.. _exhale_struct_structcrocoddyl_1_1ResidualDataAbstractTpl:

Template Struct ResidualDataAbstractTpl
=======================================

- Defined in :ref:`file_include_crocoddyl_core_residual-base.hpp`


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

Derived Types
*************

- ``public crocoddyl::DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataActuation`` (:ref:`exhale_struct_structcrocoddyl_1_1DifferentialActionDataContactInvDynamicsTpl_1_1ResidualDataActuation`)
- ``public crocoddyl::DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataContact`` (:ref:`exhale_struct_structcrocoddyl_1_1DifferentialActionDataContactInvDynamicsTpl_1_1ResidualDataContact`)
- ``public crocoddyl::DifferentialActionDataFreeInvDynamicsTpl< _Scalar >::ResidualDataActuation`` (:ref:`exhale_struct_structcrocoddyl_1_1DifferentialActionDataFreeInvDynamicsTpl_1_1ResidualDataActuation`)
- ``public crocoddyl::ResidualDataCentroidalMomentumTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataCentroidalMomentumTpl`)
- ``public crocoddyl::ResidualDataCoMPositionTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataCoMPositionTpl`)
- ``public crocoddyl::ResidualDataContactCoPPositionTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataContactCoPPositionTpl`)
- ``public crocoddyl::ResidualDataContactControlGravTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataContactControlGravTpl`)
- ``public crocoddyl::ResidualDataContactForceTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataContactForceTpl`)
- ``public crocoddyl::ResidualDataContactFrictionConeTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataContactFrictionConeTpl`)
- ``public crocoddyl::ResidualDataContactWrenchConeTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataContactWrenchConeTpl`)
- ``public crocoddyl::ResidualDataControlGravTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataControlGravTpl`)
- ``public crocoddyl::ResidualDataFramePlacementTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataFramePlacementTpl`)
- ``public crocoddyl::ResidualDataFrameRotationTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataFrameRotationTpl`)
- ``public crocoddyl::ResidualDataFrameTranslationTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataFrameTranslationTpl`)
- ``public crocoddyl::ResidualDataFrameVelocityTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataFrameVelocityTpl`)
- ``public crocoddyl::ResidualDataImpulseCoMTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataImpulseCoMTpl`)
- ``public crocoddyl::ResidualDataJointAccelerationTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataJointAccelerationTpl`)
- ``public crocoddyl::ResidualDataJointEffortTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataJointEffortTpl`)
- ``public crocoddyl::ResidualDataNumDiffTpl< _Scalar >`` (:ref:`exhale_struct_structcrocoddyl_1_1ResidualDataNumDiffTpl`)


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


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