_robot.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/Home.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/Home_env.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/Home_robot.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycool.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycool.path
> /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycool.skp
> /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycool_env.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycool_robot.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycooler.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycooler.path
> /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycooler_env.dae
>
> /opt/local/share/ompl/webapp/static/problem_files/3D/Twistycooler_robot.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha-1.0.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha-1.1.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha-1.1.path
> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha-1.2.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha-1.2.path
> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha-1.5.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha-1.5.path
> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha_env-1.0.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha_env-1.1.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha_env-1.2.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha_env-1.5.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/alpha_robot.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/blimp.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/blimp.skp
> /opt/local/share/ompl/webapp/static/problem_files/3D/bugtrap.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/bugtrap.skp
> /opt/local/share/ompl/webapp/static/problem_files/3D/bugtrap_env.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/bugtrap_robot.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/cubicles.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/cubicles.path
> /opt/local/share/ompl/webapp/static/problem_files/3D/cubicles.skp
> /opt/local/share/ompl/webapp/static/problem_files/3D/cubicles_env.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/cubicles_opt.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/cubicles_robot.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/escape.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/escape.path
> /opt/local/share/ompl/webapp/static/problem_files/3D/escape.skp
> /opt/local/share/ompl/webapp/static/problem_files/3D/escape_env.dae
>
> /opt/local/share/ompl/webapp/static/problem_files/3D/escape_kladhangare_env.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/escape_robot.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/pipedream.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/pipedream.path
> /opt/local/share/ompl/webapp/static/problem_files/3D/pipedream_env.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/pipedream_ring.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/pipedream_ring.path
> /opt/local/share/ompl/webapp/static/problem_files/3D/quadrotor.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/quadrotor.skp
> /opt/local/share/ompl/webapp/static/problem_files/3D/ring.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/spirelli.cfg
> /opt/local/share/ompl/webapp/static/problem_files/3D/spirelli.path
> /opt/local/share/ompl/webapp/static/problem_files/3D/spirelli_env.dae
> /opt/local/share/ompl/webapp/static/problem_files/3D/spirelli_robot.dae
> /opt/local/share/ompl/webapp/static/scripts/benchmarking.js
> /opt/local/share/ompl/webapp/static/scripts/configuration.js
> /opt/local/share/ompl/webapp/static/scripts/helpers.js
> /opt/local/share/ompl/webapp/static/scripts/libs/ColladaLoader.js
> /opt/local/share/ompl/webapp/static/scripts/libs/TrackballControls.js
> /opt/local/share/ompl/webapp/static/scripts/libs/bootstrap.min.js
> /opt/local/share/ompl/webapp/static/scripts/libs/jquery-2.1.4.min.js
> /opt/local/share/ompl/webapp/static/scripts/libs/jquery.blockUI.js
> /opt/local/share/ompl/webapp/static/scripts/libs/mousetrap.min.js
> /opt/local/share/ompl/webapp/static/scripts/libs/three.min.js
> /opt/local/share/ompl/webapp/static/scripts/visualization.js
> /opt/local/share/ompl/webapp/static/sessions
> /opt/local/share/ompl/webapp/static/styles/bootstrap.min.css
> /opt/local/share/ompl/webapp/static/styles/style.css
> /opt/local/share/ompl/webapp/templates/components/about.html
> /opt/local/share/ompl/webapp/templates/components/benchmarking.html
> /opt/local/share/ompl/webapp/templates/components/configuration.html
> /opt/local/share/ompl/webapp/templates/omplweb.html
>
port installed:
> The following ports are currently installed:
> assimp @4.1.0_0 (active)
> atk @2.28.1_0 (active)
> boost @1.66.0_3+no_single+no_static+python27 (active)
> boost-numpy @1.66.0_0+no_single+no_static+python27 (active)
> bzip2 @1.0.6_0 (active)
> cairo @1.16.0_0+quartz+x11 (active)
