Visit http://ompl.kavrakilab.org/core/installation.html for detailed installation instructions. OMPL has the following required dependencies: * Boost (version 1.42 or higher) * CMake (version 2.8.2 or higher) The following dependencies are optional: * ODE (needed to compile support for planning using ODE) * Google-test (needed to run the test programs) * Py++ (needed to generate Python bindings) * Doxygen (needed to create a local copy of the documentation at http://ompl.kavrakilab.org/core) Once dependencies are installed, you can build OMPL on Linux and OS X. Go to the top-level directory of OMPL and type the following commands: mkdir -p build/Release cd build/Release cmake -DCMAKE_BUILD_TYPE=Release ../.. make update_bindings # if you want Python bindings and have Py++ installed make -j 4 # replace "4" with the number of cores on your machine