.. _dir_include_crocoddyl_multibody:


Directory multibody
===================


|exhale_lsh| :ref:`Parent directory <dir_include_crocoddyl>` (``include/crocoddyl``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS


*Directory path:* ``include/crocoddyl/multibody``

Subdirectories
--------------

- :ref:`dir_include_crocoddyl_multibody_actions`
- :ref:`dir_include_crocoddyl_multibody_actuations`
- :ref:`dir_include_crocoddyl_multibody_codegen`
- :ref:`dir_include_crocoddyl_multibody_contacts`
- :ref:`dir_include_crocoddyl_multibody_data`
- :ref:`dir_include_crocoddyl_multibody_impulses`
- :ref:`dir_include_crocoddyl_multibody_numdiff`
- :ref:`dir_include_crocoddyl_multibody_residuals`
- :ref:`dir_include_crocoddyl_multibody_states`
- :ref:`dir_include_crocoddyl_multibody_utils`


Files
-----

- :ref:`file_include_crocoddyl_multibody_contact-base.hpp`
- :ref:`file_include_crocoddyl_multibody_contact-base.hxx`
- :ref:`file_include_crocoddyl_multibody_cop-support.hpp`
- :ref:`file_include_crocoddyl_multibody_cop-support.hxx`
- :ref:`file_include_crocoddyl_multibody_cost-base.hpp`
- :ref:`file_include_crocoddyl_multibody_force-base.hpp`
- :ref:`file_include_crocoddyl_multibody_friction-cone.hpp`
- :ref:`file_include_crocoddyl_multibody_friction-cone.hxx`
- :ref:`file_include_crocoddyl_multibody_fwd.hpp`
- :ref:`file_include_crocoddyl_multibody_impulse-base.hpp`
- :ref:`file_include_crocoddyl_multibody_impulse-base.hxx`
- :ref:`file_include_crocoddyl_multibody_pch.hpp`
- :ref:`file_include_crocoddyl_multibody_wrench-cone.hpp`
- :ref:`file_include_crocoddyl_multibody_wrench-cone.hxx`