> castxml @20181115_0+clang60 (active)
> celery_select @0.1_1 (active)
> clang-6.0 @6.0.1_2+analyzer+libstdcxx (active)
> clang-7.0 @7.0.1_1+analyzer+libstdcxx (active)
> clang_select @2_0 (active)
> cmake @3.13.4_0 (active)
> curl @7.64.0_0+ssl (active)
> curl-ca-bundle @7.64.0_0 (active)
> cython_select @0.1_1 (active)
> db48 @4.8.30_4 (active)
> dbus @1.12.12_0 (active)
> dbus-glib @0.110_0 (active)
> dbus-python27 @1.2.8_0 (active)
> eiffelstudio @18.11.10.2592_0 (active)
> eigen3 @3.3.7_0 (active)
> expat @2.2.6_1 (active)
> fcl @0.5.0_1 (active)
> fftw-3 @3.3.8_0 (active)
> flann @1.9.1_5 (active)
> fontconfig @2.13.1_0 (active)
> freetype @2.9.1_0 (active)
> fribidi @1.0.5_0 (active)
> gdbm @1.18.1_1 (active)
> gdk-pixbuf2 @2.36.12_0+x11 (active)
> gettext @0.19.8.1_0 (active)
> giflib @4.2.3_0+x11 (active)
> glfw @3.2.1_0+docs (active)
> glib2 @2.58.3_0+x11 (active)
> gobject-introspection @1.58.3_0 (active)
> graphite2 @1.3.13_0 (active)
> gtk2 @2.24.32_0+x11 (active)
> harfbuzz @2.3.0_0 (active)
> hdf5 @1.10.4_0+cxx+hl (active)
> hicolor-icon-theme @0.17_0 (active)
> icu @58.2_2 (active)
> jasper @2.0.14_0 (active)
> jbigkit @2.1_0 (active)
> jpeg @9c_0 (active)
> lcms2 @2.9_1 (active)
> ld64 @3_1+ld64_xcode (active)
> ld64-xcode @2_1 (active)
> libarchive @3.3.3_1 (active)
> libccd @2.1_0 (active)
> libcxx @5.0.1_4 (active)
> libedit @20181209-3.1_0 (active)
> libffi @3.2.1_0 (active)
> libgcc @1.0_0 (active)
> libgcc8 @8.2.0_2 (active)
> libiconv @1.15_0 (active)
> libidn2 @2.1.1_0 (active)
> libmng @2.0.3_0 (active)
> libomp @7.0.1_0 (active)
> libpixman @0.36.0_0 (active)
> libpng @1.6.36_0 (active)
> libpsl @0.20.2-20190205_0 (active)
> libsdl2 @2.0.9_1 (active)
> libtool @2.4.6_5 (active)
> libunistring @0.9.10_0 (active)
> libuv @1.26.0_0 (active)
> libxml2 @2.9.7_2
> libxml2 @2.9.9_0 (active)
> llvm-6.0 @6.0.1_0 (active)
> llvm-7.0 @7.0.1_1 (active)
> llvm_select @2_0 (active)
> lz4 @1.8.3_0 (active)
> lzo2 @2.10_0 (active)
> minizip @1.2.11_0 (active)
> ncurses @6.1_0 (active)
> nosetests_select @0.1_0 (active)
> ode @0.15.2_0 (active)
> ompl @1.4.2_0+app+python27 (active)
> openjpeg @2.3.0_0 (active)
> openssl @1.0.2q_0 (active)
> ossp-uuid @1.6.2_11+perl5_26 (active)
> pango @1.42.4_0+quartz+x11 (active)
> pcre @8.42_0 (active)
> pcre2 @10.32_0 (active)
> perl5 @5.26.1_0+perl5_26 (active)
> perl5.26 @5.26.3_2 (active)
> pkgconfig @0.29.2_0 (active)
> py27-amqp @2.3.2_0 (active)
> py27-beaker @1.10.0_0 (active)
> py27-billiard @3.5.0.5_0 (active)
> py27-celery @4.2.1_0 (active)
> py27-click @7.0_0 (active)
> py27-cython @0.29.5_0 (active)
> py27-enum34 @1.1.6_0 (active)
> py27-flask @0.12.2_0 (active)
> py27-funcsigs @1.0.2_0 (active)
> py27-itsdangerous @0.24_0 (active)
> py27-jinja2 @2.10_0 (active)
> py27-kombu @4.2.2_0 (active)
> py27-mako @1.0.7_0 (active)
> py27-markdown @3.0.1_0 (active)
> py27-markupsafe @1.1.0_0 (active)
> py27-nose @1.3.7_1 (active)
> py27-numpy @1.16.1_0+gfortran (active)
> py27-olefile @0.45.1_0 (active)
> py27-opengl @3.1.0_0 (active)
> py27-opengl-accelerate @3.1.0_0 (active)
> py27-Pillow @5.4.1_0 (active)
> py27-pygccxml @1.9.1_0 (active)
> py27-pyplusplus @1.8.1_0 (active)
> py27-pyqt5 @5.11.3_1 (active)
> py27-redis @3.1.0_0 (active)
> py27-setuptools @40.7.1_0
> py27-setuptools @40.8.0_0 (active)
> py27-sip @4.19.14_0 (active)
> py27-tkinter @2.7.15_0 (active)
> py27-tz @2018.9_0 (active)
> py27-vine @1.2.0_0 (active)
> py27-werkzeug @0.14.1_0 (active)
> pypy @6.0.0_1 (active)
> python2_select @0.0_3 (active)
> python27 @2.7.15_1 (active)
> python_select @0.3_8 (active)
> qt5 @5.12.1_0 (active)
> qt5-qt3d @5.12.1_0 (active)
> qt5-qtbase @5.12.1_0+openssl (active)
> qt5-qtcanvas3d @5.12.1_0 (active)
> qt5-qtconnectivity @5.12.1_0 (active)
> qt5-qtdeclarative @5.12.1_0 (active)
> qt5-qtgamepad @5.12.1_0 (active)
> qt5-qtgraphicaleffects @5.12.1_0 (active)
> qt5-qtimageformats @5.12.1_0 (active)
> qt5-qtlocation @5.12.1_0 (active)
> qt5-qtmacextras @5.12.1_0 (active)
> qt5-qtmultimedia @5.12.1_0 (active)
> qt5-qtnetworkauth @5.12.1_0 (active)
> qt5-qtquickcontrols @5.12.1_0 (active)
> qt5-qtquickcontrols2 @5.12.1_0 (active)
> qt5-qtscript @5.12.1_0 (active)
> qt5-qtscxml @5.12.1_0 (active)
> qt5-qtsensors @5.12.1_0 (active)
> qt5-qtserialbus @5.12.1_0 (active)
> qt5-qtserialport @5.12.1_0 (active)
> qt5-qtspeech @5.12.1_0 (active)
> qt5-qtsvg @5.12.1_0 (active)
> qt5-qttools @5.12.1_0 (active)
> qt5-qttranslations @5.12.1_0 (active)
> qt5-qtwebchannel @5.12.1_0 (active)
> qt5-qtwebsockets @5.12.1_0 (active)
> qt5-qtxmlpatterns @5.12.1_0 (active)
> qt5-sqlite-plugin @5.12.1_0 (active)
> readline @8.0.000_0 (active)
> redis @5.0.3_0 (active)
> shared-mime-info @1.10_0 (active)
> sqlite3 @3.26.0_0
> sqlite3 @3.27.1_0 (active)
> tcl @8.6.9_1+corefoundation+threads (active)
> tiff @4.0.10_1 (active)
> tk @8.6.9_1+x11 (active)
> triangle @1.6_7 (active)
> webp @1.0.2_0 (active)
> xar @1.6.1_0 (active)
> Xft2 @2.3.2_0 (active)
> xorg-libice @1.0.9_1 (active)
> xorg-libpthread-stubs @0.4_0 (active)
> xorg-libsm @1.2.3_0 (active)
> xorg-libX11 @1.6.7_0 (active)
> xorg-libXau @1.0.8_1
> xorg-libXau @1.0.9_0 (active)
> xorg-libxcb @1.13.1_0+python27 (active)
> xorg-libXcomposite @0.4.4_1 (active)
> xorg-libXcursor @1.1.15_1 (active)
> xorg-libXdamage @1.1.4_1 (active)
> xorg-libXdmcp @1.1.2_1 (active)
> xorg-libXext @1.3.3_1 (active)
> xorg-libXfixes @5.0.3_1 (active)
> xorg-libXi @1.7.9_1 (active)
> xorg-libXinerama @1.1.4_1 (active)
> xorg-libXrandr @1.5.1_1 (active)
> xorg-libXScrnSaver @1.2.3_1 (active)
> xorg-libXtst @1.2.3_1 (active)
> xorg-xcb-proto @1.13_0+python27 (active)
> xorg-xcb-util @0.4.0_1 (active)
> xorg-xorgproto @2018.4_0 (active)
> xrender @0.9.10_1 (active)
> xz @5.2.4_0 (active)
> zlib @1.2.11_0 (active)
> zstd @1.3.8_0 (active)
>
On Tue, 19 Feb 2019 at 20:26, Mark Moll <mm...@ri...> wrote:
> Hi Alistair,
>
> Can you email me the output of these two commands?:
>
> port contents ompl
> port installed
>
> Best,
>
> Mark
>
>
>
> > On Feb 19, 2019, at 4:38 PM, Alistair Scheuhammer <si...@my...>
> wrote:
> >
> > Hello,
> >
> > I recently installed OMPL through Macports (specifically, by executing
> the terminal command "sudo port sync \; install ompl +app"). While the
> installation appears to have been successful, I'm afraid I'm lost as to
> what I'm supposed to do next to actually run OMPL. The installation does
> not appear to have created an application I can just open. There does
> appear to be a terminal command I can now run ("ompl_app"), but whenever I
> run this command, I get the following error:
> >
> > Traceback (most recent call last):
> > File "/opt/local/bin/ompl_app", line 56, in <module>
> > from ompl.util import OutputHandler, useOutputHandler, LogLevel, \
> > File
> "/opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/util/__init__.py",
> line 4, in <module>
> > from ompl.util._util import *
> > ImportError: No module named _util
> >
> > Am I doing the correct thing here, and if so, what is preventing the app
> from running? Likewise, if I am not doing the right thing, here, what am I
> supposed to do run OMPL now that it's been installed?
> > _______________________________________________
> > ompl-users mailing list
> > omp...@li...
> > https://lists.sourceforge.net/lists/listinfo/ompl-users
>
>
|
|
From: Mark M. <mm...@ri...> - 2019-02-20 01:26:28
|
Hi Alistair,
Can you email me the output of these two commands?:
port contents ompl
port installed
Best,
Mark
> On Feb 19, 2019, at 4:38 PM, Alistair Scheuhammer <si...@my...> wrote:
>
> Hello,
>
> I recently installed OMPL through Macports (specifically, by executing the terminal command "sudo port sync \; install ompl +app"). While the installation appears to have been successful, I'm afraid I'm lost as to what I'm supposed to do next to actually run OMPL. The installation does not appear to have created an application I can just open. There does appear to be a terminal command I can now run ("ompl_app"), but whenever I run this command, I get the following error:
>
> Traceback (most recent call last):
> File "/opt/local/bin/ompl_app", line 56, in <module>
> from ompl.util import OutputHandler, useOutputHandler, LogLevel, \
> File "/opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/util/__init__.py", line 4, in <module>
> from ompl.util._util import *
> ImportError: No module named _util
>
> Am I doing the correct thing here, and if so, what is preventing the app from running? Likewise, if I am not doing the right thing, here, what am I supposed to do run OMPL now that it's been installed?
> _______________________________________________
> ompl-users mailing list
> omp...@li...
> https://lists.sourceforge.net/lists/listinfo/ompl-users
|
|
From: Rajaneesh <raj...@gm...> - 2019-02-20 00:08:47
|
Do you have Python 3 or python 2.7 installed in system?
On Wed, Feb 20, 2019, 04:44 Alistair Scheuhammer <si...@my... wrote:
> Hello,
>
> I recently installed OMPL through Macports (specifically, by executing the
> terminal command "sudo port sync \; install ompl +app"). While the
> installation appears to have been successful, I'm afraid I'm lost as to
> what I'm supposed to do next to actually run OMPL. The installation does
> not appear to have created an application I can just open. There does
> appear to be a terminal command I can now run ("ompl_app"), but whenever I
> run this command, I get the following error:
>
>>
>> Traceback (most recent call last):
>> File "/opt/local/bin/ompl_app", line 56, in <module>
>> from ompl.util import OutputHandler, useOutputHandler, LogLevel, \
>> File
>> "/opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/util/__init__.py",
>> line 4, in <module>
>> from ompl.util._util import *
>> ImportError: No module named _util
>>
>
> Am I doing the correct thing here, and if so, what is preventing the app
> from running? Likewise, if I am not doing the right thing, here, what am I
> supposed to do run OMPL now that it's been installed?
> _______________________________________________
> ompl-users mailing list
> omp...@li...
> https://lists.sourceforge.net/lists/listinfo/ompl-users
>
|
|
From: Alistair S. <si...@my...> - 2019-02-19 23:03:34
|
Hello,
I recently installed OMPL through Macports (specifically, by executing the
terminal command "sudo port sync \; install ompl +app"). While the
installation appears to have been successful, I'm afraid I'm lost as to
what I'm supposed to do next to actually run OMPL. The installation does
not appear to have created an application I can just open. There does
appear to be a terminal command I can now run ("ompl_app"), but whenever I
run this command, I get the following error:
>
> Traceback (most recent call last):
> File "/opt/local/bin/ompl_app", line 56, in <module>
> from ompl.util import OutputHandler, useOutputHandler, LogLevel, \
> File
> "/opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/ompl/util/__init__.py",
> line 4, in <module>
> from ompl.util._util import *
> ImportError: No module named _util
>
Am I doing the correct thing here, and if so, what is preventing the app
from running? Likewise, if I am not doing the right thing, here, what am I
supposed to do run OMPL now that it's been installed?
|
|
From: abhilesh b. <abh...@gm...> - 2019-01-29 17:42:33
|
Hello Mark,
Thank you for getting back to me. I tried out deriving a class from
optimizationObjective but it was forcing me to define motionCost
function(Pure virtual function) . So I derived a class from
StateCostIntegralObjective which in turn is derived from
optimizationObjective. Here is my attempt but the planner still does not
work as intended.
class Penz : public ob::StateCostIntegralObjective
{
public:
Penz(const ob::SpaceInformationPtr& si) :
ob::StateCostIntegralObjective(si , true)
{
}
ob::Cost stateCost(const ob::State* s) const
{
const ob::RealVectorStateSpace::StateType* state3D =
s->as<ob::RealVectorStateSpace::StateType>();
double z = state3D->values[2];
return ob::Cost(10000*z);
}
};
/*
class Penz1 : public ob::OptimizationObjective
{
public:
Penz1(const ob::SpaceInformationPtr& si) :
ob::OptimizationObjective(si )
{
}
ob::Cost motionCost(const ob::State *s1, const ob::State *s2) const
override; // causes undefined vtable for class Penz1 error
ob::Cost stateCost(const ob::State* s) const
{
const ob::RealVectorStateSpace::StateType* state3D =
s->as<ob::RealVectorStateSpace::StateType>();
double z = state3D->values[2];
return ob::Cost(10000*z);
}
};*/
ob::OptimizationObjectivePtr getcost(const ob::SpaceInformationPtr& si)
{
return std::make_shared<Penz>(si);
}
.........
pdef->setOptimizationObjective(getcost(si));
ob::PlannerPtr planner(new og::RRTConnect(si));
planner->setProblemDefinition(pdef);
Could you please point out where am I going wrong ?
Thanks & Regards
On Mon, Jan 28, 2019 at 9:20 PM Mark Moll <mm...@ri...> wrote:
> Hi Abhilesh,
>
> The call to stateCost in getcost does nothing; the return value is ignore.
> Please follow the directions in this tutorial:
> http://ompl.kavrakilab.org/optimizationObjectivesTutorial.html
>
> Basically, define a new class that derives from OptimizationObjective and
> implement its stateCost method s.t. it returns a cost that depends on the z
> component. Then, set the optimization objective to be a shared pointer to
> an instance of this class. (BTW, I don’t understand why you include x and y
> in your cost.)
>
> Best,
>
> Mark
>
>
> > On Jan 28, 2019, at 11:44 AM, abhilesh borode <abh...@gm...>
> wrote:
> >
> > Hello Everyone,
> >
> > I am working on a RRT planner in an octomap based environment. My aim is
> to perform the same task by penalizing the Z space which forces the RRT
> planner to generate trjectories more along x and y space in comparison to
> the z space. Here is my unsuccessful attempt in trying to do so :
> >
> > double penaliseZ(const ob::State* state)
> > {
> >
> > const ob::RealVectorStateSpace::StateType* state3D =
> > state->as<ob::RealVectorStateSpace::StateType>();
> >
> > double x = state3D->values[0];
> > double y = state3D->values[1];
> > double z = state3D->values[2];
> >
> > return sqrt((x*x + y*y + 1000*z*z));
> > }
> >
> > ob::Cost ob::OptimizationObjective::stateCost(const State* s)const
> > {
> >
> > Cost c (penaliseZ(s));
> > return c;
> > }
> >
> > ob::OptimizationObjectivePtr getcost(const ob::SpaceInformationPtr& si)
> > {
> > ob::OptimizationObjectivePtr obj(new
> ob::PathLengthOptimizationObjective(si));
> > const ob::State* s;
> > obj->stateCost(s);
> > return obj;
> > }
> > void plan(void)
> > {
> > ob::StateSpacePtr space(new ob::SE3StateSpace());
> >
> > . . . .
> >
> > ob::SpaceInformationPtr si(new ob::SpaceInformation(space));
> >
> > si->setStateValidityChecker(std::bind(&isStateValid,
> std::placeholders::_1));
> >
> > ob::ScopedState<ob::SE3StateSpace> start(space);
> >
> > start->setXYZ(-5,-2,1);
> > goal->setXYZ(6.5,7.5,1);
> >
> > // create a problem instance
> > ob::ProblemDefinitionPtr pdef(new ob::ProblemDefinition(si));
> >
> > // set the start and goal states
> > pdef->setStartAndGoalStates(start, goal);
> >
> > pdef->setOptimizationObjective(getcost(si));
> >
> > ob::PlannerPtr planner(new og::RRTConnect(si));
> >
> > planner->setProblemDefinition(pdef);
> >
> >
> > // perform setup steps for the planner
> > planner->setup();
> > }
> >
> > The planner is still generating trajectories along the Z space.
> > Could anyone please tell me where am I going wrong ?
> >
> >
> > Thanks & Regards
> >
> >
> > _______________________________________________
> > ompl-users mailing list
> > omp...@li...
> > https://lists.sourceforge.net/lists/listinfo/ompl-users
>
>
|
|
From: Dan R <ni...@gm...> - 2019-01-29 17:29:29
|
Hi Mark, Thanks again. I don't want to create too much more noise on the mailing list with my specific issue. I now understand I have to research more into the controlled planners as I don't fully understand them. But I think that is my direction and I have a clue. But to answer your question on how we choose jump trajectories. We can write some code to generate the full range of possible jump trajectories (all take off angles) and try each one against the collision detector. If one of them doesn't collide then we use those parameters as a control. I suppose we could do this all within DirectedControlSampler. I see that SteeredControlSampler simply uses a combination of propagateWhileValid and steer, so its kind of what we were discussing earlier. I think I have enough to move forward thanks again for your help! Dan On Mon, Jan 28, 2019 at 11:40 PM Mark Moll <mm...@ri...> wrote: > Hi Dan, > > If you *can* provide a steering function, then typically that’s a good > idea. However, if there are multiple ways, how do you choose? Does it > matter for completeness or optimality? If so, a sampler derived from > DirectedControlSampler might be the way to go. > > It’s up to you to decide how to handle collisions. You can handle > collisions in your state validity checker and rely on propagateWhileValid > (used by some planners). But this doesn’t exploit the special structure of > your problem. > > Best, > > Mark > > > > On Jan 28, 2019, at 12:02 PM, Dan R <ni...@gm...> wrote: > > > > Thanks Mark, > > > > In this case, would I also use the ompl::control::SatePropagator::steer > method to generate the jump control? For instance, given a start state and > an end state, steer would generate the parabolic path (or paths actually > since there are multiple ways to jump between the same two points) that > connect the two states? Then propagate could test each of these paths for > collision? > > > > What should propagate do in the case of a collision? > > > > Thanks for your help, > > Dan > > > > On Mon, Jan 28, 2019 at 9:47 AM Mark Moll <mm...@ri...> wrote: > > Hi Dan, > > > > My recommendation would be to create a ompl::control::StatePropagator > whose propagate function simply ignores the duration: given a state, a > control (e.g., jump direction), it would find the first point along the > parabolic trajectory that collides with an obstacle. If you plan to use > numerical integration, you should also check out the > ompl::control::ODESolver class. You can then use any of the planners in the > ompl::control namespace (ompl::control::RRT, ompl::control::EST, > ompl::control::PDST, ompl::control::KPIECE1, ompl::control::SST, …). > > > > Look at these demos: > > Rigid body planning with controls [Python version] > > Rigid body planning with ODESolver and controls. [Python version] > > > > Best, > > > > Mark > > > > > >> On Jan 27, 2019, at 8:43 PM, Dan R <ni...@gm...> wrote: > >> > >> Hello, > >> > >> I am interested in running a PRM planner on a 3d space that consists of > various platforms which a point mass can jump between. Each edge between > states is defined as a parabolic trajectory (a jump basically). Would I > create a custom MotionValidator class which basically moves the object > along the trajectory between states and do collision detection in there? > >> > >> Also since this space is discontinuous (you can't stop in the middle of > a jump) which planners do I need to avoid? I know some algorithms attempt > to only travel some percentage of an edge and create new states along the > way. But this wouldn't be possible in a discontinuous space like this. > >> > >> Thanks, I'm a beginner. > >> > >> Dan > > > > |
|
From: Mark M. <mm...@ri...> - 2019-01-29 04:41:05
|
Hi Dan, If you *can* provide a steering function, then typically that’s a good idea. However, if there are multiple ways, how do you choose? Does it matter for completeness or optimality? If so, a sampler derived from DirectedControlSampler might be the way to go. It’s up to you to decide how to handle collisions. You can handle collisions in your state validity checker and rely on propagateWhileValid (used by some planners). But this doesn’t exploit the special structure of your problem. Best, Mark > On Jan 28, 2019, at 12:02 PM, Dan R <ni...@gm...> wrote: > > Thanks Mark, > > In this case, would I also use the ompl::control::SatePropagator::steer method to generate the jump control? For instance, given a start state and an end state, steer would generate the parabolic path (or paths actually since there are multiple ways to jump between the same two points) that connect the two states? Then propagate could test each of these paths for collision? > > What should propagate do in the case of a collision? > > Thanks for your help, > Dan > > On Mon, Jan 28, 2019 at 9:47 AM Mark Moll <mm...@ri...> wrote: > Hi Dan, > > My recommendation would be to create a ompl::control::StatePropagator whose propagate function simply ignores the duration: given a state, a control (e.g., jump direction), it would find the first point along the parabolic trajectory that collides with an obstacle. If you plan to use numerical integration, you should also check out the ompl::control::ODESolver class. You can then use any of the planners in the ompl::control namespace (ompl::control::RRT, ompl::control::EST, ompl::control::PDST, ompl::control::KPIECE1, ompl::control::SST, …). > > Look at these demos: > Rigid body planning with controls [Python version] > Rigid body planning with ODESolver and controls. [Python version] > > Best, > > Mark > > >> On Jan 27, 2019, at 8:43 PM, Dan R <ni...@gm...> wrote: >> >> Hello, >> >> I am interested in running a PRM planner on a 3d space that consists of various platforms which a point mass can jump between. Each edge between states is defined as a parabolic trajectory (a jump basically). Would I create a custom MotionValidator class which basically moves the object along the trajectory between states and do collision detection in there? >> >> Also since this space is discontinuous (you can't stop in the middle of a jump) which planners do I need to avoid? I know some algorithms attempt to only travel some percentage of an edge and create new states along the way. But this wouldn't be possible in a discontinuous space like this. >> >> Thanks, I'm a beginner. >> >> Dan > |
|
From: Mark M. <mm...@ri...> - 2019-01-29 04:20:38
|
Hi Abhilesh, The call to stateCost in getcost does nothing; the return value is ignore. Please follow the directions in this tutorial: http://ompl.kavrakilab.org/optimizationObjectivesTutorial.html Basically, define a new class that derives from OptimizationObjective and implement its stateCost method s.t. it returns a cost that depends on the z component. Then, set the optimization objective to be a shared pointer to an instance of this class. (BTW, I don’t understand why you include x and y in your cost.) Best, Mark > On Jan 28, 2019, at 11:44 AM, abhilesh borode <abh...@gm...> wrote: > > Hello Everyone, > > I am working on a RRT planner in an octomap based environment. My aim is to perform the same task by penalizing the Z space which forces the RRT planner to generate trjectories more along x and y space in comparison to the z space. Here is my unsuccessful attempt in trying to do so : > > double penaliseZ(const ob::State* state) > { > > const ob::RealVectorStateSpace::StateType* state3D = > state->as<ob::RealVectorStateSpace::StateType>(); > > double x = state3D->values[0]; > double y = state3D->values[1]; > double z = state3D->values[2]; > > return sqrt((x*x + y*y + 1000*z*z)); > } > > ob::Cost ob::OptimizationObjective::stateCost(const State* s)const > { > > Cost c (penaliseZ(s)); > return c; > } > > ob::OptimizationObjectivePtr getcost(const ob::SpaceInformationPtr& si) > { > ob::OptimizationObjectivePtr obj(new ob::PathLengthOptimizationObjective(si)); > const ob::State* s; > obj->stateCost(s); > return obj; > } > void plan(void) > { > ob::StateSpacePtr space(new ob::SE3StateSpace()); > > . . . . > > ob::SpaceInformationPtr si(new ob::SpaceInformation(space)); > > si->setStateValidityChecker(std::bind(&isStateValid, std::placeholders::_1)); > > ob::ScopedState<ob::SE3StateSpace> start(space); > > start->setXYZ(-5,-2,1); > goal->setXYZ(6.5,7.5,1); > > // create a problem instance > ob::ProblemDefinitionPtr pdef(new ob::ProblemDefinition(si)); > > // set the start and goal states > pdef->setStartAndGoalStates(start, goal); > > pdef->setOptimizationObjective(getcost(si)); > > ob::PlannerPtr planner(new og::RRTConnect(si)); > > planner->setProblemDefinition(pdef); > > > // perform setup steps for the planner > planner->setup(); > } > > The planner is still generating trajectories along the Z space. > Could anyone please tell me where am I going wrong ? > > > Thanks & Regards > > > _______________________________________________ > ompl-users mailing list > omp...@li... > https://lists.sourceforge.net/lists/listinfo/ompl-users |
|
From: Dan R <ni...@gm...> - 2019-01-28 18:02:40
|
Thanks Mark, In this case, would I also use the ompl::control::SatePropagator::steer method to generate the jump control? For instance, given a start state and an end state, steer would generate the parabolic path (or paths actually since there are multiple ways to jump between the same two points) that connect the two states? Then propagate could test each of these paths for collision? What should propagate do in the case of a collision? Thanks for your help, Dan On Mon, Jan 28, 2019 at 9:47 AM Mark Moll <mm...@ri...> wrote: > Hi Dan, > > My recommendation would be to create a ompl::control::StatePropagator > whose propagate function simply ignores the duration: given a state, a > control (e.g., jump direction), it would find the first point along the > parabolic trajectory that collides with an obstacle. If you plan to use > numerical integration, you should also check out the > ompl::control::ODESolver class. You can then use any of the planners in the > ompl::control namespace (ompl::control::RRT, ompl::control::EST, > ompl::control::PDST, ompl::control::KPIECE1, ompl::control::SST, …). > > Look at these demos: > Rigid body planning with controls > <http://ompl.kavrakilab.org/RigidBodyPlanningWithControls_8cpp_source.html> > [Python version] > <http://ompl.kavrakilab.org/RigidBodyPlanningWithControls_8py_source.html> > Rigid body planning with ODESolver and controls. > <http://ompl.kavrakilab.org/RigidBodyPlanningWithODESolverAndControls_8cpp_source.html> > [Python version] > <http://ompl.kavrakilab.org/RigidBodyPlanningWithODESolverAndControls_8py_source.html> > > > Best, > > Mark > > > On Jan 27, 2019, at 8:43 PM, Dan R <ni...@gm...> wrote: > > Hello, > > I am interested in running a PRM planner on a 3d space that consists of > various platforms which a point mass can jump between. Each edge between > states is defined as a parabolic trajectory (a jump basically). Would I > create a custom MotionValidator class which basically moves the object > along the trajectory between states and do collision detection in there? > > Also since this space is discontinuous (you can't stop in the middle of a > jump) which planners do I need to avoid? I know some algorithms attempt to > only travel some percentage of an edge and create new states along the way. > But this wouldn't be possible in a discontinuous space like this. > > Thanks, I'm a beginner. > > Dan > > > |
|
From: abhilesh b. <abh...@gm...> - 2019-01-28 17:45:16
|
Hello Everyone,
I am working on a RRT planner in an octomap based environment. My aim is to
perform the same task by penalizing the Z space which forces the RRT
planner to generate trjectories more along x and y space in comparison to
the z space. Here is my unsuccessful attempt in trying to do so :
double penaliseZ(const ob::State* state)
{
const ob::RealVectorStateSpace::StateType* state3D =
state->as<ob::RealVectorStateSpace::StateType>();
double x = state3D->values[0];
double y = state3D->values[1];
double z = state3D->values[2];
return sqrt((x*x + y*y + 1000*z*z));
}
ob::Cost ob::OptimizationObjective::stateCost(const State* s)const
{
Cost c (penaliseZ(s));
return c;
}
ob::OptimizationObjectivePtr getcost(const ob::SpaceInformationPtr& si)
{
ob::OptimizationObjectivePtr obj(new
ob::PathLengthOptimizationObjective(si));
const ob::State* s;
obj->stateCost(s);
return obj;
}
void plan(void)
{
ob::StateSpacePtr space(new ob::SE3StateSpace());
. . . .
