.. _file_include_crocoddyl_multibody_actions_contact-invdyn.hpp:

File contact-invdyn.hpp
=======================

|exhale_lsh| :ref:`Parent directory <dir_include_crocoddyl_multibody_actions>` (``include/crocoddyl/multibody/actions``)

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


.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/crocoddyl/multibody/actions/contact-invdyn.hpp``)
-----------------------------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_crocoddyl_multibody_actions_contact-invdyn.hpp.rst





Includes
--------


- ``crocoddyl/core/actuation-base.hpp`` (:ref:`file_include_crocoddyl_core_actuation-base.hpp`)

- ``crocoddyl/core/constraints/constraint-manager.hpp`` (:ref:`file_include_crocoddyl_core_constraints_constraint-manager.hpp`)

- ``crocoddyl/core/costs/cost-sum.hpp`` (:ref:`file_include_crocoddyl_core_costs_cost-sum.hpp`)

- ``crocoddyl/core/diff-action-base.hpp`` (:ref:`file_include_crocoddyl_core_diff-action-base.hpp`)

- ``crocoddyl/multibody/actions/contact-invdyn.hxx`` (:ref:`file_include_crocoddyl_multibody_actions_contact-invdyn.hxx`)

- ``crocoddyl/multibody/contacts/multiple-contacts.hpp`` (:ref:`file_include_crocoddyl_multibody_contacts_multiple-contacts.hpp`)

- ``crocoddyl/multibody/data/contacts.hpp`` (:ref:`file_include_crocoddyl_multibody_data_contacts.hpp`)

- ``crocoddyl/multibody/fwd.hpp`` (:ref:`file_include_crocoddyl_multibody_fwd.hpp`)

- ``crocoddyl/multibody/states/multibody.hpp`` (:ref:`file_include_crocoddyl_multibody_states_multibody.hpp`)






Namespaces
----------


- :ref:`namespace_crocoddyl`


Classes
-------


- :ref:`exhale_struct_structcrocoddyl_1_1DifferentialActionDataContactInvDynamicsTpl`

- :ref:`exhale_struct_structcrocoddyl_1_1DifferentialActionDataContactInvDynamicsTpl_1_1ResidualDataActuation`

- :ref:`exhale_struct_structcrocoddyl_1_1DifferentialActionDataContactInvDynamicsTpl_1_1ResidualDataContact`

- :ref:`exhale_class_classcrocoddyl_1_1DifferentialActionModelContactInvDynamicsTpl`

- :ref:`exhale_class_classcrocoddyl_1_1DifferentialActionModelContactInvDynamicsTpl_1_1ResidualModelActuation`

- :ref:`exhale_class_classcrocoddyl_1_1DifferentialActionModelContactInvDynamicsTpl_1_1ResidualModelContact`