Welcome to the homepage of PP, a simple sampling-based path planning library written in C++.

The library was created as a tool for solving path planning problems arising in the context of robotics applications. It is intended for both research and educational use and provides a framework that is extensible for a number of applications. The library is free software released under the terms of the GNU General Public License (GPLv3).

In its current version the library offers the following advantages:

• Simple: PP provides an intuitve and uncluttered API. Planning problems are quickly composed by specifying a robot, a world and at least one planning query.
• Flexible: PP lets you define any kind of rigid tree-structured kinematic linkage. It provides an easy-to-use XML based interface for creating and defining robots and worlds.
• Powerful: PP comes with a set of provenly efficient planners, such as PRMs and RDTs to solve generic path planning problems.
• Parallel: Most planners come with a parallel implementation, so that you can use your multi-core machines to their full potential.
• Cross-platform: Because it uses only cross-platform compatible third party libraries, PP runs on Linux and Windows out of the box (soon to be tested on Mac).