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...

## ◆ 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.

## ◆ num_iterations

 int num_iterations {0}

The number of iterations performed by the last ImplicitStribeckSolver solve.

## ◆ residuals

 std::vector 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: