Humanoid Path Planner - RBPRM module
Copyright 2015 LAAS-CNRS
Author: Steve Tonneau
"An efficient acyclic contact planner for multiped robots" (submitted to IJRR).
"A Reachability-based planner for sequences of acyclic contacts in cluttered environments" (presented at ISRR 15).
We recommend reading the IJRR submission before going using RB-PRM.
The planner has applications in both robotics and computer graphics applications (click on the pictures to watch videos):
##Installation on ubuntu-14.04 64 bit with ros-indigo
To install HPP-RBPRM:
install HPP - see https://github.com/humanoid-path-planner/hpp-doc - IMPORTANT: you should use the devel installation of the project for the software to work correctly
install hpp-affordance, and hpp-affordance corba, comprising terrain analysis tools - see https://github.com/humanoid-path-planner/hpp-affordance
install robust-equilibrium-lib, a library for quickly asserting static equilibrium - see https://github.com/andreadelprete/robust-equilibrium-lib
Use CMake to install the library. For instance:
mkdir $HPP_RBPRM_DIR/build cd $HPP_RBPRM_DIR/build cd cmake .. make install
Optionally, install the python bindings for python, and example scripts (HPP-RBPRM-CORBA) - see https://github.com/stonneau/hpp-rbprm-corba
Open $DEVEL_DIR/install/share/doc/hpp-rbprm/doxygen-html/index.html in a web brower and you will have access to the code documentation.