Copyright 2015-2020 LAAS-CNRS
Authors: Steve Tonneau, Pierre Fernbach
HPP - RBPRM is a library written for the software Humanoid Path Planner (link). It implements the acyclic contact planner presented in two papers (link):
"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):
This package is available as binary in robotpkg/wip. Set up your system to add robotpkg/wip repository, then run:
apt-get install robotpkg-pyXX-hpp-rbprm
Replace pyXX with your python version.
Follow the instructions here. After step 7 run:
make rbprm.install
Open $DEVEL_HPP_DIR/install/share/doc/hpp-rbprm/doxygen-html/index.html in a web brower and you will have access to the code documentation.