.. _exhale_class_classcrocoddyl_1_1DifferentialActionModelContactInvDynamicsTpl:

Template Class DifferentialActionModelContactInvDynamicsTpl
===========================================================

- Defined in :ref:`file_include_crocoddyl_multibody_actions_contact-invdyn.hpp`


Nested Relationships
--------------------


Nested Types
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- :ref:`exhale_class_classcrocoddyl_1_1DifferentialActionModelContactInvDynamicsTpl_1_1ResidualModelActuation`
- :ref:`exhale_class_classcrocoddyl_1_1DifferentialActionModelContactInvDynamicsTpl_1_1ResidualModelContact`


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

Base Type
*********

- ``public crocoddyl::DifferentialActionModelAbstractTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1DifferentialActionModelAbstractTpl`)


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


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