The computational planning group source code (CPlan Library) can be downloaded here:

Or you can clone the repository, which is hosted on BitBucket [].

There are individual copyright headers in each code file.


Copyright and License

All Rights Reserved
Computational Planning Group:

CPlan Library is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by  the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

CPlan Library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more details.

You  receive a copy of the GNU Lesser General Public License along with CPlan Library. If not, see