Introduction

Welcome to the home of $\text{{\footnotesize{SC}}{\small{vx}}{\footnotesize{GEN}}}$.

$\text{{\footnotesize{SC}}{\small{vx}}{\footnotesize{GEN}}}$ is a fast solver for general-purpose continuous-time trajectory optimization with automatic custom code generation.

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Capabilities

$\text{{\footnotesize{SC}}{\small{vx}}{\footnotesize{GEN}}}$ 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., $\mathcal{C}^1$).

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Etymology

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