Loading OMPL (C++ Open Motion Planning Library) into Matlab

Hi,

I'm trying to use the Open Motion Planning Library (OMPL) in Matlab through loadlibrary in 64-bit Linux. In my installation, I've placed the libompl.so in my Matlab working directory along with a folder containing the necessary header files. This all seems to be working correctly; however, OMPL requires boost and I cannot seem to make it find the necessary header files.

Specifically, I tell it to load the libompl shared library, use the header "ompl/control/planners/rrt/RRT" and include the present working directory for other headers, e.g.

loadlibrary('libompl', 'ompl/control/planners/rrt/RRT', 'includepath', pwd)

this seems to find all the OMPL headers correctly and even some of the boost headers, but misses not all of the boost headers. It's a lot of error output, but a representative block is:

 Output from preprocessor is:In file included from /usr/include/boost/config.hpp:40,
                 from /usr/include/boost/concept/assert.hpp:7,
                 from /usr/include/boost/concept_check.hpp:18,
                 from /work/ompl/base/State.h:40,
                 from /work_dir/ompl/base/SpaceInformation.h:40,
                 from /work_dir/ompl/base/Planner.h:40,
                 from /work_dir/ompl/control/planners/PlannerIncludes.h:40,
                 from /work_dir/ompl/control/planners/rrt/RRT.h:40:
/usr/include/boost/config/select_stdlib_config.hpp:17:19: error: cstddef: No such file or directory

On my installation, cstddef.hpp is located at /usr/include/boost/pending, so I've tried using the 'includepath' and 'addheader' options respectively to no luck. i.e., neither

loadlibrary('libompl','ompl/control/planners/rrt/RRT', 'includepath', pwd, 'includepath', '/usr/include/boost/pending')

or

loadlibrary('libompl','ompl/control/planners/rrt/RRT', 'includepath', pwd, 'addheader', '/usr/include/boost/pending/cstddef')

worked or had any effect on the error messages. In all the cases, cstddef.hpp is still not found.

I'm new to mex and only have limited experience with the Linux build environment in general, so any advice on where to start is appreciated.

Thanks, Jon

[Daniel Felipe Perez Ramirez]

Hello Jon, have you found a solution to integrate the OMPL in Matlab? I'm currently facing the same situation, would appreciate to hear from you.

Thanks, Daniel