.. _exhale_struct_structcrocoddyl_1_1DifferentialActionDataContactInvDynamicsTpl:

Template Struct DifferentialActionDataContactInvDynamicsTpl
===========================================================

- Defined in :ref:`file_include_crocoddyl_multibody_actions_contact-invdyn.hpp`


Nested Relationships
--------------------


Nested Types
************

- :ref:`exhale_struct_structcrocoddyl_1_1DifferentialActionDataContactInvDynamicsTpl_1_1ResidualDataActuation`
- :ref:`exhale_struct_structcrocoddyl_1_1DifferentialActionDataContactInvDynamicsTpl_1_1ResidualDataContact`


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

Base Type
*********

- ``public crocoddyl::DifferentialActionDataAbstractTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1DifferentialActionDataAbstractTpl`)


Struct Documentation
--------------------


.. doxygenstruct:: crocoddyl::DifferentialActionDataContactInvDynamicsTpl
   :project: crocoddyl Doxygen Project
   :members:
   :protected-members:
   :undoc-members: