Examples

[click here for instructions on how to run OOPSMP programs]

You can get started by running some of the demo programs that are found in the directory OOPSMP/input/xml/DemoPrograms

• Non-interactive demo programs
  • DemoSE2_RRT_MotionPlannerProgram.xml
  • DemoSE2_ESTGrid_MotionPlannerProgram.xml
  • DemoSE2_PRM_MotionPlannerProgram.xml
  • DemoSE3_BiTreePlanner_MotionPlannerProgram.xml
  • Demo_TestPathProgram.xml
• Interactive demo programs
  • DemoSE2_RRT_GMotionPlannerProgram.xml
  • DemoSE2_ESTGrid_GMotionPlannerProgram.xml
  • DemoSE2_PRM_GMotionPlannerProgram.xml
  • DemoSE3_BiTreePlanner_GMotionPlannerProgram.xml

You can also run the non-interactive and the interactive motion planner programs:

• OOPSMP/input/xml/UserPrograms/MotionPlannerProgram.xml
• OOPSMP/input/xml/Graphics/GUserPrograms/GMotionPlannerProgram.xml

or the interactive core program to test core components of motion planning methods

• OOPSMP/input/xml/Graphics/GUserPrograms/GCoreProgram.xml

After running these programs, go to OOPSMP/input/xml/MotionPlanners/SelectedMotionPlanner.xml and OOPSMP/input/xml/Graphics/GMotionPlanners/SelectedGMotionPlanner.xml, change the default selections, and rerun the programs. If you would like to change the problem setup, follow the instructions here. To avoid common errors in problem setup, read this.