# OMPL Plannification: /home/blue/GitLab Repo/Turtlebot_Simulation/control_turtlebot/src/OMPL_Planning/OMPL_Planner Directory Reference

OMPL_Planner Directory Reference

## Files

file | OMPL_Planner.cpp [code]
| Path planning (without differential constraints) using OMPL with Octomap to represent workspace and to validate if configurations are collision-free.
file | OMPL_Planner.hpp [code]
| Path planning (without differential constraints) using OMPL with Octomap to represent workspace and to validate if configurations are collision-free.
file | StateChecker.cpp [code]
| Check if a given configuration is collision-free. The workspace is represented by an octomap.