(if you're using ROS and want OMPL, see MoveIt!)
OMPL has become slightly trickier to install recently and has some outdated installation documentation, especially in terms of its dependencies and how to properly install them.
Assuming you're using Ubuntu and you're fine to use your home dir as your working directory...
Dependencies first:
----the easy stuff----
sudo apt-get install libboost-all-dev cmake python-dev python-qt4-dev python-qt4-gl python-opengl freeglut3-dev libassimp-dev libeigen3-dev libode-dev doxygen graphviz libqt4-dev python-pygccxmlsudo pip install python-utils
----libccd----
cd ~
mkdir -p github.com/danfis
cd github.com/danfis
git clone https://github.com/danfis/libccd
cd libccd
#ignore their instructions
mkdir build
cd build
cmake ..
make
sudo make install
----octomap----
cd ~
mkdir -p github.com/OctoMap
cd github.com/OctoMap
git clone https://github.com/OctoMap/octomap
cd octomap
mkdir build
cd build
cmake ..
make
sudo make install
----flann----
cd ~
mkdir -p github.com/mariusmuja
cd github.com/mariusmuja
git clone https://github.com/mariusmuja/flann
cd flann
mkdir build
cd build
cmake ..
make
sudo make install
----fcl----
cd ~
mkdir -p github.com/flexible-collision-library
cd github.com/flexible-collision-library
git clone https://github.com/flexible-collision-library/fcl
cd fcl
mkdir build
cd build
cmake ..
make
#if during the previous step you run into an issue where ld complains about not having compiled libccd with -fPIC
#you can delete /usr/local/lib/libccd.a -- and then it'll find the correct libccd.so file instead
sudo make install
----pygccxml----
cd ~
mkdir -p github.com/gccxml
cd github.com/gccxml
git clone https://github.com/gccxml/pygccxml
cd pygccxml
sudo python setup.py install
----pyplusplus----
cd ~
mkdir -p bitbucket.org/ompl
cd bitbucket.org/ompl
hg clone https://bitbucket.org/ompl/pyplusplus
cd pyplusplus
sudo python setup.py install
----ompl----
cd ~
mkdir ompl
cd ompl
git clone https://github.com/ompl/omplapp.git
cd omplapp
git clone https://github.com/ompl/ompl.git
mkdir -p build/Release
cd build/Release
cmake ../..
make update_bindings
make
sudo make install
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