  ompl | Main namespace. Contains everything in this library |
  base | This namespace contains sampling based planning routines shared by both planning under geometric constraints (geometric) and planning under differential constraints (dynamic) |
| control | This namespace contains sampling based planning routines used by planning under differential constraints |
| geometric | This namespace contains code that is specific to planning under geometric constraints |
| machine | This namespace contains routines that read specifications of the machine in use |
| magic | This namespace includes magic constants used in various places in OMPL |
| msg | Message namespace. This contains classes needed to output error messages (or logging) from within the library. Message logging can be performed with logging macros |
| time | Namespace containing time datatypes and time operations |
 tools | Includes various tools such as self config, benchmarking, etc |
