.. _exhale_function_namespacepinocchio_1a484d142446a512eda8c0454df092dffb:

Template Function pinocchio::computeConstraintDynamicsDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator>&, std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator>&, const ProximalSettingsTpl<Scalar>&)
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- Defined in :ref:`file_include_pinocchio_algorithm_constrained-dynamics-derivatives.hpp`


Function Documentation
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.. doxygenfunction:: pinocchio::computeConstraintDynamicsDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator>&, std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator>&, const ProximalSettingsTpl<Scalar>&)
   :project: pinocchio Doxygen Project