OMPL uses CMake for its build system. CMake can generate Makefiles and project files for many IDE's. When developing your own code that relies on OMPL, you have two options:
ompl/src/ompl/
[folder], you need to re-run CMake. CMake will detect your code if
[folder] is one of the directories already included by OMPL. If you want your code to be in a different location, you should update ompl/src/ompl/CMakeLists.txt accordingly. See the Python documentation for specific instructions on how to create python bindings for your own code. If you write new C++ command line programs, we suggest you look at the second option.cmake -DCMAKE_INSTALL_PREFIX=/some/path make install
CMAKE_INSTALL_PREFIX
through the CMake GUI (“ccmake .
” on UNIX-like systems). With this approach, your code is built completely independently from OMPL's code and you would use OMPL as any other library. Note that it's not required to install OMPL; you can just as easily use the headers from the OMPL source tree and the libraries from the build directory.-I/usr/local/include”
(or, e.g., “-I${HOME}/ompl/src”
) to your compile flags, and “-L/usr/local/lib
-lompl”
(or, e.g., “-L${HOME}/ompl/build/Release/lib
-lompl”
) to your link flags. For ease of use with CMake, we have included a CMake file that finds OMPL: FindOMPL.cmake.