This library is an implementation of GPMP2 (Gaussian Process Motion Planner 2) algorithm described in Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs (RSS 2016). The core library is developed in C++ language, and an optional Matlab toolbox is provided. Examples are provided in Matlab scripts. An OpenRAVE plugin, orgpmp2, is also avaible with examples.
GPMP2 is being developed by Jing Dong and Mustafa Mukadam as part of their work at Georgia Tech Robot Learning Lab.
- CMake >= 2.6 (Ubuntu:
sudo apt-get install cmake), compilation configuration tool. - Boost >= 1.50 (Ubuntu:
sudo apt-get install libboost-all-dev), portable C++ source libraries. - GTSAM >= 4.0 alpha, a C++ library that implement smoothing and mapping (SAM) framework in robotics and vision. Here we use factor graph implementations and inference/optimization tools provided by GTSAM.
In the library folder excute:
$ mkdir build
$ cd build
$ cmake ..
$ make check # optonal, run unit tests
$ make install
An optional Matlab toolbox is provided to use our library in Matlab. To enable Matlab toolbox during compilation:
$ cmake -DGPMP2_BUILD_MATLAB_TOOLBOX:OPTION=ON -DGTSAM_TOOLBOX_INSTALL_PATH:PATH=/path/install/toolbox ..
$ make install
After you install the Matlab toolbox, don't forget to add /path/install/toolbox to your Matlab path.
The gpmp2 library is designed to be cross-platform, however it's only tested on Ubuntu Linux for now.
- Compilers: GCC 4.8, 4.9, 5.3
- Boost version: 1.50 - 1.60
Please use Github issue tracker to report bugs. For other questions please contact Jing Dong or Mustafa Mukadam .
If you use GPMP2 in an academic context, please cite following publications:
@inproceedings{Dong-RSS-16,
Author = "Jing Dong and Mustafa Mukadam and Frank Dellaert and Byron Boots",
booktitle = {Proceedings of Robotics: Science and Systems (RSS-2016)},
Title = "Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs",
year = {2016}
}
GPMP2 is released under the BSD license, reproduced in the file LICENSE in this directory.