Motion Strategy LibraryThis is an open-source general-purpose C++ library for implementing and comparing motion planning algorithms, for use in research, education, and industry. See the Motion Strategy Library page.
A Nearest-Neighbor Library for Motion PlanningA C++ library, written by Anna Yershova, that uses Kd-trees adapted to topological spaces that arise in motion planning. This enables fast nearest-neighbor computations in sampling-based motion planning algorithms.
Sampling the Space of 3D Rotations, SO(3)A C++ library that generates sequences of samples that are close to uniform and have regular neighborhood structure.
See the companion paper paper, in the International Journal of Robotics Research.