.. _exhale_function_namespacepinocchio_1a14be42b6e0582bc3dd9e91094e573349:

Template Function pinocchio::computeKKTContactDynamicMatrixInverse
==================================================================

- Defined in :ref:`file_include_pinocchio_algorithm_contact-dynamics.hxx`


Function Documentation
----------------------


.. doxygenfunction:: pinocchio::computeKKTContactDynamicMatrixInverse(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<ConstraintMatrixType>&, const Eigen::MatrixBase<KKTMatrixType>&, const Scalar&)
   :project: pinocchio Doxygen Project