diff --git a/ompl/Makefile b/ompl/Makefile
index e42d437e783b7e8e92bcee844a971f018daced0c..9607762c25f1e2d1e05d9898ecc0016ce64e6dda 100644
--- a/ompl/Makefile
+++ b/ompl/Makefile
@@ -3,7 +3,7 @@
#
DISTNAME= ompl-${PKGVERSION_NOREV}-Source
-PKGVERSION= 0.12.2
+PKGVERSION= 0.14.1
PKGNAME= ompl-${PKGVERSION}
CATEGORIES= motion
@@ -27,11 +27,21 @@ define PKG_OPTION_SET.python
include ../../mk/sysdep/python.mk
endef
-define PKG_OPTION_UNSET.qdisplay
+define PKG_OPTION_UNSET.python
CMAKE_ARGS+= -DOMPL_BUILD_PYBINDINGS=OFF
CMAKE_ARGS+= -DOMPL_BUILD_PYTESTS=OFF
endef
+PKG_SUPPORTED_OPTIONS+= morse
+PKG_OPTION_DESCR.morse= Enable Morse add-on
+define PKG_OPTION_SET.morse
+ CMAKE_ARGS+= -DOMPL_EXTENSION_MORSE=ON
+
+ include ../../simulation/morse/depend.mk
+endef
+define PKG_OPTION_UNSET.morse
+ CMAKE_ARGS+= -DOMPL_EXTENSION_MORSE=OFF
+endef
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
diff --git a/ompl/PLIST b/ompl/PLIST
index 7d9844417568d95edf0950554676918f0fd5445b..619aee59c5de4b40b580e42e6a2f703202b77d8e 100644
--- a/ompl/PLIST
+++ b/ompl/PLIST
@@ -1,5 +1,6 @@
-@comment Wed Apr 24 16:18:45 CEST 2013
+@comment Wed Apr 30 12:27:00 CEST 2014
bin/ompl_benchmark_statistics.py
+include/ompl/base/Cost.h
include/ompl/base/DiscreteMotionValidator.h
include/ompl/base/GenericParam.h
include/ompl/base/Goal.h
@@ -32,6 +33,11 @@ include/ompl/base/goals/GoalRegion.h
include/ompl/base/goals/GoalSampleableRegion.h
include/ompl/base/goals/GoalState.h
include/ompl/base/goals/GoalStates.h
+include/ompl/base/objectives/MaximizeMinClearanceObjective.h
+include/ompl/base/objectives/MechanicalWorkOptimizationObjective.h
+include/ompl/base/objectives/MinimaxObjective.h
+include/ompl/base/objectives/PathLengthOptimizationObjective.h
+include/ompl/base/objectives/StateCostIntegralObjective.h
include/ompl/base/samplers/GaussianValidStateSampler.h
include/ompl/base/samplers/MaximizeClearanceValidStateSampler.h
include/ompl/base/samplers/ObstacleBasedValidStateSampler.h
@@ -48,7 +54,6 @@ include/ompl/base/spaces/SO2StateSpace.h
include/ompl/base/spaces/SO3StateSpace.h
include/ompl/base/spaces/TimeStateSpace.h
include/ompl/config.h
-include/ompl/contrib/rrt_star/BallTreeRRTstar.h
include/ompl/contrib/rrt_star/RRTstar.h
include/ompl/control/Control.h
include/ompl/control/ControlSampler.h
@@ -66,6 +71,7 @@ include/ompl/control/StatePropagator.h
include/ompl/control/planners/PlannerIncludes.h
include/ompl/control/planners/est/EST.h
include/ompl/control/planners/kpiece/KPIECE1.h
+include/ompl/control/planners/pdst/PDST.h
include/ompl/control/planners/rrt/RRT.h
include/ompl/control/planners/syclop/Decomposition.h
include/ompl/control/planners/syclop/GridDecomposition.h
@@ -85,33 +91,51 @@ include/ompl/datastructures/NearestNeighborsGNAT.h
include/ompl/datastructures/NearestNeighborsLinear.h
include/ompl/datastructures/NearestNeighborsSqrtApprox.h
include/ompl/datastructures/PDF.h
+include/ompl/extensions/morse/MorseControlSpace.h
+include/ompl/extensions/morse/MorseEnvironment.h
+include/ompl/extensions/morse/MorseGoal.h
+include/ompl/extensions/morse/MorseProjection.h
+include/ompl/extensions/morse/MorseSimpleSetup.h
+include/ompl/extensions/morse/MorseStatePropagator.h
+include/ompl/extensions/morse/MorseStateSpace.h
+include/ompl/extensions/morse/MorseStateValidityChecker.h
+include/ompl/extensions/morse/MorseTerminationCondition.h
include/ompl/extensions/opende/OpenDEControlSpace.h
include/ompl/extensions/opende/OpenDEEnvironment.h
include/ompl/extensions/opende/OpenDESimpleSetup.h
include/ompl/extensions/opende/OpenDEStatePropagator.h
include/ompl/extensions/opende/OpenDEStateSpace.h
include/ompl/extensions/opende/OpenDEStateValidityChecker.h
+include/ompl/extensions/triangle/TriangularDecomposition.h
+include/ompl/geometric/GeneticSearch.h
+include/ompl/geometric/HillClimbing.h
include/ompl/geometric/PathGeometric.h
include/ompl/geometric/PathHybridization.h
include/ompl/geometric/PathSimplifier.h
include/ompl/geometric/SimpleSetup.h
-include/ompl/geometric/ik/GAIK.h
-include/ompl/geometric/ik/HCIK.h
include/ompl/geometric/planners/PlannerIncludes.h
include/ompl/geometric/planners/est/EST.h
include/ompl/geometric/planners/kpiece/BKPIECE1.h
include/ompl/geometric/planners/kpiece/Discretization.h
include/ompl/geometric/planners/kpiece/KPIECE1.h
include/ompl/geometric/planners/kpiece/LBKPIECE1.h
+include/ompl/geometric/planners/pdst/PDST.h
include/ompl/geometric/planners/prm/ConnectionStrategy.h
+include/ompl/geometric/planners/prm/LazyPRM.h
include/ompl/geometric/planners/prm/PRM.h
+include/ompl/geometric/planners/prm/PRMstar.h
+include/ompl/geometric/planners/prm/SPARS.h
+include/ompl/geometric/planners/prm/SPARStwo.h
+include/ompl/geometric/planners/rrt/LBTRRT.h
include/ompl/geometric/planners/rrt/LazyRRT.h
include/ompl/geometric/planners/rrt/RRT.h
include/ompl/geometric/planners/rrt/RRTConnect.h
+include/ompl/geometric/planners/rrt/RRTstar.h
include/ompl/geometric/planners/rrt/TRRT.h
include/ompl/geometric/planners/rrt/pRRT.h
include/ompl/geometric/planners/sbl/SBL.h
include/ompl/geometric/planners/sbl/pSBL.h
+include/ompl/geometric/planners/stride/STRIDE.h
include/ompl/tools/benchmark/Benchmark.h
include/ompl/tools/benchmark/MachineSpecs.h
include/ompl/tools/config/MagicConstants.h
@@ -123,108 +147,44 @@ include/ompl/util/ClassForward.h
include/ompl/util/Console.h
include/ompl/util/Deprecation.h
include/ompl/util/Exception.h
+include/ompl/util/PPM.h
include/ompl/util/RandomNumbers.h
include/ompl/util/Time.h
-include/omplext_odeint/FixupSource.py
-include/omplext_odeint/LICENSE_1_0.txt
-include/omplext_odeint/boost/numeric/odeint.hpp
-include/omplext_odeint/boost/numeric/odeint/algebra/array_algebra.hpp
-include/omplext_odeint/boost/numeric/odeint/algebra/default_operations.hpp
-include/omplext_odeint/boost/numeric/odeint/algebra/detail/for_each.hpp
-include/omplext_odeint/boost/numeric/odeint/algebra/detail/macros.hpp
-include/omplext_odeint/boost/numeric/odeint/algebra/detail/reduce.hpp
-include/omplext_odeint/boost/numeric/odeint/algebra/fusion_algebra.hpp
-include/omplext_odeint/boost/numeric/odeint/algebra/range_algebra.hpp
-include/omplext_odeint/boost/numeric/odeint/algebra/vector_space_algebra.hpp
-include/omplext_odeint/boost/numeric/odeint/config.hpp
-include/omplext_odeint/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp
-include/omplext_odeint/boost/numeric/odeint/external/mkl/mkl_operations.hpp
-include/omplext_odeint/boost/numeric/odeint/external/thrust/thrust_algebra.hpp
-include/omplext_odeint/boost/numeric/odeint/external/thrust/thrust_operations.hpp
-include/omplext_odeint/boost/numeric/odeint/external/thrust/thrust_resize.hpp
-include/omplext_odeint/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp
-include/omplext_odeint/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp
-include/omplext_odeint/boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp
-include/omplext_odeint/boost/numeric/odeint/integrate/detail/integrate_times.hpp
-include/omplext_odeint/boost/numeric/odeint/integrate/integrate.hpp
-include/omplext_odeint/boost/numeric/odeint/integrate/integrate_adaptive.hpp
-include/omplext_odeint/boost/numeric/odeint/integrate/integrate_const.hpp
-include/omplext_odeint/boost/numeric/odeint/integrate/integrate_n_steps.hpp
-include/omplext_odeint/boost/numeric/odeint/integrate/integrate_times.hpp
-include/omplext_odeint/boost/numeric/odeint/integrate/null_observer.hpp
-include/omplext_odeint/boost/numeric/odeint/integrate/observer_collection.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/adams_bashforth.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/adams_moulton.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/bulirsch_stoer.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/controlled_step_result.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/euler.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/explicit_generic_rk.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/generation.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/generation/make_controlled.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/generation/make_dense_output.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/implicit_euler.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/modified_midpoint.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/rosenbrock4.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/runge_kutta4.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/stepper_categories.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/symplectic_euler.hpp
-include/omplext_odeint/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp
-include/omplext_odeint/boost/numeric/odeint/util/bind.hpp
-include/omplext_odeint/boost/numeric/odeint/util/copy.hpp
-include/omplext_odeint/boost/numeric/odeint/util/detail/is_range.hpp
-include/omplext_odeint/boost/numeric/odeint/util/detail/less_with_sign.hpp
-include/omplext_odeint/boost/numeric/odeint/util/is_pair.hpp
-include/omplext_odeint/boost/numeric/odeint/util/is_resizeable.hpp
-include/omplext_odeint/boost/numeric/odeint/util/resize.hpp
-include/omplext_odeint/boost/numeric/odeint/util/resizer.hpp
-include/omplext_odeint/boost/numeric/odeint/util/same_size.hpp
-include/omplext_odeint/boost/numeric/odeint/util/state_wrapper.hpp
-include/omplext_odeint/boost/numeric/odeint/util/ublas_wrapper.hpp
-include/omplext_odeint/boost/numeric/odeint/util/unit_helper.hpp
-include/omplext_odeint/boost/numeric/odeint/util/unwrap_reference.hpp
-include/omplext_odeint/boost/numeric/odeint/version.hpp
-include/omplext_odeint/version.txt
lib/libompl.so
lib/libompl.so.${PKGVERSION}
-lib/libompl.so.6
+lib/libompl.so.9
lib/pkgconfig/ompl.pc
share/ompl/demos/GeometricCarPlanning.cpp
share/ompl/demos/HybridSystemPlanning.cpp
+share/ompl/demos/HypercubeBenchmark.cpp
+share/ompl/demos/KinematicChainBenchmark.cpp
+share/ompl/demos/Koules/Koules.cpp
+share/ompl/demos/Koules/KoulesConfig.h
+share/ompl/demos/Koules/KoulesControlSpace.cpp
+share/ompl/demos/Koules/KoulesControlSpace.h
+share/ompl/demos/Koules/KoulesDirectedControlSampler.cpp
+share/ompl/demos/Koules/KoulesDirectedControlSampler.h
+share/ompl/demos/Koules/KoulesGoal.cpp
+share/ompl/demos/Koules/KoulesGoal.h
+share/ompl/demos/Koules/KoulesPlayback.py
+share/ompl/demos/Koules/KoulesProjection.h
+share/ompl/demos/Koules/KoulesSetup.cpp
