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OMPL Installation Instructions

Detailed instructions for compiling and installing OMPL on a Linux machine.

The following instructions mathces Ubuntu14.04 64bit OS with default installation
+============+
|   General  |
+============+
sudo apt-get update
sudo apt-get upgrade
mkdir ompl_compile
cd ompl_compile
sudo apt-get install libboost-all-dev cmake python-dev python-qt4-dev python-qt4-gl python-opengl freeglut3-dev libassimp-dev libeigen3-dev libode-dev doxygen graphviz build-essential python-setuptools git mercurial
# I worked with gcc-4.8. if another compiler is necessary, do something like this:
# sudo apt-get install gcc-4.9 g++-4.9
# sudo unlink /usr/bin/gcc
# sudo unlink /usr/bin/g++
# sudo ln -s /usr/bin/gcc-4.9 /usr/bin/gcc
# sudo ln -s /usr/bin/g++-4.9 /usr/bin/g++
+============+
|   libccd   |
+============+
git clone https://github.com/danfis/libccd.git
cd libccd
cmake .
make
sudo make install
+============+
|     fcl    |
+============+
git clone https://github.com/flexible-collision-library/fcl.git
cd fcl
cmake .
make
sudo make install
+============+
|   flask    |
+============+
git clone https://github.com/mitsuhiko/flask.git
cd flask
python setup.py build
sudo python setup.py install
+============+
|  PyOpenGL  |
+============+
wget https://pypi.python.org/packages/source/P/PyOpenGL-accelerate/PyOpenGL-accelerate-3.1.1a1.tar.gz#md5=04e52af352dd078275a2d5720c4afea2
tar -xzf PyOpenGL-accelerate-3.1.1a1.tar.gz
cd PyOpenGL-accelerate-3.1.1a1/
python setup.py build
sudo python setup.py install
+============+
|   gccxml   |
+============+
git clone https://github.com/gccxml/gccxml.git
cd gccxml
# gcc>4.8 may require the following patches:
# vi GCC/gcc/toplev.h
# 	comment lines 173-183 - definition of floor_log2 and exact_log2
# vi GCC/gcc/toplev.c
# 	comment lines 545-575 and 580-590
# vi GCC/gcc/cp/libc_name_p
# 	remove __inline__ from function libc_name_p on lines 38, 109
#
# gcc>=5 may require something like the following line, but I'm not sure if this works at all
# cp -R GCC_XML/Support/GCC/4.9 GCC_XML/Support/GCC/5.2
cmake .
cmake --build .
sudo cmake --build . --target install
+============+
|  pygccxml  |
+============+
git clone https://github.com/gccxml/pygccxml.git
cd pygccxml
python setup.py build
sudo python setup.py install
+============+
| pyplusplus |
+============+
hg clone https://bitbucket.org/ompl/pyplusplus
cd pyplusplus
python setup.py build
sudo python setup.py install
+============+
|   BOOST    |
+============+
I worked with a compiled version of boost-1.54.
another option is to compile it by yourself. boost 1.54 with gcc>=5 may require patching line 44 in file cstdint.hpp (google it for the exact patch)
then, when compiling ompl, need to set -DBOOST_ROOT=~/ompl_compile/boost/boost
new versions of boost requires a new version of gcc (>=5), which may not be compatible with gccxml.
+============+
|    OMPL    |
+============+
wget https://bitbucket.org/ompl/ompl/downloads/omplapp-1.1.1-Source.tar.gz
tar -xzf omplapp-1.1.1-Source.tar.gz
cd omplapp-1.1.1-Source
mkdir build
cd build
cmake ..
cmake .
make update_bindings
make
make test
make doc
sudo make install
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