ob::SpaceInformationPtr si(new ob::SpaceInformation(space));
si->setStateValidityChecker(std::bind(&isStateValid,
std::placeholders::_1));
ob::ScopedState<ob::SE3StateSpace> start(space);
start->setXYZ(-5,-2,1);
goal->setXYZ(6.5,7.5,1);
// create a problem instance
ob::ProblemDefinitionPtr pdef(new ob::ProblemDefinition(si));
// set the start and goal states
pdef->setStartAndGoalStates(start, goal);
pdef->setOptimizationObjective(getcost(si));
ob::PlannerPtr planner(new og::RRTConnect(si));
planner->setProblemDefinition(pdef);
// perform setup steps for the planner
planner->setup();
}
The planner is still generating trajectories along the Z space.
Could anyone please tell me where am I going wrong ?
Thanks & Regards
|
|
From: Mark M. <mm...@ri...> - 2019-01-28 14:47:19
|
Hi Dan, My recommendation would be to create a ompl::control::StatePropagator whose propagate function simply ignores the duration: given a state, a control (e.g., jump direction), it would find the first point along the parabolic trajectory that collides with an obstacle. If you plan to use numerical integration, you should also check out the ompl::control::ODESolver class. You can then use any of the planners in the ompl::control namespace (ompl::control::RRT, ompl::control::EST, ompl::control::PDST, ompl::control::KPIECE1, ompl::control::SST, …). Look at these demos: Rigid body planning with controls <http://ompl.kavrakilab.org/RigidBodyPlanningWithControls_8cpp_source.html> [Python version] <http://ompl.kavrakilab.org/RigidBodyPlanningWithControls_8py_source.html> Rigid body planning with ODESolver and controls. <http://ompl.kavrakilab.org/RigidBodyPlanningWithODESolverAndControls_8cpp_source.html> [Python version] <http://ompl.kavrakilab.org/RigidBodyPlanningWithODESolverAndControls_8py_source.html> Best, Mark > On Jan 27, 2019, at 8:43 PM, Dan R <ni...@gm...> wrote: > > Hello, > > I am interested in running a PRM planner on a 3d space that consists of various platforms which a point mass can jump between. Each edge between states is defined as a parabolic trajectory (a jump basically). Would I create a custom MotionValidator class which basically moves the object along the trajectory between states and do collision detection in there? > > Also since this space is discontinuous (you can't stop in the middle of a jump) which planners do I need to avoid? I know some algorithms attempt to only travel some percentage of an edge and create new states along the way. But this wouldn't be possible in a discontinuous space like this. > > Thanks, I'm a beginner. > > Dan |
|
From: Rajaneesh <raj...@gm...> - 2019-01-28 04:18:18
|
Hi.. Please find the response based on my understanding... >>I am interested in running a PRM planner on a 3d space that consists of various platforms which a point mass can jump between. Each edge >>between states is defined as a parabolic trajectory (a jump basically). Would I create a custom MotionValidator class which basically moves the >>object along the trajectory between states and do collision detection in there? Yes >>Also since this space is discontinuous (you can't stop in the middle of a jump) which planners do I need to avoid? I know some algorithms >>attempt to only travel some percentage of an edge and create new states along the way. But this wouldn't be possible in a discontinuous space >>like this. For any planners with controls, I avoid bidirectional planners. I also see in omplapp gui that EST, KPeice1, PDST, RRT and syclop planners are available for planners with controls.. Rgds-Raj |
|
From: Dan R <ni...@gm...> - 2019-01-28 02:43:44
|
Hello, I am interested in running a PRM planner on a 3d space that consists of various platforms which a point mass can jump between. Each edge between states is defined as a parabolic trajectory (a jump basically). Would I create a custom MotionValidator class which basically moves the object along the trajectory between states and do collision detection in there? Also since this space is discontinuous (you can't stop in the middle of a jump) which planners do I need to avoid? I know some algorithms attempt to only travel some percentage of an edge and create new states along the way. But this wouldn't be possible in a discontinuous space like this. Thanks, I'm a beginner. Dan |
|
From: Zak K. <za...@ri...> - 2018-12-06 22:50:28
|
Steven, When working with the constrained planning framework in OMPL, your collision checker needs to access state values through the constrained state space, not the underlying state space. For example, if you view the tutorial on constrained planning [1], you'll see that in the state validity checker accesses the underlying state values as follows: // The constrained state space state type is derived from Eigen::Map<Eigen::VectorXd> const Eigen::Map<Eigen::VectorXd> &x = *state->as<ob::ConstrainedStateSpace::StateType>(); rather than casting the state to a RealVectorStateSpace::StateType. You could also do something like the following: double* values = state->as<ob::ConstrainedStateSpace::StateType>() // Get the constrained state space state ->getState() // Access the state from the underlying state space ->as<ob::RealVectorStateSpace::StateType>() // Cast