The Sampling-Based Motion Planning Library

Data Structures
class	CoinRrtWorkspaceVisualization

Detailed Description

The Sampling-based Motion Planning Library Saba offers state-of-the-art algorithms for planning collision-free motions in high-dimensional configuration spaces. Standard approaches, as the Rapidly-exploring Random Trees (RRT), are efficiently implemented. Furthermore motion planning algorithms for grasping and for bimanual tasks are provided, which can be used to solve plannign problems for mobile manipulators or service and humanoid robots.