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OpenSCvx
OpenSCvx/OpenSCvx
Home
Getting Started
Getting Started
Examples
Citation
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
06 Dubin's Car: Conditional Statements and Signal Temporal Logic
07 Multi-Link Arms: Lie Algebra and Propagated States
08 Receding Horizon Drone Racing: Model Predictive Contouring Control
Examples
Examples
Abstract
Abstract
Brachistochrone
Impulsive
Stl Integer Variable
Stl Or
Animations
Animations
7 Dof Arm
Dr Vp Polytope
Logo
Obstacle Avoidance Vmap
Arm
Arm
3 Dof Arm
7 Dof Arm
7 Dof Arm Collision
7 Dof Arm Vp
Car
Car
Dubins Car
Dubins Car Disjoint
Dubins Car Obstacle Conditional
Dubins Car Obstacle Stl
Dubins Car Stl Or
Dubins Car Waypoint Stl
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
Double Integrator Discrete
Double Integrator Drone Racing
Dubins Car Circle Analytical
Dubins Car Circle Discrete
Realtime Double Integrator Drone Racing
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
Halo Orbit
Hohmann Transfer
Proxops Cw
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
cvxpy_constraints
cvxpy_variables
dynamics
jax_constraints
parameters
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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
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lie
linalg
linalg
Table of contents
linalg
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math
parser
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tokenizer
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utils
utils
cache
caching
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Foundations
Foundations
Optimal Control Problem
Isoperimetric Constraint Reformulation
Control Parameterization
Time Dilation
Exact Discretization
Under the Hood
Under the Hood
Lowering Architecture
Table of contents
linalg
linalg
Parser handlers for linear algebra operations.
Handlers: Norm, Sum, Diag, Inv, Transpose
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