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OpenSCvx
OpenSCvx/OpenSCvx
Home
Installation
Resources
Resources
Changelog
Users Guide
Users Guide
01 Hello Brachistochrone
02 Drone Racing: Constraints and 3-DOF Dynamics
03 Obstacle Avoidance: 6-DOF Dynamics, Parameters, and Vmap
04 Looking Back: Viewpoint Constraints
05 Visualizing Results
07 Multi-Link Arms: Lie Algebra and Propagated States
08 Receding Horizon Drone Racing: Model Predictive Contouring Control
09 MuJoCo MJX Dynamics
Examples
Examples
Abstract
Abstract
Brachistochrone
Brachistochrone Batched
Chen Allgoewer
Flappy Bird
Hypersensitive
Impulsive
Stl Integer Variable
Stl Or
Aircraft
Aircraft
Dynamic Soaring
Supersonic Time To Climb
Animations
Animations
7 Dof Arm
Dr Vp Polytope
Franka Fr3v2 Pick Place
Logo
Obstacle Avoidance Vmap
Senss Hop Lidar Camera
Arm
Arm
3 Dof Arm
7 Dof Arm
7 Dof Arm Collision
7 Dof Arm Vp
Franka Fr3v2 Pick Place
Franka Fr3v2 Viewplanning
Franka Fr3v2 Viewplanning Nodal
Car
Car
Dubins Car
Dubins Car Disjoint
Dubins Car Obstacle Conditional
Dubins Car Obstacle Stl
Dubins Car Stl Or
Dubins Car Waypoint Stl
Racing
Racing
Race Car Hybrid
Race Car Ice
Race Car Mpc
Race Car Multi Agent
Race Car Multi Agent Mpcc
Race Car Multi Agent Mpcc Ice
Race Car Openscvx
Double Integrator
Double Integrator
Double Integrator Static
Maze Rrt Scp
Moving Safe Zones
Obstacle Avoidance Vmap
Obstacle Avoidance Vmap 2d
Drone
Drone
Boresight Trace Mpcc
Cinema Vp
Cinema Vp Nodal
Dr Vp
Dr Vp Nodal
Dr Vp Polytope
Drone Racing
Drone Racing Batched Gates
Logo
Lunar Terrain Agl
Maze Scp
Moving Safe Columns
Obstacle Avoidance
Obstacle Avoidance Nodal
Openscvx Logo
Quadrotor Hector
Quadrotor Zigzag
Frax
Frax
Panda Frax
Panda Frax Pick Place
Panda Frax Viewplanning
Panda Frax Waypoint
Ur5e Pen Trace
Ur5e Pen Trace Mpcc
Mjx
Mjx
Cartpole Mjx
Double Cartpole Mjx
Skydio X2 Mjx
Triple Cartpole 3d Mjx
Triple Cartpole Game
Triple Cartpole Mjx
Mpc
Mpc
Double Integrator Discrete
Double Integrator Drone Racing
Dubins Car Circle Analytical
Dubins Car Circle Discrete
Realtime Double Integrator Drone Racing
Multi Agent
Multi Agent
Ilqgames Three Agent
Ilqgames Three Agent Lqr
Multi Agent Circle Swap
Pendulum
Pendulum
Pendulum Swingup Ocp
Realtime
Realtime
3DoF Pdg Realtime
6DoF Pdg Realtime
Base Problems
Base Problems
3DoF Pdg Realtime Base
6DoF Pdg Realtime Base
Cinema Vp Realtime Base
Drone Racing Realtime Base
Dubins Car Realtime Base
Obstacle Avoidance Realtime Base
Cinema Vp Realtime
Drone Racing Realtime
Dubins Car Realtime
Obstacle Avoidance Realtime
Rocket
Rocket
3DoF Pdg
6DoF Pdg
6DoF Pdg Batched Ic
6DoF Pdg Stc
6DoF Pdg Stc Ifthen
Ascent Launch Vehicle
Reusable Launch Vehicle
Rocket Ilqr
Senss
Senss
6DoF Pdg Dem
6DoF Pdg Dem Static
6DoF Pdg Stc Senss
6DoF Pdg Stc Senss Gimbal
6DoF Pdg Stc Senss Gimbal Hop
6DoF Pdg Stc Senss Hop
6DoF Pdg Stc Senss Planar
Spacecraft
Spacecraft
Dual Deputy Inspection Cw
Halo Orbit
Hohmann Transfer
Let Transfer
Low Thrust Transfer
Proxops Cw
Relative Loitering
Reference
Reference
algorithms
algorithms
autotuner
autotuner
acceptance_ratio
adaptive_proximal_weight
augmented_lagrangian
base
constant_proximal_weight
ramp_proximal_weight
base
history
hyperparams
loop
optimization_results
penalty
scvx
scvx
iteration
penalized_trust_region
state
weights
config
discretization
discretization
base
discretize_linearize
linearize_discretize
linearize_discretize_sparse
sparse_utils
sparse_utils
bcoo_helpers
sparse_jacobian
expert
expert
byof
lowering
validation
init
init
interpolation
inverse_kinematics
integrations
integrations
base
frax
menagerie
mjx
integrators
integrators
diffrax
runge_kutta
loader
lowered
lowered
cvxpy_constraints
cvxpy_variables
dynamics
jax_constraints
parameters
problem
unified
plotting
plotting
plotting
publication
scp_iteration
viser
viser
animated
coordinates
orbits
plotly_integration
primitives
scp
server
problem
propagation
propagation
post_processing
propagation
solvers
solvers
base
cones
cvxpy_ptr_solver
moreau_ptr_solver
ptr_solver
qpax_ptr_solver
symbolic
symbolic
affine
augmentation
builder
canonicalize
constraint_set
expr
expr
arithmetic
array
autodiff
constraint
control
expr
lie
lie
adjoint
se3
so3
linalg
logic
math
parameter
spatial
state
stl
stljax
time
variable
vmap
hashing
lower
lowerers
lowerers
cvxpy
cvxpy
arithmetic
array
autodiff
constraint
control
expr
linalg
logic
math
state
jax
jax
arithmetic
array
autodiff
constraint
control
expr
lie
linalg
logic
math
spatial
state
stl
stljax
vmap
latex
latex
arithmetic
array
autodiff
constraint
control
expr
formulation
lie
linalg
logic
math
spatial
spatial
Table of contents
spatial
state
stl
vmap
parser
parser
array
constraint
lie
linalg
logic
math
parser
spatial
stl
stljax
tokenizer
preprocessing
problem
sparsity
unified
utils
utils
cache
caching
printing
profiling
utils
Foundations
Foundations
Optimal Control Problem
Constraint Reformulation (CTCS)
Control Parameterization
Time Dilation
Exact Discretization
Under the Hood
Under the Hood
Lowering Architecture
Batching, JIT, and Grad with Problem.solve_jax()
Custom Algorithms and Autotuners
Table of contents
spatial
spatial
LaTeX visitors for spatial (6-DOF) expressions.
Visitors: QDCM, SSMP, SSM
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