Humanoid Path Planner

Website

http://humanoid-path-planner.github.io/hpp-doc/index.html

Description

HPP is a C++ Software Developement Kit implementing path planning for kinematic chains in environments cluttered with obstacles. Collision checking is performed by the Flexible Collision Library developed at University of North Carolina.

A bridge woth ROS/rviz is provided to visualize obstacles, robot configurations and paths. URDF model can also be parsed to build robots.

python scripting is implemented via CORBA servers and idl interfaces in a seamless way.

It is a collection of software packages handled by cmake and pkg-config. You can download a short presentation of the software

Installation

To install HPP under ubuntu, follow the instruction provided by the following README.md file.

Documentation

The documentation generated by doxygen is automatically installed with each software package.

Tutorial

A tutorial is proposed at the bottom of the documentation page to help you get familiar with the software.