Test new planners in OMPL

[toliver]

Some new planners have been added to OMPL. We should give them a try.

Hi all,

We are  are happy to announce version 1.3.0 of the Open Motion Planning Library (OMPL).

OMPL 1.3 contains the following main changes:

• Added new planners:
        • RRT#, a variant of RRT* with an improved convergence rate.
        • RRTX, a variant of RRT* with an improved convergence rate. Only the static part of the RRTX algorithm is implemented. Dynamical obstacles and updates of the robot position are not available in this implementation.
        • SORRT*, a variant of Informed RRT* that orders states in the subproblem that could provide a better solution by their potential solution cost.
• New refactored versions of BIT* and Informed RRT*.
• Various changes throughout to follow standard C++11 practices that improve efficiency, safety, or legibility.
• Fixes for Boost 1.63 and pygccxml 1.8.5.
• Misc. small bug fixes.

Major contributions to this release were made by:
• Jonathan Gammell, Oxford University
• Florian Hauer, Georgia Tech
• Scott Paulin, University of Canterbury, New Zealand
• Dave Coleman, University of Colorado, Boulder

The OMPL web page can be found at http://ompl.kavrakilab.org.