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OpenSCvx/OpenSCvx

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Reference
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Under the Hood

OpenSCvx

OpenSCvx/OpenSCvx

Home
Getting Started
Getting Started
- Examples
- Citation
Users Guide
Users Guide
Examples
Examples
- Abstract
  Abstract
- Animations
  Animations
- Arm
  Arm
- Car
  Car
- Drone
  Drone
  - Cinema Vp
  - Dr Double Integrator
  - Dr Vp
  - Dr Vp Nodal
  - Dr Vp Polytope
  - Drone Racing
  - Logo
  - Logo Utils
    Logo Utils
    
    Svg Path Utils
  - Obstacle Avoidance
  - Obstacle Avoidance Nodal
  - Obstacle Avoidance Vmap
- Mpc
  Mpc
- 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
- Spacecraft
  Spacecraft
Reference
Reference
- 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
- integrators
  integrators
  - diffrax
  - runge_kutta
- loader
- lowered
  lowered
- plotting
  plotting
  - plotting
  - scp_iteration
  - viser
    
    viser
    
    animated
    
    orbits
    
    plotly_integration
    
    primitives
    
    scp
    
    server
- problem
- propagation
  propagation
  - post_processing
  - propagation
- solvers
  solvers
  - base
  - ptr_solver
- symbolic
  symbolic
  - augmentation
  - builder
  - constraint_set
  - expr
    
    expr
    
    arithmetic
    
    array
    
    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
    
    constraint
    
    control
    
    expr
    
    linalg
    
    logic
    
    math
    
    state
    
    jax
    
    jax
    
    arithmetic
    
    array
    
    constraint
    
    control
    
    expr
    
    lie
    
    linalg
    
    logic
    
    math
    
    spatial
    
    state
    
    stl
    
    stljax
    
    vmap
  - parser
    
    parser
    
    array
    
    constraint
    
    lie lie
    Table of contents
    
    lie
    
    linalg
    
    logic
    
    math
    
    parser
    
    spatial
    
    stl
    
    stljax
    
    tokenizer
  - preprocessing
  - problem
  - sparsity
  - unified
- utils
  utils
  - cache
  - caching
  - printing
  - profiling
  - utils
Foundations
Foundations
Under the Hood
Under the Hood
- Lowering Architecture

Table of contents

lie

lie

Parser handlers for Lie algebra operations.

AdjointDual, Adjoint, SE3Adjoint, SE3AdjointDual,

SO3Exp, SO3Log, SE3Exp, SE3Log

Copyright © 2025 Chris Hayner

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