Tutorials

Introduction

These tutorials explain how to define and solve a path planning problem, how to display the resulting paths in gepetto-viewer, and how to implement a new path planning algorithm.

Setting up your environment

Before starting, make sure that

• bash is you default shell script language,
• the line

  source $DEVEL_DIR/config.sh 

  is in your .bashrc file, where DEVEL_DIR is the environment variable defined in the installation instructions.

Tutorials

• Tutorial 1 : how to define and solve a path planning problem. A C++ version of Tutorial 1 without middleware is also available.
• Tutorial 2 : how to implement a new path planning algorithm in C++.
• Tutorial 3 : how to define and solve a manipulation planning problem.