.. _exhale_class_classcrocoddyl_1_1ResidualModelContactFrictionConeTpl:

Template Class ResidualModelContactFrictionConeTpl
==================================================

- Defined in :ref:`file_include_crocoddyl_multibody_residuals_contact-friction-cone.hpp`


Inheritance Relationships
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Base Type
*********

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


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


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