This is a modified version of the Nearest Neighbor Library for Motion Planning by Anna Yershova and Steven M. LaValle. The original README is attached below. In this version, we added a simple C interface and support for CMake to provide support for MAC OS X and add functionalities to the Makefile (install/uninstall). To compile, move to the build directory and execute cmake .. make The library is stored in the 'lib' folder. We build a dynamic library instead of a static one. The test programs are in the 'test' folder. To run it execute ./test/test to test a nearest-neighbour query or ./test/testR to test the search for neighbours on a ball. To install the library in the system directories move to the build directory and execute sudo make install The libary is installed in /usr/local/lib. The includes are copied to /usr/local/include/DNN. To uninstall sudo make uninstall from the build directory. =============================================== ===== Original REAME of the MPNN library ===== =============================================== Nearest Neighbor Library for Motion Planning University of Illinois Contributors: Anna Yershova Steven M. LaValle The following directories are included in this distribution: include: The C++ header files for DNN lib: Location of the DNN library (libDNN.a), when compiled src: The source code of the library test: Sample code that uses the library INSTALLATION: 1. From the top-level directory of DNN, run "make". In lib, the libDNN.a file will be generated. Any programs that are written using DNN should be linked with this file. An executable in test directory should also be generated.