Stomp_motion_planner_icra2011 is a project mainly written in C++ and C, it's free.
ROS package repository for the STOMP motion planner experiments of ICRA 2011
This repository contains code (ROS packages) to replicate the results of the ICRA 2011 paper, "STOMP: Stochastic Trajectory Optimization for Motion Planning". For more information, please visit http://www.ros.org/wiki/Papers/ICRA2011_Kalakrishnan