Detailed Description

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

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

Public Member Functions
void	Reset ()
	(Internal) Used by TamsiSolver to reset statistics. More...

void	Update (double iteration_residual)
	(Internal) Used by TamsiSolver 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 TamsiSolver solve. More...

std::vector< double >	residuals
	(Advanced) Residual in the tangential velocities, in m/s. More...

Member Function Documentation

◆ Reset()

void Reset ( )

(Internal) Used by TamsiSolver to reset statistics.

◆ Update()

void Update ( double iteration_residual )

(Internal) Used by TamsiSolver 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 TamsiSolver 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 TamsiSolver 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:

drake/multibody/plant/tamsi_solver.h