motionplanningtoolkit Dependencies: https://github.com/flexible-collision-library/fcl https://github.com/mariusmuja/flann http://assimp.sourceforge.net/ Optionally: http://www.coppeliarobotics.com/ https://github.com/ompl/ompl Also using a modified version of: https://github.com/AndrewWalker/Dubins-Curves