eOMPL Setup

The Open Motion Planning Library (OMPL) is an open-source library that contains many sampling-based motion planning libraries. Sampling-based algorithms are able to solve VGPs. eOMPL provides an interface between ETOL and GLPK for the purpose of solving a VGP.

The OMPL website provides an Ubuntu OMPL installation script. Although this same website provides Microsoft Windows installation instructions, these instructions will not be used because they do not use MSYS2.

Windows Setup

The following steps are modified version of the Linux (generic) installation instructions at the OMPL website.

1. If MSYS2 is not installed, complete the instructions in the Windows Setup section.

2. Install prerequisite software with pacman.

   pacman -S mingw-w64-x86_64-eigen3 mingw-w64-x86_64-libyaml mingw-w64-x86_64-yaml-cpp
   

3. Install prerequisite python packages with pip.

   pip install -vU https://github.com/CastXML/pygccxml/archive/develop.zip pyplusplus
   

4. Install libccd

   1. Open a MSYS Shell

   2. Download libccd

      git clone https://github.com/danfis/libccd.git
      

   3. Change directory to libccd

      cd libccd
      

   4. Generate build files

      cmake -G "Unix Makefiles" -DENABLE_DOUBLE_PRECISION=ON \
      -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=/c/msys64/mingw64
      

   5. Make and install

      make && make install
      

5. Install Open Dynamics Engine (ODE)

   1. Open a MSYS Shell

   2. Download ODE. For example for ode-0.16.1

      wget https://bitbucket.org/odedevs/ode/downloads/ode-0.16.1.tar.gz
      

   3. Extract the files

      tar -xzvf ode-.16.1.tar.gz
      

   4. Change directory to ODE

      cd ode-0.16.1
      

   5. Create a build folder

      mkdir build && cd build
      

   6. Generate build files

      cmake .. -G "Unix Makefiles" -DCMAKE_INSTALL_PREFIX=/c/msys64/mingw64 \
      -DODE_WITH_LIBCCD=ON -DBUILD_SHARED_LIBS=ON -DODE_DOUBLE_PRECISION=ON \
      -DODE_WITH_DEMOS=OFF -DODE_WITH_TESTS=OFF
      

   7. Make and install

      make && make install
      

   8. Change the name of the “libode_double” file in the /mingw64/bin and /mingw64/lib folder to “libode”.

6. Install OMPL

   1. Open a MSYS shell

   2. Download OMPL

      git clone https://github.com/ompl/ompl.git
      

   3. Change directory to ompl

      cd ompl
      

   4. Generate build folder

      mkdir -p build/Release
      

   5. Change directory to the build folder

      cd build/Release
      

   6. Configure the build

      cmake ../.. -G "Unix Makefiles" -DCMAKE_INSTALL_PREFIX=/c/msys64/mingw64 -DOMPL_BUILD_DEMOS=OFF
      

   7. Build and install

      make && make install