MPK - Downloads

Version 1.0 (Last revision: April 2004)

• Without multi-goal planner (the original basic version)
• click here


• With multi-goal planner (details on multi-goal planning)
• click here

Additional workcell and robot geometries

• tgz-file (2.1 MB)
• zip-file (2.3 MB)

Updates

• June 2004: The linux version of MPK now successfully compiles with gcc 3.3.3.


• April 2004: MPK now comes with a multi-goal planner. For details and tutorial on multi-goal path planning click here.However the basic MPK without multi-goal planner is still there.


• March 2004: The code has been updated so that it also compiles with the gcc compiler in redhat 9.0. However you may still need to comment out the following lines in the file "src/PQP_Compile.h" of the "PQP_v1.2" package if you get "cmath" conflicts:
  inline float sqrt(float x) { return (float)sqrt((double)x); }
  inline float cos(float x) { return (float)cos((double)x); }
  inline float sin(float x) { return (float)sin((double)x); }
  inline float fabs(float x) { return (float)fabs((double)x); }
  


• October 2003: A compilation bug: "../basic/mpkCollPairSet.H:101: `class mpkBaseRobot' has no member named `base_T' " has been fixed

• August 2003: Visual Studio 6.0 Project included