.. _exhale_struct_structcrocoddyl_1_1DifferentialActionDataContactInvDynamicsTpl_1_1ResidualDataContact:

Struct DifferentialActionDataContactInvDynamicsTpl::ResidualDataContact
=======================================================================

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


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

This struct is a nested type of :ref:`exhale_struct_structcrocoddyl_1_1DifferentialActionDataContactInvDynamicsTpl`.


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

Base Type
*********

- ``public crocoddyl::ResidualDataAbstractTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataAbstractTpl`)


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


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