.. _file_include_pinocchio_algorithm_contact-dynamics.hxx:

File contact-dynamics.hxx
=========================

|exhale_lsh| :ref:`Parent directory <dir_include_pinocchio_algorithm>` (``include/pinocchio/algorithm``)

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


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

Definition (``include/pinocchio/algorithm/contact-dynamics.hxx``)
-----------------------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_pinocchio_algorithm_contact-dynamics.hxx.rst





Includes
--------


- ``Eigen/Cholesky``

- ``pinocchio/algorithm/check.hpp`` (:ref:`file_include_pinocchio_algorithm_check.hpp`)

- ``pinocchio/algorithm/cholesky.hpp`` (:ref:`file_include_pinocchio_algorithm_cholesky.hpp`)

- ``pinocchio/algorithm/compute-all-terms.hpp`` (:ref:`file_include_pinocchio_algorithm_compute-all-terms.hpp`)

- ``pinocchio/algorithm/crba.hpp`` (:ref:`file_include_pinocchio_algorithm_crba.hpp`)

- ``pinocchio/math/matrix.hpp`` (:ref:`file_include_pinocchio_math_matrix.hpp`)






Namespaces
----------


- :ref:`namespace_pinocchio`

- :ref:`namespace_pinocchio__internal`


Classes
-------


- :ref:`exhale_struct_structpinocchio_1_1internal_1_1PerformCholeskyCompute`

- :ref:`exhale_struct_structpinocchio_1_1internal_1_1PerformCholeskyCompute_3_01Scalar_00_01false_01_4`

- :ref:`exhale_struct_structpinocchio_1_1internal_1_1PerformCholeskySolveInPlace`

- :ref:`exhale_struct_structpinocchio_1_1internal_1_1PerformCholeskySolveInPlace_3_01Scalar_00_01false_01_4`


Functions
---------


- :ref:`exhale_function_namespacepinocchio_1a14be42b6e0582bc3dd9e91094e573349`

- :ref:`exhale_function_namespacepinocchio_1a146babb567378a987b3ebc965a8a567e`

- :ref:`exhale_function_namespacepinocchio_1a3f7d09728a17496b797ec2d65ab9e27b`

- :ref:`exhale_function_namespacepinocchio_1a0d8946392edecc0d1de49cc39affb3fb`

- :ref:`exhale_function_namespacepinocchio_1aef989855f1904e8846cb7c73a55e14b7`

- :ref:`exhale_function_namespacepinocchio_1a099439c502c39f4a14b13d6d1aaaf0bd`