.. _exhale_class_classcrocoddyl_1_1ResidualModelAbstractTpl:

Template Class ResidualModelAbstractTpl
=======================================

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


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

Base Type
*********

- ``public crocoddyl::ResidualModelBase`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelBase`)


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

- ``public crocoddyl::DifferentialActionModelContactInvDynamicsTpl< _Scalar >::ResidualModelActuation`` (:ref:`exhale_class_classcrocoddyl_1_1DifferentialActionModelContactInvDynamicsTpl_1_1ResidualModelActuation`)
- ``public crocoddyl::DifferentialActionModelContactInvDynamicsTpl< _Scalar >::ResidualModelContact`` (:ref:`exhale_class_classcrocoddyl_1_1DifferentialActionModelContactInvDynamicsTpl_1_1ResidualModelContact`)
- ``public crocoddyl::DifferentialActionModelFreeInvDynamicsTpl< _Scalar >::ResidualModelActuation`` (:ref:`exhale_class_classcrocoddyl_1_1DifferentialActionModelFreeInvDynamicsTpl_1_1ResidualModelActuation`)
- ``public crocoddyl::ResidualModelCentroidalMomentumTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelCentroidalMomentumTpl`)
- ``public crocoddyl::ResidualModelCoMPositionTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelCoMPositionTpl`)
- ``public crocoddyl::ResidualModelContactCoPPositionTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelContactCoPPositionTpl`)
- ``public crocoddyl::ResidualModelContactControlGravTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelContactControlGravTpl`)
- ``public crocoddyl::ResidualModelContactForceTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelContactForceTpl`)
- ``public crocoddyl::ResidualModelContactFrictionConeTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelContactFrictionConeTpl`)
- ``public crocoddyl::ResidualModelContactWrenchConeTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelContactWrenchConeTpl`)
- ``public crocoddyl::ResidualModelControlGravTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelControlGravTpl`)
- ``public crocoddyl::ResidualModelControlTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelControlTpl`)
- ``public crocoddyl::ResidualModelFramePlacementTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelFramePlacementTpl`)
- ``public crocoddyl::ResidualModelFrameRotationTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelFrameRotationTpl`)
- ``public crocoddyl::ResidualModelFrameTranslationTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelFrameTranslationTpl`)
- ``public crocoddyl::ResidualModelFrameVelocityTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelFrameVelocityTpl`)
- ``public crocoddyl::ResidualModelImpulseCoMTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelImpulseCoMTpl`)
- ``public crocoddyl::ResidualModelJointAccelerationTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelJointAccelerationTpl`)
- ``public crocoddyl::ResidualModelJointEffortTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelJointEffortTpl`)
- ``public crocoddyl::ResidualModelNumDiffTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelNumDiffTpl`)
- ``public crocoddyl::ResidualModelStateTpl< _Scalar >`` (:ref:`exhale_class_classcrocoddyl_1_1ResidualModelStateTpl`)


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


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