.. _exhale_class_classcrocoddyl_1_1ContactModelAbstractTpl:

Template Class ContactModelAbstractTpl
======================================

- Defined in :ref:`file_include_crocoddyl_multibody_contact-base.hpp`


Inheritance Relationships
-------------------------

Base Type
*********

- ``public crocoddyl::ContactModelBase`` (:ref:`exhale_class_classcrocoddyl_1_1ContactModelBase`)


Derived Types
*************

- ``public crocoddyl::ContactModel1DTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ContactModel1DTpl`)
- ``public crocoddyl::ContactModel2DTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ContactModel2DTpl`)
- ``public crocoddyl::ContactModel3DTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ContactModel3DTpl`)
- ``public crocoddyl::ContactModel6DTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ContactModel6DTpl`)
- ``public crocoddyl::ContactModelNumDiffTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ContactModelNumDiffTpl`)


Class Documentation
-------------------


.. doxygenclass:: crocoddyl::ContactModelAbstractTpl
   :project: crocoddyl Doxygen Project
   :members:
   :protected-members:
   :undoc-members: