This is a template package that you can use to implement your own optimal control problems, to be solved using the SCP Toolbox. For reference, the package comes preloaded with a very simple Dubin's car trajectory generation problem with obstacle avoidance. You can feel free to remove this example for your own work.
Are you a new user? After cloning this repository, read the tutorial for how to use this repository in conjunction with the SCP Toolbox.