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Welcome to the home of SCvxGEN\text{{\footnotesize{SC}}{\small{vx}}{\footnotesize{GEN}}}. SCvxGEN\text{{\footnotesize{SC}}{\small{vx}}{\footnotesize{GEN}}} is a fast solver for general-purpose continuous-time trajectory optimization with automatic custom code generation.

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Capabilities

Light SCvxGEN\text{{\footnotesize{SC}}{\small{vx}}{\footnotesize{GEN}}} was designed from the ground up with the express goal of being easy to use, while also being highly capable and performant. Some of its features include:
  • General-purpose trajectory optimization:
    • free-final-time problems
    • dynamically feasible trajectories
    • continuous-time constraint satisfaction
  • User-friendly interface in Python
  • Generation of highly readable C (or CUDA) code with static memory allocations
The only requirement is that the dynamics and constraints are at least once differentiable everywhere, with continuous first derivatives (i.e., C1\mathcal{C}^1).

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Etymology

SCvxGEN\text{{\footnotesize{SC}}{\small{vx}}{\footnotesize{GEN}}} derives its name from successive convexification (SCvx\text{{\footnotesize{SC}}{\small{vx}}}) and custom code generation (GEN\text{{\footnotesize{GEN}}}).