tamsi_solver.h File Reference

#include <memory>
#include <optional>
#include <vector>
#include "drake/common/default_scalars.h"
#include "drake/common/drake_assert.h"
#include "drake/common/drake_copyable.h"
#include "drake/common/eigen_types.h"

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Classes
struct	TamsiSolverParameters
	These are the parameters controlling the iteration process of the TamsiSolver solver. More...
struct	TamsiSolverIterationStats
	Struct used to store information about the iteration process performed by TamsiSolver. More...
class	TamsiSolver< T >
	TamsiSolver uses the Transition-Aware Modified Semi-Implicit (TAMSI) method, [Castro et al., 2019], to solve the equations below for mechanical systems in contact with regularized friction: More...

Namespaces
namespace	drake
namespace	drake::multibody

Enumerations
enum class	TamsiSolverResult { kSuccess = 0 , kMaxIterationsReached = 1 , kLinearSolverFailed = 2 , kAlphaSolverFailed = 3 }
	The result from TamsiSolver::SolveWithGuess() used to report the success or failure of the solver. More...