.. _exhale_class_classcrocoddyl_1_1DifferentialActionModelContactInvDynamicsTpl_1_1ResidualModelActuation:

Class DifferentialActionModelContactInvDynamicsTpl::ResidualModelActuation
==========================================================================

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


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

This class is a nested type of :ref:`exhale_class_classcrocoddyl_1_1DifferentialActionModelContactInvDynamicsTpl`.


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

Base Type
*********

- ``public crocoddyl::ResidualModelAbstractTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelAbstractTpl`)


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


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