.. _file_include_crocoddyl_multibody_residuals_contact-friction-cone.hpp:

File contact-friction-cone.hpp
==============================

|exhale_lsh| :ref:`Parent directory <dir_include_crocoddyl_multibody_residuals>` (``include/crocoddyl/multibody/residuals``)

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


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

Definition (``include/crocoddyl/multibody/residuals/contact-friction-cone.hpp``)
--------------------------------------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_crocoddyl_multibody_residuals_contact-friction-cone.hpp.rst





Includes
--------


- ``crocoddyl/core/residual-base.hpp`` (:ref:`file_include_crocoddyl_core_residual-base.hpp`)

- ``crocoddyl/multibody/contact-base.hpp`` (:ref:`file_include_crocoddyl_multibody_contact-base.hpp`)

- ``crocoddyl/multibody/contacts/contact-2d.hpp`` (:ref:`file_include_crocoddyl_multibody_contacts_contact-2d.hpp`)

- ``crocoddyl/multibody/contacts/contact-3d.hpp`` (:ref:`file_include_crocoddyl_multibody_contacts_contact-3d.hpp`)

- ``crocoddyl/multibody/contacts/contact-6d.hpp`` (:ref:`file_include_crocoddyl_multibody_contacts_contact-6d.hpp`)

- ``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/data/impulses.hpp`` (:ref:`file_include_crocoddyl_multibody_data_impulses.hpp`)

- ``crocoddyl/multibody/friction-cone.hpp`` (:ref:`file_include_crocoddyl_multibody_friction-cone.hpp`)

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

- ``crocoddyl/multibody/impulse-base.hpp`` (:ref:`file_include_crocoddyl_multibody_impulse-base.hpp`)

- ``crocoddyl/multibody/impulses/impulse-3d.hpp`` (:ref:`file_include_crocoddyl_multibody_impulses_impulse-3d.hpp`)

- ``crocoddyl/multibody/impulses/impulse-6d.hpp`` (:ref:`file_include_crocoddyl_multibody_impulses_impulse-6d.hpp`)

- ``crocoddyl/multibody/impulses/multiple-impulses.hpp`` (:ref:`file_include_crocoddyl_multibody_impulses_multiple-impulses.hpp`)

- ``crocoddyl/multibody/residuals/contact-friction-cone.hxx`` (:ref:`file_include_crocoddyl_multibody_residuals_contact-friction-cone.hxx`)

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






Namespaces
----------


- :ref:`namespace_crocoddyl`


Classes
-------


- :ref:`exhale_struct_structcrocoddyl_1_1ResidualDataContactFrictionConeTpl`

- :ref:`exhale_class_classcrocoddyl_1_1ResidualModelContactFrictionConeTpl`