appropriately ->values; I'd guess that this is the reason for why you are seeing junk data in state values. Best, Zak [1] http://ompl.kavrakilab.org/constrainedPlanningTutorial.html On 11/27/18 10:32 PM, Steven Morad wrote: > Hello, > > It appears that my validity checker does not work with certain > planners, such as RRT*. I've tested this by creating a validity > checker that rules out my start state. Using RRT*, I still get a > solution, but using something like SBL I get an error along the lines > of "no valid start state". > > I use SimpleSetup like so: > > auto constraint = std::make_shared<TetherConstraint>(); > auto const_space = > std::make_shared<ob::ProjectedStateSpace>(space, constraint); > auto const_space_info = > std::make_shared<ob::ConstrainedSpaceInformation>(const_space);vv > auto state_space = > std::make_shared<ompl::geometric::SimpleSetup>(const_space_info); > state_space->setStateValidityChecker(check_state); > ... > > state_space->setPlanner(std::make_shared<og::RRTStar>(const_space_info)); > > state_space->solve(10); > > > Check state just measures distance to an obstacle: > > bool check_state(const ob::State *state) > { > double* pos = > state->as<ob::RealVectorStateSpace::StateType>()->values; > Eigen::Vector2d bot0(pos[0], pos[1]); > Eigen::Vector2d bot1(pos[2], pos[3]); > Eigen::Vector2d bot2(pos[4], pos[5]); > > // add obstacles > double clearance = 2; > std::vector<Eigen::Vector2d> obstacles = { > Eigen::Vector2d(5,5), > Eigen::Vector2d(5,6), > Eigen::Vector2d(4,6), > Eigen::Vector2d(2,2), > }; > > for (auto obstacle : obstacles) { > if ((bot0 - obstacle).norm() < clearance){ > return false; > } > if ((bot1 - obstacle).norm() < clearance){ > return false; > } > if ((bot2 - obstacle).norm() < clearance){ > return false; > } > } > return true; > } > > > The planner appears to only pass states containing all zero (not > exact, but around 6.92615e-310) to the validity checker. The output > paths appear to go where I want them, but they ignore obstacles > defined in the validity check. > > Using LBKPIECE, there are nonzero states being passed to the check. > > Does anybody have any idea what might be causing this? > > Thanks, > Steven > -- > Steven Morad > PhD Student > Space and Terrestrial Robotic Exploration Laboratory > University of Arizona > > > > www.dangersteve.com/home <http://www.dangersteve.com/home> > > > _______________________________________________ > ompl-users mailing list > omp...@li... > https://lists.sourceforge.net/lists/listinfo/ompl-users |
|
From: Mark M. <mm...@ri...> - 2018-12-05 21:54:55
|
Hi all, We are happy to announce version 1.4.1 of the Open Motion Planning Library (OMPL). This is a bug fix release. Notable changes include: • Add support for PySide2. • Made Planner Arena work with latest versions of R packages. • Misc. bug and documentation fixes. The ROS, MacPorts, and Homebrew packages will be available soon. The OMPL web page can be found at http://ompl.kavrakilab.org. Best, Mark -- Mark Moll Sr. Research Scientist | http://mmoll.rice.edu | 713-348-5934 Rice University, Dept. of Computer Science — MS 132, PO Box 1892, Houston, TX 77251 |
|
From: Steven M. <sm...@em...> - 2018-11-28 04:57:42
|
Hello,
It appears that my validity checker does not work with certain planners,
such as RRT*. I've tested this by creating a validity checker that rules
out my start state. Using RRT*, I still get a solution, but using something
like SBL I get an error along the lines of "no valid start state".
I use SimpleSetup like so:
auto constraint = std::make_shared<TetherConstraint>();
auto const_space = std::make_shared<ob::ProjectedStateSpace>(space,
constraint);
auto const_space_info =
std::make_shared<ob::ConstrainedSpaceInformation>(const_space);vv
auto state_space =
std::make_shared<ompl::geometric::SimpleSetup>(const_space_info);
state_space->setStateValidityChecker(check_state);
...
state_space->setPlanner(std::make_shared<og::RRTStar>(const_space_info));
state_space->solve(10);
Check state just measures distance to an obstacle:
bool check_state(const ob::State *state)
{
double* pos = state->as<ob::RealVectorStateSpace::StateType>()->values;
Eigen::Vector2d bot0(pos[0], pos[1]);
Eigen::Vector2d bot1(pos[2], pos[3]);
Eigen::Vector2d bot2(pos[4], pos[5]);
// add obstacles
double clearance = 2;
std::vector<Eigen::Vector2d> obstacles = {
Eigen::Vector2d(5,5),
Eigen::Vector2d(5,6),
Eigen::Vector2d(4,6),
Eigen::Vector2d(2,2),
};
for (auto obstacle : obstacles) {
if ((bot0 - obstacle).norm() < clearance){
return false;
}
if ((bot1 - obstacle).norm() < clearance){
return false;
}
if ((bot2 - obstacle).norm() < clearance){
return false;
}
}
return true;
}
The planner appears to only pass states containing all zero (not exact, but
around 6.92615e-310) to the validity checker. The output paths appear to go
where I want them, but they ignore obstacles defined in the validity check.
Using LBKPIECE, there are nonzero states being passed to the check.
Does anybody have any idea what might be causing this?
Thanks,
Steven
--
Steven Morad
PhD Student
Space and Terrestrial Robotic Exploration Laboratory
University of Arizona
www.dangersteve.com/home
|
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