Drake
ImplicitStribeckSolverIterationStats Struct Reference

Detailed Description

Struct used to store information about the iteration process performed by ImplicitStribeckSolver.

#include <drake/multibody/plant/implicit_stribeck_solver.h>

Public Member Functions

void Reset ()
 (Internal) Used by ImplicitStribeckSolver to reset statistics. More...
 
void Update (double iteration_residual)
 (Internal) Used by ImplicitStribeckSolver to update statistics. More...
 
double vt_residual () const
 Returns the residual in the tangential velocities, in m/s. More...
 

Public Attributes

int num_iterations {0}
 The number of iterations performed by the last ImplicitStribeckSolver solve. More...
 
std::vector< doubleresiduals
 (Advanced) Residual in the tangential velocities, in m/s. More...
 

Member Function Documentation

◆ Reset()

void Reset ( )

(Internal) Used by ImplicitStribeckSolver to reset statistics.

◆ Update()

void Update ( double  iteration_residual)

(Internal) Used by ImplicitStribeckSolver to update statistics.

◆ vt_residual()

double vt_residual ( ) const

Returns the residual in the tangential velocities, in m/s.

Upon convergence of the solver this value should be smaller than Parameters::tolerance times Parameters::stiction_tolerance.

Member Data Documentation

◆ num_iterations

int num_iterations {0}

The number of iterations performed by the last ImplicitStribeckSolver solve.

◆ residuals

std::vector<double> residuals

(Advanced) Residual in the tangential velocities, in m/s.

The k-th entry in this vector corresponds to the residual for the k-th Newton-Raphson iteration performed by the solver. After ImplicitStribeckSolver solved a problem, this vector will have size num_iterations. The last entry in this vector, residuals[num_iterations-1], corresponds to the residual upon completion of the solver, i.e. vt_residual.


The documentation for this struct was generated from the following file: