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Hello James,

Do you have your own collision checker for the quad rotor? Or a way to decide whether a particular pose it may attain is valid? If so, I recommend using OMPL directly. You just need to plan in SE3, so just define an SE3StateSpace, and define the bounds for your space. You can then follow tutorials on http://ompl.info about how to set the StateValidityChecker and how to actually compute (optionally simplify) the plans. Please reply if you have any further questions!

Ioan

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