Drake

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< double >  residuals 
(Advanced) Residual in the tangential velocities, in m/s. More...  
void Reset  (  ) 
(Internal) Used by ImplicitStribeckSolver to reset statistics.
void Update  (  double  iteration_residual  ) 
(Internal) Used by ImplicitStribeckSolver to update statistics.
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.
int num_iterations {0} 
The number of iterations performed by the last ImplicitStribeckSolver solve.
std::vector<double> residuals 
(Advanced) Residual in the tangential velocities, in m/s.
The kth entry in this vector corresponds to the residual for the kth NewtonRaphson 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_iterations1]
, corresponds to the residual upon completion of the solver, i.e. vt_residual.