+share/ompl/demos/Koules/KoulesSetup.h
+share/ompl/demos/Koules/KoulesSimulator.cpp
+share/ompl/demos/Koules/KoulesSimulator.h
+share/ompl/demos/Koules/KoulesStatePropagator.cpp
+share/ompl/demos/Koules/KoulesStatePropagator.h
+share/ompl/demos/Koules/KoulesStateSpace.cpp
+share/ompl/demos/Koules/KoulesStateSpace.h
share/ompl/demos/OpenDERigidBodyPlanning.cpp
+share/ompl/demos/OptimalPlanning.cpp
+share/ompl/demos/OptimalPlanning.py
share/ompl/demos/PlannerData.cpp
share/ompl/demos/PlannerData.py
+share/ompl/demos/PlannerProgressProperties.cpp
+share/ompl/demos/Point2DPlanning.cpp
+share/ompl/demos/Point2DPlanning.py
+share/ompl/demos/RandomWalkPlanner.py
share/ompl/demos/RigidBodyPlanning.cpp
share/ompl/demos/RigidBodyPlanning.py
share/ompl/demos/RigidBodyPlanningWithControls.cpp
@@ -235,28 +195,29 @@ share/ompl/demos/RigidBodyPlanningWithODESolverAndControls.cpp
share/ompl/demos/RigidBodyPlanningWithODESolverAndControls.py
share/ompl/demos/StateSampling.cpp
share/ompl/demos/StateSampling.py
+share/ompl/demos/TriangulationDemo.cpp
share/ompl/ompl-config-version.cmake
share/ompl/ompl-config.cmake
-@pkgdir include/ompl/contrib/rrt_star/py-bindings/ompl/rrtstar
-@pkgdir include/ompl/contrib/rrt_star/py-bindings/CMakeFiles/clean_rrtstar_bindings.dir
-@pkgdir include/ompl/contrib/rrt_star/CMakeFiles/test_rrt_star.dir
@pkgdir include/ompl/CMakeFiles/ompl.dir/util
@pkgdir include/ompl/CMakeFiles/ompl.dir/tools/multiplan
@pkgdir include/ompl/CMakeFiles/ompl.dir/tools/debug
@pkgdir include/ompl/CMakeFiles/ompl.dir/tools/config
@pkgdir include/ompl/CMakeFiles/ompl.dir/tools/benchmark
+@pkgdir include/ompl/CMakeFiles/ompl.dir/geometric/planners/stride
@pkgdir include/ompl/CMakeFiles/ompl.dir/geometric/planners/sbl
@pkgdir include/ompl/CMakeFiles/ompl.dir/geometric/planners/rrt
@pkgdir include/ompl/CMakeFiles/ompl.dir/geometric/planners/prm
+@pkgdir include/ompl/CMakeFiles/ompl.dir/geometric/planners/pdst
@pkgdir include/ompl/CMakeFiles/ompl.dir/geometric/planners/kpiece
@pkgdir include/ompl/CMakeFiles/ompl.dir/geometric/planners/est
-@pkgdir include/ompl/CMakeFiles/ompl.dir/geometric/ik
+@pkgdir include/ompl/CMakeFiles/ompl.dir/extensions/morse
@pkgdir include/ompl/CMakeFiles/ompl.dir/control/spaces
@pkgdir include/ompl/CMakeFiles/ompl.dir/control/planners/syclop
@pkgdir include/ompl/CMakeFiles/ompl.dir/control/planners/rrt
+@pkgdir include/ompl/CMakeFiles/ompl.dir/control/planners/pdst
@pkgdir include/ompl/CMakeFiles/ompl.dir/control/planners/kpiece
@pkgdir include/ompl/CMakeFiles/ompl.dir/control/planners/est
-@pkgdir include/ompl/CMakeFiles/ompl.dir/contrib/rrt_star
@pkgdir include/ompl/CMakeFiles/ompl.dir/base/spaces
@pkgdir include/ompl/CMakeFiles/ompl.dir/base/samplers
+@pkgdir include/ompl/CMakeFiles/ompl.dir/base/objectives
@pkgdir include/ompl/CMakeFiles/ompl.dir/base/goals
diff --git a/ompl/distinfo b/ompl/distinfo
index 9050f512a4ace43d37a2d7f1f1156ab2e0911480..43ba7ae9748d8899903c63f673c7acd6a1760a36 100644
--- a/ompl/distinfo
+++ b/ompl/distinfo
@@ -1,3 +1,3 @@
-SHA1 (ompl-0.12.2-Source.tar.gz) = 16c835b4760c5dd5633c3b83ad506da97dbc3adb
-RMD160 (ompl-0.12.2-Source.tar.gz) = 5ab25b46dc3623c8e9a13ce34960ae52545f6dd6
-Size (ompl-0.12.2-Source.tar.gz) = 3478772 bytes
+SHA1 (ompl-0.14.1-Source.tar.gz) = 4772b9d3442f910d4d7bd3aa6e3615e8397fab88
+RMD160 (ompl-0.14.1-Source.tar.gz) = 6deeb1a4664a49051961498cd0027d07936ab4cc
+Size (ompl-0.14.1-Source.tar.gz) = 14502493 bytes