Documentation of ISeeML (Introducing a Smooth, Efficient and Easy-to-use Motion Library)
Alexis Scheuer · INRIA a CCSD electronic archive server · 2010
This technical report introduces ISeeML, a C++ library to compute efficient (near to the optimal) motions for mobile robots respecting strong non-holonomic constraints. It contains a short presentation of the library as well as a detailed documentation of the classes offered by this library. This first published version of the library only handles forward-only path generation for car-like robots, but future versions will propose other types of motions, considering manoeuvres, obstacle avoidance and other kind of robots.