Programming Libraries
In this section you'll find some libraries, mostly in C++, that I have written as a part of my research or in my free time. These are supposed to be general enough (as opposed to specific to some project of mine) and might be useful to anybody. However if you are also interested in codes specific to (or more related to) projects I have done, you may want to check out the Projects section of this web-site, where you will find a lot more code released under GNU-GPL.
Yet Another Graph-Search Based Planning Library (YAGSBPL)
A template-based C++ library for large-scale graph search and planning
Graph search algorithms like Dijkstra's, A* and weighted A* have been implemented in several C++ libraries. Some of the well-known libraries like STL, BOOST and LEMON have quite nice graph search algorithm implementations. Another very important and technical implementation is the SBPL by Maxim Likhachev from CMU (http://www.cs.cmu.edu/~maxim/software.html). While I did use many of these in multiple occasions with great results, I still ended up writing a library of my own because of certain additional requirements in my applications, which eventually ended up evolving into a very generic graph search & planning library. I created this library hoping to achieve a good balance between speed, efficiency, ease of use and versatility. Hopefully you'll find it useful.